Vehicle driving method and device

Abstract

This specification provides a vehicle driving method and apparatus. The method includes: obtaining first driving state information and a target driving lane of a first traffic participant within an intersection area to be passed by the vehicle, and obtaining second driving state information of the vehicle; wherein the first driving state information includes the current position of the first traffic participant; the second driving state information includes the current position and driving direction of the vehicle; determining right-of-way information corresponding to the first traffic participant according to the first driving state information of the first traffic participant, the target driving lane, and the second driving state information of the vehicle; wherein the right-of-way information indicates an avoidance behavior to be taken by the vehicle with respect to the first traffic participant; determining an interaction participant from the first traffic participants; wherein the interaction participant indicates a target object participating in the decision-making of the driving information of the vehicle; controlling the vehicle to drive according to the right-of-way information corresponding to the interaction participant to ensure the timeliness of the interaction.

Description

Technical Field

[0001] This specification relates to the field of autonomous driving technology, and particularly to a vehicle driving method and apparatus. Background Art

[0002] With the progress of technology, driverless technology has received increasing attention. When a driverless vehicle is driving and passes through an intersection, it needs to interact with traffic participants in the intersection, that is, based on the current position of the traffic participants, control the driving of the driverless vehicle to interact with the traffic participants in the intersection (for example, avoid the traffic participants).

[0003] However, when controlling the driving of a vehicle, the traffic participants are regarded as static objects, which easily leads to the problem of being unable to interact with moving traffic participants in a timely manner, resulting in low safety of the driverless vehicle. Summary of the Invention

[0004] To overcome the problems existing in the related art, this specification provides a vehicle driving method and apparatus.

[0005] According to a first aspect of an embodiment of this specification, a vehicle driving method is provided, and the method includes:

[0006] Obtain the first driving state information and the target driving lane of a first traffic participant in the intersection area to be passed by the vehicle, and obtain the second driving state information of the vehicle; wherein, the first driving state information includes the current position of the first traffic participant; the second driving state information includes the current position and the driving direction of the vehicle;

[0007] Determine the right-of-way information corresponding to the first traffic participant according to the first driving state information of the first traffic participant, the target driving lane and the second driving state information of the vehicle; wherein, the right-of-way information indicates the avoidance behavior to be taken by the vehicle for the first traffic participant;

[0008] Determine an interaction participant from the first traffic participants; wherein, the interaction participant indicates the target object participating in the decision-making of the driving information of the vehicle;

[0009] Control the driving of the vehicle according to the right-of-way information corresponding to the interaction participant.

[0010] In some embodiments, the screening of the interaction participant from the first traffic participants includes:

[0011] For each first traffic participant, obtain the expected state information of the first traffic participant, and determine whether the first driving state information of the first traffic participant matches the expected state information of the first traffic participant;

[0012] If the first driving state information matches the desired state information, it is determined that the first traffic participant is not an interactive participant;

[0013] If the first driving state information does not match the desired state information, obtain the interaction intention corresponding to the first traffic participant, and determine whether the first traffic participant is an interactive participant according to the interaction intention corresponding to the first traffic participant; wherein, the interaction intention indicates the driving priority of the first traffic participant.

[0014] In some embodiments, the interaction intention includes priority driving and avoidance driving;

[0015] The determining whether the first traffic participant is an interactive participant according to the interaction intention corresponding to the first traffic participant includes:

[0016] If the interaction intention corresponding to the first traffic participant is the priority driving, it is determined that the first traffic participant is an interactive participant;

[0017] If the interaction intention corresponding to the first traffic participant is the avoidance driving, it is determined that the first traffic participant is not an interactive participant.

[0018] In some embodiments, the first driving state information further includes the current driving speed of the first traffic participant; the desired state information includes a desired speed range;

[0019] The determining whether the first driving state information of the first traffic participant matches the desired state information of the first traffic participant includes:

[0020] Determine whether the current driving speed of the first traffic participant is within the desired speed range of the first traffic participant;

[0021] If it is within the desired speed range, it is determined that the first driving state information matches the desired state information;

[0022] If it is not within the desired speed range, it is determined that the first driving state information does not match the desired state information.

[0023] In some embodiments, the determining the right-of-way information corresponding to the first traffic participant according to the first driving state information, the target driving lane of the first traffic participant, and the second driving state information of the vehicle includes:

[0024] Based on the current position of the vehicle and the current position of the first traffic participant, determine the right-of-way information corresponding to the target driving lane of the first traffic participant and the driving direction of the vehicle from a preset traffic driving rule table, and determine it as the right-of-way information corresponding to the first traffic participant; wherein, the traffic driving rule table includes the mapping relationship between the right-of-way and the driving direction.

[0025] In some embodiments, the controlling the vehicle to drive according to the right-of-way information of the interaction participant includes:

[0026] In response to the existence of an interaction participant with the right-of-way information being the first right-of-way among the interaction participants, control the vehicle to stop driving, wherein the first right-of-way indicates that the vehicle should give way;

[0027] In the case where there is no interaction participant with the right-of-way information being the first right-of-way among the interaction participants, in response to the existence of an interaction participant with the right-of-way information being the second right-of-way among the interaction participants, control the vehicle to drive at a low speed within a first preset area in the area to pass through the intersection, wherein the second right-of-way indicates that the vehicle does not need to give way.

[0028] In some embodiments, the method further includes:

[0029] In response to the existence of an interaction participant with the right-of-way information being the second right-of-way among the interaction participants, output vehicle passing prompt information to the interaction participant with the right-of-way information being the second right-of-way in a preset prompt manner; wherein, the preset prompt manner includes a text prompt manner and / or a voice prompt manner.

[0030] In some embodiments, the first driving state information further includes the current orientation of the first traffic participant;

[0031] The method further includes:

[0032] Divide the area to pass through the intersection to obtain a plurality of sub-areas, and obtain the boundary lines corresponding to each sub-area and the lanes corresponding to each boundary line;

[0033] For each first traffic participant within the area to pass through the intersection, determine the driving orientation marking line corresponding to the first traffic participant; wherein, the indicating direction corresponding to the driving orientation marking line is consistent with the current orientation of the first traffic participant;

[0034] Extend the driving orientation marking line corresponding to the first traffic participant to determine the target boundary line intersecting with the extended driving orientation marking line;

[0035] Obtain the lane corresponding to the target boundary line, and determine the target driving lane corresponding to the first traffic participant according to the lane corresponding to the target boundary line.

[0036] In some embodiments, the first driving state information further includes the current position of a preset point on the first traffic participant;

[0037] The method further includes:

[0038] For each first traffic participant in the to-be-passed intersection area, obtain the departure lane corresponding to the first traffic participant; the departure lane indicates the lane through which the first traffic participant passes when entering the to-be-passed intersection area;

[0039] Based on the current position of the preset point on the first traffic participant, determine the connection line between the first preset position in the departure lane corresponding to the first traffic participant and the preset point on the first traffic participant, and extend the connection line to determine a target preset lane segment that intersects with the extended connection line;

[0040] Obtain the lane corresponding to the target preset lane segment, and determine the target driving lane corresponding to the first traffic participant according to the lane corresponding to the target preset lane segment.

[0041] In some embodiments, the method further includes:

[0042] Obtain a target lane area; wherein, the target lane area includes at least one lane, and the target lane area indicates the lane area that the vehicle pays attention to when passing through the to-be-passed intersection area;

[0043] For each lane in the target lane area, obtain the collision time corresponding to each second traffic participant in the lane; wherein, the collision time represents the time required for the second traffic participant in the lane to reach the second preset position in the lane;

[0044] Select a preset number of second traffic participants from all the second traffic participants in the lane according to the ascending order of the collision time, and use the selected second traffic participants as the first traffic participants.

[0045] According to the second aspect of the embodiments of the present specification, there is provided a vehicle driving device, including:

[0046] An information acquisition module, configured to acquire the first driving state information and the target driving lane of the first traffic participant in the to-be-passed intersection area of the vehicle, and acquire the second driving state information of the vehicle; wherein, the first driving state information includes the current position of the first traffic participant; the second driving state information includes the current position and the driving direction of the vehicle;

[0047] The right-of-way determination module is configured to determine the right-of-way information corresponding to the first traffic participant according to the first driving state information of the first traffic participant, the target driving lane, and the second driving state information of the vehicle; wherein, the right-of-way information indicates the avoidance behavior to be taken by the vehicle with respect to the first traffic participant.

[0048] The participant determination module is configured to determine an interaction participant from the first traffic participants; wherein, the interaction participant indicates the target object participating in the decision-making of the driving information of the vehicle.

[0049] The driving control module is configured to control the driving of the vehicle according to the right-of-way information corresponding to the interaction participant.

[0050] In some embodiments, the participant determination module is specifically configured to:

[0051] For each first traffic participant, obtain the expected state information of the first traffic participant, and determine whether the first driving state information of the first traffic participant matches the expected state information of the first traffic participant.

[0052] If the first driving state information matches the expected state information, it is determined that the first traffic participant is not an interaction participant.

[0053] If the first driving state information does not match the expected state information, obtain the interaction intention corresponding to the first traffic participant, and determine whether the first traffic participant is an interaction participant according to the interaction intention corresponding to the first traffic participant; wherein, the interaction intention indicates the driving priority of the first traffic participant.

[0054] In some embodiments, the interaction intention includes priority driving and avoidance driving.

[0055] The participant determination module is further configured to:

[0056] If the interaction intention corresponding to the first traffic participant is the priority driving, it is determined that the first traffic participant is an interaction participant.

[0057] If the interaction intention corresponding to the first traffic participant is the avoidance driving, it is determined that the first traffic participant is not an interaction participant.

[0058] In some embodiments, the first driving state information further includes the current driving speed of the first traffic participant; the expected state information includes an expected speed range.

[0059] The participant determination module is further configured to:

[0060] Determine whether the current driving speed of the first traffic participant is within the expected speed range of the first traffic participant;

[0061] If it is within the expected speed range, determine that the first driving state information and the expected state information match;

[0062] If it is not within the expected speed range, determine that the first driving state information and the expected state information do not match.

[0063] In some embodiments, the right-of-way determination module is specifically configured to:

[0064] Based on the current position of the vehicle and the current position of the first traffic participant, determine the right-of-way information corresponding to the target driving lane of the first traffic participant and the driving direction of the vehicle from a preset traffic driving rule table, and determine it as the right-of-way information corresponding to the first traffic participant; wherein, the traffic driving rule table includes the mapping relationship between the right-of-way and the driving direction.

[0065] In some embodiments, the driving control module is specifically configured to:

[0066] In response to the presence of an interaction participant with the right-of-way information being the first right-of-way among the interaction participants, control the vehicle to stop driving, where the first right-of-way indicates that the vehicle should give way;

[0067] In the case where there is no interaction participant with the right-of-way information being the first right-of-way among the interaction participants, in response to the presence of an interaction participant with the right-of-way information being the second right-of-way among the interaction participants, control the vehicle to drive at a low speed within a first preset area in the area to be passed through the intersection, where the second right-of-way indicates that the vehicle does not need to give way.

[0068] In some embodiments, the driving control module is further configured to:

[0069] In response to the presence of an interaction participant with the right-of-way information being the second right-of-way among the interaction participants, output a vehicle passing prompt message to the interaction participant with the right-of-way information being the second right-of-way in a preset prompt manner; wherein, the preset prompt manner includes a text prompt manner and / or a voice prompt manner.

[0070] In some embodiments, the first driving state information further includes the current orientation of the first traffic participant;

[0071] The vehicle driving device further includes a first lane determination module; the first lane determination module is specifically configured to:

[0072] Divide the area to be passed through the intersection to obtain a plurality of sub-areas, and obtain the boundary lines corresponding to each sub-area and the lanes corresponding to each boundary line;

[0073] For each first traffic participant within the area of the intersection to be passed, determine the driving orientation marking line corresponding to the first traffic participant; wherein, the indicating direction corresponding to the driving orientation marking line is consistent with the current orientation of the first traffic participant.

[0074] Extend the driving orientation marking line corresponding to the first traffic participant to determine a target boundary line that intersects the extended driving orientation marking line.

[0075] Obtain the lane corresponding to the target boundary line, and determine the target driving lane corresponding to the first traffic participant according to the lane corresponding to the target boundary line.

[0076] In some embodiments, the first driving state information further includes the current position of a preset point on the first traffic participant.

[0077] The vehicle driving device further includes a second lane determination module; the second lane determination module is specifically configured to:

[0078] For each first traffic participant within the area of the intersection to be passed, obtain the driving-out lane corresponding to the first traffic participant; the driving-out lane represents the lane through which the first traffic participant passes when entering the area of the intersection to be passed.

[0079] Based on the current position of the preset point on the first traffic participant, determine the connection line between the first preset position within the driving-out lane corresponding to the first traffic participant and the preset point on the first traffic participant, and extend the connection line to determine a target preset lane segment that intersects the extended connection line.

[0080] Obtain the lane corresponding to the target preset lane segment, and determine the target driving lane corresponding to the first traffic participant according to the lane corresponding to the target preset lane segment.

[0081] In some embodiments, the information acquisition module is further configured to:

[0082] Obtain a target lane area; wherein, the target lane area includes at least one lane, and the target lane area indicates the lane area that the vehicle focuses on when passing through the area of the intersection to be passed.

[0083] For each lane within the target lane area, obtain the collision time corresponding to each second traffic participant within the lane; wherein, the collision time represents the time required for the second traffic participant within the lane to reach the second preset position within the lane.

[0084] Select a preset number of second traffic participants from all the second traffic participants in the lane in ascending order of collision time, and use the selected second traffic participants as the first traffic participants.

[0085] According to a third aspect of the embodiments of the present specification, there is provided an in-vehicle terminal, including:

[0086] A processor;

[0087] A memory for storing instructions executable by the processor;

[0088] Wherein, the processor is configured to:

[0089] Obtain the first driving state information and the target driving lane of the first traffic participant in the intersection area to be passed by the vehicle, and obtain the second driving state information of the vehicle; wherein, the first driving state information includes the current position of the first traffic participant; the second driving state information includes the current position and driving direction of the vehicle;

[0090] Determine the right-of-way information corresponding to the first traffic participant according to the first driving state information, the target driving lane of the first traffic participant, and the second driving state information of the vehicle; wherein, the right-of-way information indicates the avoidance behavior to be taken by the vehicle with respect to the first traffic participant;

[0091] Determine an interaction participant from the first traffic participants; wherein, the interaction participant indicates the target object participating in the decision-making of the driving information of the vehicle;

[0092] Control the driving of the vehicle according to the right-of-way information corresponding to the interaction participant.

[0093] According to a fourth aspect of the embodiments of the present specification, there is provided a computer-readable storage medium, in which computer-executable instructions are stored, and when the processor executes the computer-executable instructions, the vehicle driving method described in the above first aspect and various possible designs of the first aspect is implemented.

[0094] According to a fifth aspect of the embodiments of the present specification, there is provided a computer program product, including a computer program, and when the computer program is executed by the processor, the vehicle driving method described in the above first aspect and various possible designs of the first aspect is implemented.

[0095] The technical solutions provided by the embodiments of the present specification may include the following beneficial effects:

[0096] In the embodiments of the present specification, the avoidance behavior that the vehicle is to take with respect to the first traffic participant, i.e., the current position and the target driving lane (i.e., the predicted lane for the first traffic participant to drive) of the traffic participant in the intersection area to be passed by the vehicle, as well as the current position and driving direction of the vehicle, are determined. That is, the avoidance situation between the vehicle and the first traffic participant is determined based on the predicted driving situation of the first traffic participant and the current driving situation of the vehicle, so as to obtain the right-of-way information corresponding to the first traffic participant. The interactive participant who participates in the decision-making of the driving information of the vehicle is determined from the first traffic participants, that is, the first traffic participant interacting with the vehicle is determined, and the driving of the vehicle is controlled according to the right-of-way information of the interactive participant to pass through the intersection area to be passed, so that the vehicle can timely avoid the corresponding interactive participant during the process of passing through the intersection area to be passed, realizing the timely interaction between the vehicle and the traffic participant and improving the safety of vehicle driving.

[0097] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0098] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present specification, and are used together with the specification to explain the principles of the present specification.

[0099] Figure 1 is a schematic diagram of a vehicle interaction scenario shown according to an exemplary embodiment of the present specification.

[0100] Figure 2 is a flowchart of a vehicle driving method shown according to an exemplary embodiment of the present specification.

[0101] Figure 3 is a schematic diagram of traffic participants in an intersection shown according to an exemplary embodiment of the present specification.

[0102] Figure 4 is a flowchart of another vehicle driving method shown according to an exemplary embodiment of the present specification.

[0103] Figure 5 is a schematic diagram of a vehicle attention area shown according to an exemplary embodiment of the present specification.

[0104] Figure 6 is a schematic diagram of target driving lane determination shown according to an exemplary embodiment of the present specification.

[0105] Figure 7 is a schematic diagram of another target driving lane determination shown according to an exemplary embodiment of the present specification.

[0106] Figure 8 It is a schematic diagram of a preset low-speed area shown in accordance with an exemplary embodiment of this specification.

[0107] Figure 9 It is another schematic diagram of a preset low-speed area shown in accordance with an exemplary embodiment of this specification.

[0108] Figure 10 It is yet another schematic diagram of a preset low-speed area shown in accordance with an exemplary embodiment of this specification.

[0109] Figure 11 It is a hardware structure diagram of an in-vehicle terminal where the vehicle driving device in the embodiment of this specification is located.

[0110] Figure 12 It is a structural block diagram of a vehicle driving device shown in accordance with an exemplary embodiment of this specification. Detailed implementation manners

[0111] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with this specification. On the contrary, they are merely examples of devices and methods consistent with some aspects of this specification as detailed in the appended claims.

[0112] The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit this specification. The singular forms "a", "the", and "said" used in this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0113] It should be understood that although the terms first, second, third, etc. may be used in this specification to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this specification, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to determining".

[0114] Next, the embodiments of this specification will be described in detail.

[0115] In some embodiments, the characteristics of high risk, high intensity, and high repeatability in road sweeping work make driverless technology have broad application prospects in this regard. For example Figure 1 As shown in Figure 1 , when the driverless vehicle 101 enters an intersection, the in-vehicle terminal 102 on the driverless vehicle 101 controls the driving of the driverless vehicle 101 based on the current position of the traffic participant 103 within the intersection, so as to interact with the traffic participant 103 within the intersection. However, when controlling the driving of the driverless vehicle 101, the traffic participant 103 is regarded as a static object, which is likely to result in the problem of being unable to interact with the moving traffic participant 103 in a timely manner, causing the driverless vehicle to be unable to pass through the intersection safely.

[0116] Therefore, in view of the above problems, the embodiments of the present application propose an interaction method. When the driverless vehicle needs to pass through an intersection, the in-vehicle terminal determines the intersection area and lane area that the driverless vehicle focuses on when passing through the intersection based on the driving direction of the driverless vehicle, determines the right of way corresponding to the traffic participant according to the driving state information of the traffic participants in the intersection area and lane area, and predicts the driving trajectory of the traffic participant, so as to determine the traffic participants that interact with the driverless vehicle by using the driving trajectory, that is, determine the interaction participants. Control the driverless vehicle to stop or drive at a low speed according to the right of way corresponding to the interaction participant, so as to avoid the corresponding traffic participant in a timely manner, realize timely interaction with the traffic participant, enable the driverless vehicle to pass through the intersection safely, and ensure the driving safety of the driverless vehicle.

[0117] For example Figure 2 As shown in Figure 2 Figure 2 is a flowchart of a vehicle driving method shown according to an exemplary embodiment of the present specification, including the following steps:

[0118] Step 201, obtain the first driving state information and the target driving lane of the first traffic participant in the intersection area to be passed by the vehicle, and obtain the second driving state information of the vehicle. The first driving state information includes the current position of the first traffic participant. The second driving state information includes the current position and driving direction of the vehicle.

[0119] In this embodiment, when the vehicle needs to pass through an intersection, the intersection is regarded as the intersection to be passed, an image including the intersection to be passed is collected, and the image is recognized to determine the intersection area to be passed and the traffic participants in the intersection area to be passed. The traffic participants in the intersection area to be passed are regarded as the first traffic participants. Determine the driving state information of each first traffic participant, that is, the first driving state information, and determine the target driving lane of each first traffic participant. Obtain the driving state information of the vehicle and determine it as the second driving state information.

[0120] Optionally, when the vehicle enters the guiding lane, that is, enters the lane area including the guiding lane lines, an image including the intersection to be passed is collected. Specifically, the vehicle can take a picture when it travels within a certain distance from the stop line in the guiding lane.

[0121] Wherein, the first traffic participant is a movable object, for example, a vehicle. The first driving state information of the first traffic participant includes one or more of the current position of the first traffic participant, the current driving speed of the first traffic participant, the current orientation of the first traffic participant, and the current position of a preset point on the first traffic participant. When the first traffic participant is a vehicle, the current orientation of the first traffic participant can be the current vehicle orientation. Specifically, it can be the current orientation angle of the vehicle; the current position of the preset point on the first traffic participant can be a preset point on the vehicle, for example, a point on the head of the preset point vehicle (such as Figure 3 the preset point shown).

[0122] Wherein, the target driving lane of the first traffic participant represents the predicted lane that the first traffic participant is to drive in, that is, the lane that the first traffic participant intends to drive into.

[0123] Wherein, the second driving state information of the vehicle includes one or more of the current position of the vehicle, the current driving speed, and the driving direction. The driving direction includes directions such as straight, left turn, and right turn.

[0124] Optionally, the vehicle is a vehicle that can perform autonomous driving, for example, a driverless vehicle.

[0125] Step 202: Determine the right-of-way information corresponding to the first traffic participant according to the first driving state information of the first traffic participant, the target driving lane, and the second driving state information of the vehicle. Wherein, the right-of-way information indicates the avoidance behavior that the vehicle is to take for the first traffic participant.

[0126] In this embodiment, based on the first driving state information of the first traffic participant and the target driving vehicle, the driving trajectory of the first traffic participant can be predicted. According to the second driving state information of the vehicle itself (that is, the current position and driving direction of the vehicle) and the driving trajectory of the first traffic participant, the avoidance situation between the vehicle and the first traffic participant is determined to determine the right-of-way information corresponding to the first traffic participant.

[0127] Optionally, the right-of-way information includes the first right-of-way and the second right-of-way. Wherein, the first right-of-way represents a high right-of-way, which indicates that the vehicle should avoid, that is, when the right-of-way information of the first traffic participant is the first right-of-way, the vehicle needs to avoid the first traffic participant. The second right-of-way represents a low right-of-way, which indicates that the vehicle does not need to avoid, that is, when the right-of-way of the first traffic participant is the second right-of-way, the vehicle does not need to avoid the first traffic participant.

[0128] Optionally, the right of way information may further include a third right of way. The third right of way indicates that the first traffic participant has no influence on the vehicle, that is, has nothing to do with the vehicle. When the right of way information of the first traffic participant is the third right of way, the vehicle does not need to interact with the first traffic participant.

[0129] Step 203: Determine an interactive participant from the first traffic participant, wherein the interactive participant indicates a target object that participates in the decision-making of the vehicle's driving information.

[0130] In this embodiment, after the first traffic participant is determined, the first traffic participant with which the vehicle needs to interact is screened out from the first traffic participants, that is, the first traffic participant who participates in the decision of the vehicle's driving information is determined, and the screened first traffic participant is used as the interaction participant.

[0131] Step 204: Control the vehicle driving according to the road right information corresponding to the interactive participant.

[0132] In this embodiment, after determining the interaction participants, the right of way information corresponding to the interaction participants is determined from the right of way information of the first traffic participant, so as to determine the intersection traffic strategy of the vehicle according to the right of way information of the interaction participants, and control the vehicle to drive according to the intersection traffic strategy, so that the vehicle can interact with the interaction participants in a timely manner during the process of passing through the intersection area to be passed (for example, the vehicle waits for the interaction participants to pass through the intersection before driving, that is, avoiding the corresponding interaction participants), thereby ensuring the timeliness of the interaction.

[0133] In this embodiment, interactive participants that affect the driving of the vehicle are screened out from the first traffic participants in the area of the intersection to be passed, and the driving of the vehicle is controlled based on the predicted driving trajectory corresponding to the interactive participants, rather than treating the traffic participants as static objects, so that the vehicle can interact with the interactive participants in a timely manner (for example, avoid the interactive participants) to ensure that the vehicle can safely pass through the intersection to be passed.

[0134] As can be seen from the above description, the avoidance behavior that the vehicle is to take with respect to the first traffic participant is determined based on the current position and the target driving lane of the traffic participant (i.e., the predicted lane for the first traffic participant to drive) within the intersection area to be passed by the vehicle, as well as the current position and driving direction of the vehicle. That is, the avoidance situation between the vehicle and the first traffic participant is determined based on the predicted driving situation of the first traffic participant and the current driving situation of the vehicle, so as to obtain the right-of-way information corresponding to the first traffic participant. The interactive participant who makes the decision regarding the driving information of the vehicle is determined from the first traffic participants, that is, the first traffic participant that interacts with the vehicle is determined, and the vehicle is controlled to drive through the intersection area to be passed based on the right-of-way information of the interactive participant, so that the vehicle can timely avoid the corresponding interactive participant during the process of passing through the intersection area to be passed, realizing the timely interaction between the vehicle and the traffic participant and improving the driving safety of the vehicle.

[0135] As Figure 4 shown, Figure 4 FIG. is a flowchart of another vehicle driving method shown in this specification according to an exemplary embodiment. When determining the interactive participant from the first traffic participants, the expected state information of the first traffic participants can be used for determination. The following will describe this process in detail with a specific embodiment. As Figure 4 shown, the method includes the following steps:

[0136] Step 401: Obtain the first driving state information and the target driving lane of the first traffic participant within the intersection area to be passed by the vehicle, and obtain the second driving state information of the vehicle. The first driving state information includes the current position of the first traffic participant. The second driving state information includes the current position and driving direction of the vehicle.

[0137] In this embodiment, since the vehicle will also be affected by the traffic participants in other lane areas during the process of passing through the intersection area to be passed, therefore, in order to further improve the safety of the vehicle passing through the intersection area to be passed, the first traffic participants in the lane area that affect the vehicle's passage can also be determined, so as to screen out the interactive participants from the first traffic participants in this lane area and the first traffic participants in the intersection area to be passed, and control the vehicle to drive according to the right-of-way information corresponding to the interactive participant.

[0138] Optionally, the specific process of determining the first traffic participants in the lane area that affect the vehicle's passage includes:

[0139] Obtain the target lane area. The target lane area includes at least one lane, and the target lane area indicates the lane area that the vehicle focuses on when passing through the intersection area to be passed. For each lane in the target lane area, obtain the collision time corresponding to each second traffic participant in the lane. The collision time represents the time required for the second traffic participant in the lane to reach the second preset position in the lane. Sort the second traffic participants in the lane in ascending order of the collision time, and select a preset number of second traffic participants from all the second traffic participants in the lane, and use the selected second traffic participants as the first traffic participants.

[0140] Specifically, for each lane in the target lane area, calculate the time required for the traffic participants (i.e., the second traffic participants) in the lane to travel to the second preset position (e.g., the stop line in the lane as shown in Figure 5 ), and use this time as the collision time corresponding to the second traffic participant. The second traffic participant with a smaller collision time, that is, the second traffic participant closer to the intersection area to be passed, is used as the first traffic participant in the lane.

[0141] The target lane area is the lane area that the vehicle focuses on when passing through the intersection area to be passed, and the traffic participants in this lane area may affect the vehicle. Specifically, the target lane area is determined based on the current position and driving direction of the vehicle. For example, as shown in Figure 5 , when the vehicle is in lane 1 and the driving direction of the vehicle is straight, the areas that the vehicle focuses on include area 1 and area 3, that is, the target lane area includes area 1 and area 3.

[0142] Optionally, after determining the first traffic participant in the lane, the target driving lane corresponding to the first traffic participant can be determined according to the lane driving direction corresponding to the lane. For example, as shown in Figure 5 , the lane driving directions corresponding to lane 2 include straight and right turn, so the target driving lanes corresponding to the first traffic participants in lane 2 include lane 3 and lane 4.

[0143] Optionally, when determining the target driving lane corresponding to the first traffic participant in the intersection area to be passed, it can be determined according to the following two methods.

[0144] One way is to divide the intersection area to be passed through to obtain multiple sub-areas, and obtain the boundary lines corresponding to each sub-area and the lanes corresponding to each boundary line. For each first traffic participant within the intersection area to be passed through, determine the driving orientation marking line corresponding to the first traffic participant. Among them, the indicated direction of the driving orientation marking line is consistent with the current orientation of the first traffic participant. Extend the driving orientation marking line corresponding to the first traffic participant to determine the target boundary line that intersects with the extended driving orientation marking line. Obtain the lane corresponding to the target boundary line, and determine the target driving lane corresponding to the first traffic participant according to the lane corresponding to the target boundary line.

[0145] Specifically, divide the intersection area to be passed through according to a preset division method to obtain multiple sub-areas, and determine the boundary lines corresponding to each sub-area and the lanes corresponding to each boundary line. Among them, the boundary line corresponding to the sub-area (i.e., the outer boundary line) is a partial boundary line of the intersection area to be passed through. For example, as Figure 6 shown, using the cross-shaped gateway division method, divide the intersection area to be passed through into four equal sub-areas, and the boundary line of each sub-area is a partial boundary line of the intersection area to be passed through.

[0146] For each first traffic participant within the intersection area to be passed through, draw the driving orientation marking line corresponding to the first traffic participant at the current position of the first traffic participant, and the indicated direction of the driving orientation marking line is the same as the current orientation of the first traffic participant. According to the indicated direction of the driving orientation marking line (such as Figure 6 the driving orientation marking line shown), extend the driving orientation marking line until it intersects with a certain boundary line, and use the intersecting boundary line as the target boundary line corresponding to the first traffic participant. Use the lane corresponding to the target boundary line to determine the target driving lane corresponding to the first traffic participant.

[0147] Optionally, when the number of lanes corresponding to the target boundary line corresponding to the first traffic participant is one, the lane corresponding to the target boundary line can be directly used as the target driving lane corresponding to the first traffic participant. When the number of lanes corresponding to the target boundary line is multiple, any one lane can be selected from the lanes corresponding to the target boundary line, or the boundary line segment where the intersection point between the target boundary line and the extended driving orientation marking line is located can be determined, and the lane corresponding to the boundary line segment can be used as the target driving lane corresponding to the first traffic participant.

[0148] Among them, when the boundary line of the sub-area corresponds to multiple lanes, the boundary line can be divided to obtain multiple boundary line segments, and each boundary line segment corresponds to one lane.

[0149] Another way is that for each first traffic participant in the area to pass through the intersection, obtain the exit lane corresponding to the first traffic participant. The exit lane indicates the lane through which the first traffic participant passes when entering the area to pass through the intersection. Based on the current position of the preset point on the first traffic participant, determine the connection line between the first preset position in the exit lane corresponding to the first traffic participant and the preset point on the first traffic participant, and extend the connection line to determine the target preset lane segment that intersects the extended connection line. Obtain the lane corresponding to the target preset lane segment, and determine the target driving lane corresponding to the first traffic participant according to the lane corresponding to the target preset lane segment.

[0150] Specifically, as Figure 7 shown, when the vehicle is in Lane 1, for each first traffic participant in the area to pass through the intersection, connect the preset point on the first traffic participant to the first preset position in the exit lane corresponding to the first traffic participant to obtain the connection line between the first preset position and the preset point, and extend the connection line until it intersects a certain preset lane segment. Take the preset lane segment that intersects the connection line as the target preset lane segment corresponding to the first traffic participant, so as to determine the target driving lane corresponding to the first traffic participant according to the lane corresponding to the target preset lane segment.

[0151] Among them, the first preset position can be a position point on the stop line in the exit lane. For example, the first preset position is the center point of the stop line in the exit lane (such as Figure 7 the center point shown). Of course, the first preset position can also be other positions in the exit lane, and no restrictions are imposed here.

[0152] Optionally, when the number of lanes corresponding to the target preset lane segment corresponding to the first traffic participant is one, the lane corresponding to the target preset lane segment can be directly used as the target driving lane corresponding to the first traffic participant. When the number of lanes corresponding to the target preset lane segment is multiple, one lane can be arbitrarily selected from the lanes corresponding to the target boundary line and used as the target driving lane, or the sub-segment where the intersection point of the connection line corresponding to the target preset lane segment and the traffic participant is located can be determined, and the lane corresponding to the sub-segment can be used as the target driving lane corresponding to the first traffic participant.

[0153] Among them, when the preset lane segment corresponds to multiple lanes, the preset lane segment can be divided to obtain multiple sub-segments, and each sub-segment corresponds to one lane.

[0154] Step 402: Determine the right-of-way information corresponding to the first traffic participant according to the first driving state information of the first traffic participant, the target driving lane, and the second driving state information of the vehicle. The right-of-way information indicates the avoidance behavior that the vehicle should take with respect to the first traffic participant.

[0155] In this embodiment, based on the current position of the vehicle and the current position of the first traffic participant, determine the right-of-way information corresponding to the target driving lane of the first traffic participant and the driving direction of the vehicle from a preset traffic driving rule table, and determine it as the right-of-way information corresponding to the first traffic participant. The traffic driving rule table includes the mapping relationship between the right-of-way and the driving direction.

[0156] Specifically, based on the current position of the vehicle and the driving direction of the vehicle, the target driving direction of the vehicle can be determined. The target driving direction represents the specific driving direction of the vehicle. For example, as Figure 3 shown, when the vehicle is driving in lane 1 and the driving direction of the vehicle is straight, then the target driving direction of the vehicle is determined to be straight from south to north.

[0157] For each first traffic participant, determine the predicted driving trajectory corresponding to the first traffic participant based on the target driving lane corresponding to the first traffic participant, that is, the driving direction, and determine the target driving direction of the first traffic participant based on the driving direction and the current position corresponding to the first traffic participant. Look up the right-of-way information corresponding to the target driving direction of the first traffic participant and the target driving direction of the vehicle from the preset traffic rules, and use this right-of-way information as the right-of-way information corresponding to the first traffic participant. For example, as Figure 3 shown, the target driving direction of the first traffic participant is straight from west to east. The vehicle is driving in lane 1. When the driving direction of the vehicle is a right turn, the target driving direction of the vehicle is a right turn from south to east. The vehicle needs to avoid the first traffic participant. Then the right-of-way information corresponding to the first traffic participant is the first right-of-way.

[0158] The traffic driving rule table is determined according to the actual traffic rules.

[0159] Step 403: For each first traffic participant, obtain the expected state information of the first traffic participant, and determine whether the first driving state information of the first traffic participant matches the expected state information of the first traffic participant.

[0160] In this embodiment, according to the current driving condition of the vehicle, i.e., the second driving state information, the expected state information of each first traffic participant, i.e., the safe driving state, is determined. The first driving state information of the first traffic participant is matched with the expected state information of the first traffic participant to determine whether the first traffic participant is in a safe driving state, i.e., to determine whether the first traffic participant will affect the vehicle.

[0161] Optionally, the expected state information includes an expected speed range and / or an expected distance range. Among them, the expected speed range represents the safe driving speed of the first traffic participant, that is, when the current driving speed of the first traffic participant is within this expected speed range, the first traffic participant will not affect the vehicle. The expected distance range indicates the safe distance between the first traffic participant and the vehicle, that is, when the current distance between the first traffic participant and the vehicle is within this expected distance range, the first traffic participant will not affect the vehicle.

[0162] Optionally, the expected state information of the first traffic participant is determined according to the driving state information of the first traffic participant at the previous moment. Specifically, the expected state of the first traffic participant at the initial moment is an empty set, and the expected state at the next moment is determined based on the current motion state, interaction intention and system delay time of the first traffic participant. Accordingly, the expected state of the first traffic participant at the next moment can be determined through a preset function where E n+1 is the expected state of the first traffic participant at the next moment, S n is the current motion state of the first traffic participant, I n is the current interaction intention of the first traffic participant, t delay is the preset system delay time, and h() is the preset function, which can be customized by relevant personnel according to actual needs. Of course, other methods can also be used for determination. For example, by inputting the current motion state, interaction intention and system delay time of the first traffic participant into a trained neural network model, so that the model performs corresponding processing and outputs the expected state of the first traffic participant at the next moment.

[0163] Among them, the current motion state of the first traffic participant may include information such as the first current driving speed and the current position of the vehicle.

[0164] Optionally, the expected state information is set according to the second driving state information of the vehicle. When determining the expected speed range of the first traffic participant, the speed range corresponding to the current driving speed of the vehicle is determined from the first preset speed mapping table, and this speed range is used as the expected speed range of the first traffic participant. The first preset speed mapping table includes the mapping relationship between the expected speed range and the driving speed. Of course, other methods can also be used for determination. For example, a preset speed range determination function defined by relevant personnel is used for determination, and the independent variable of the first preset speed range determination function is the current driving speed of the vehicle.

[0165] To improve the accuracy of the expected speed range of the first traffic participant, when determining the expected speed range of the first traffic participant, the current driving situation of the first traffic participant can be combined. That is, for each first traffic participant, based on the current position of the first traffic participant and the current position of the vehicle, the distance between the first traffic participant and the vehicle is determined, and according to the preset speed range determination method, the speed range corresponding to this distance and the current driving speed of the vehicle is determined, and this speed range is used as the expected speed range of the first traffic participant.

[0166] Among them, when determining the speed range corresponding to the distance between the first traffic participant and the vehicle and the current driving speed of the vehicle according to the preset speed range determination method, the speed range corresponding to this distance and the current driving speed of the vehicle can be determined from the second preset speed mapping table, or the distance and the current driving speed of the vehicle can be input into the trained neural network model so that the neural network model performs corresponding processing on the distance and the current driving speed of the vehicle and outputs the speed range corresponding to this distance and the current driving speed of the vehicle. Of course, other methods can also be used to determine the expected speed range. For example, a second preset speed range determination function defined by relevant personnel is used for determination, and the independent variables of the second preset speed range determination function are the current driving speed of the vehicle and the distance between the first traffic participant and the vehicle.

[0167] Correspondingly, when determining the expected distance range of the first traffic participant, it can be determined based on the current driving speed of the vehicle, and the determination process is similar to the process of determining the expected speed range of the first traffic participant based on the current driving speed of the vehicle above, and will not be elaborated here.

[0168] To improve the accuracy of determining the expected distance interval of the first traffic participant, when determining the expected distance interval of the first traffic participant, the current driving situation of the first traffic participant can be combined. That is, for each first traffic participant, according to the preset distance interval determination method, determine the distance interval corresponding to the current driving speed of the first traffic participant and the current driving speed of the vehicle, and use this distance interval as the expected distance interval of the first traffic participant.

[0169] Among them, the type of method included in the preset distance interval determination method is similar to the type of method included in the above-mentioned preset speed interval determination method, and will not be elaborated here.

[0170] Optionally, when the expected state information includes an expected speed interval, the process of determining whether the first driving state information of the first traffic participant and the expected state information of the first traffic participant match includes: determining whether the current driving speed of the first traffic participant is within the expected speed interval of the first traffic participant. If it is within the expected speed interval, it indicates that the current driving speed of the first traffic participant is a safe speed, that is, the first traffic participant will not affect the driving of the vehicle, and it is determined that the first driving state information and the expected state information match. If it is not within the expected speed interval, it indicates that the current driving speed of the first traffic participant is not a safe speed, that is, the first traffic participant will affect the driving of the vehicle, and it is determined that the first driving state information and the expected state information do not match.

[0171] Optionally, when the expected state information includes an expected distance interval, the process of determining whether the first driving state information of the first traffic participant and the expected state information of the first traffic participant match includes: determining whether the distance between the first traffic participant and the vehicle is within the expected distance interval of the first traffic participant. If it is within the expected distance interval, it indicates that the first traffic participant will not affect the driving of the vehicle, and it is determined that the first driving state information and the expected state information match. If it is not within the expected distance interval, it indicates that the first traffic participant will affect the driving of the vehicle, and it is determined that the first driving state information and the expected state information do not match.

[0172] Optionally, it can also be comprehensively judged based on the expected speed interval and the expected distance interval. That is, when the current driving speed of the first traffic participant is within the expected speed interval of the first traffic participant and the distance between the first traffic participant and the vehicle is within the expected distance interval of the first traffic participant, it is determined that the first driving state information and the expected state information match, otherwise, it is determined that the first driving state information and the expected state information do not match.

[0173] Step 404, if the first driving state information and the expected state information match, it is determined that the first traffic participant is not an interaction participant.

[0174] In this embodiment, when it is determined that the first driving state information of the first traffic participant matches the expected state information of the first traffic participant, it indicates that the first traffic participant will not affect the vehicle, that is, the vehicle does not need to interact with the first traffic participant, and it is determined that the first traffic participant is not an interaction participant.

[0175] Step 405: If the first driving state information does not match the expected state information, obtain the interaction intention corresponding to the first traffic participant, and determine whether the first traffic participant is an interaction participant according to the interaction intention corresponding to the first traffic participant. Among them, the interaction intention indicates the driving priority of the first traffic participant.

[0176] In this embodiment, when it is determined that the first driving state information of the first traffic participant does not match the expected state information of the first traffic participant, it indicates that the current driving state of the first traffic participant is not a safe driving state, and the first traffic participant may affect the vehicle. Then, further use the interaction intention corresponding to the first traffic participant to determine whether the first traffic participant is an interaction participant.

[0177] Optionally, the interaction intention includes priority driving and avoidance driving. Among them, priority driving indicates that the first traffic participant has a higher driving priority, that is, the vehicle needs to avoid the first traffic participant. Avoidance driving indicates that the first traffic participant has a lower driving priority, that is, the first traffic participant needs to avoid the vehicle.

[0178] Among them, the interaction intention of the first traffic participant at the initial moment is determined according to the right-of-way information of the first traffic participant. When the right-of-way information of the first traffic participant at the initial moment is the first right-of-way, the interaction intention corresponding to the first traffic participant is priority driving; when the right-of-way information of the first traffic participant at the initial moment is not the first right-of-way, the interaction intention corresponding to the first traffic participant is that the first traffic participant avoids driving. The interaction intention of the first traffic participant at a subsequent moment is determined according to the first driving state information and the expected state information, and the process is as follows:

[0179] In the case where the first driving state information of the first traffic participant matches the expected state information of the first traffic participant, the interaction intention corresponding to the first traffic participant remains unchanged. In the case where the first driving state information of the first traffic participant does not match the expected state information of the first traffic participant, the interaction intention corresponding to the first traffic participant is switched to another state. For example, if the current interaction intention of the first traffic participant is avoidance driving, and in the case where the first driving state information of the first traffic participant does not match the expected state information of the first traffic participant, the current interaction intention of the first traffic participant is switched to priority driving.

[0180] Optionally, determining whether the first traffic participant is an interactive participant according to the interaction intention corresponding to the first traffic participant includes:

[0181] If the interaction intention corresponding to the first traffic participant is to give priority to driving, indicating that the vehicle needs to give way to the first traffic participant, then determine that the first traffic participant is an interactive participant.

[0182] If the interaction intention corresponding to the first traffic participant is to give way while driving, indicating that the vehicle does not need to give way to the first traffic participant, then determine that the first traffic participant is not an interactive participant.

[0183] Step 406: Control the vehicle to drive according to the right-of-way information corresponding to the interactive participant.

[0184] In this embodiment, in response to the existence of an interactive participant with the right-of-way information being the first right-of-way among the interactive participants, control the vehicle to stop driving, where the first right-of-way instructs the vehicle to give way. In the case where there is no interactive participant with the right-of-way information being the first right-of-way among the interactive participants, in response to the existence of an interactive participant with the right-of-way information being the second right-of-way among the interactive participants, control the vehicle to drive at a low speed within the first preset area in the area to be passed through the intersection, where the second right-of-way instructs the vehicle not to give way.

[0185] In this embodiment, when the vehicle needs to enter the area to be passed through the intersection, determine whether there is an interactive participant with the right-of-way information being the first right-of-way among the determined interactive participants. If so, indicating that the vehicle needs to give way to the interactive participant with the right-of-way information being the first right-of-way, then control the vehicle to stop driving until there is no interactive participant with the right-of-way information being the first right-of-way among the interactive participants, that is, until there is no interactive participant with the right-of-way information being the first right-of-way in the area concerned by the vehicle (for example, the area to be passed through the intersection, the target lane area).

[0186] When it is determined that there is no interactive participant with the right-of-way information being the first right-of-way among the interactive participants, determine whether there is an interactive participant with the right-of-way information being the second right-of-way among the interactive participants. If there is no interactive participant with the right-of-way information being the second right-of-way, the vehicle can drive normally, that is, control the vehicle to drive normally through the area to be passed through the intersection based on the preset path. If there is an interactive participant with the right-of-way information being the second right-of-way, then control the vehicle to drive at a low speed, that is, control the vehicle to drive at a preset speed, and the value of the preset speed is relatively small.

[0187] It can be understood that during the process of the vehicle passing through the area to be passed through the intersection, continuously determine the interactive participants in the area concerned by the vehicle, and control the vehicle to drive accordingly according to the right-of-way information of the interactive participant.

[0188] Optionally, when controlling the vehicle to drive at a low speed, control the vehicle to drive at a low speed within the preset low-speed area. In the case where the vehicle exits the preset low-speed area, control the vehicle to drive normally.

[0189] Among them, the distance between the preset low-speed area and the stop line of the lane where the vehicle is located is within a preset distance range. The number of preset low-speed areas can be one or more, which is related to the driving direction of the vehicle. For example, as Figure 8 shown, if the driving direction of the vehicle is straight, the preset low-speed area includes area a and area b; for another example, as Figure 9 shown, if the driving direction of the vehicle is a right turn, the preset low-speed area includes area c; for another example, as Figure 10 shown, if the driving direction of the vehicle is a left turn, the preset low-speed area includes area d and area e.

[0190] Optionally, during the process of controlling the vehicle to travel at a low speed, that is, in response to the existence of an interaction participant with the right-of-way information being the second right-of-way among the interaction participants, output vehicle passing prompt information to the interaction participant with the right-of-way information being the second right-of-way according to a preset prompt method, so that the interaction participant can make a timely avoidance. Among them, the preset prompt method includes a text prompt method and / or a voice prompt method.

[0191] In this embodiment, when determining the expected state information of the first traffic participant, considering the system delay caused by the hardware performance, the accuracy of determining the expected state information is improved, so that the interaction participant can be accurately determined, and then the interaction participant can be used to enable the driverless vehicle to efficiently pass through the intersection area to the greatest extent while ensuring safety.

[0192] In this embodiment, obtain the expected state information of the first traffic participant, and determine whether the first driving state information of the first traffic participant matches the expected state information of the first traffic participant, so as to determine whether the first traffic participant is currently in a safe driving state, that is, to determine whether the first traffic participant will affect the driving of the vehicle. When it is determined that the first driving state information of the first traffic participant matches the expected state information of the first traffic participant, it indicates that the first traffic participant will not affect the driving of the vehicle currently, then it is determined that the first traffic participant is not an interaction participant, that is, the vehicle does not need to interact with the first traffic participant. When it is determined that the first driving state information of the first traffic participant does not match the expected state information of the first traffic participant, further use the interaction intention corresponding to the first traffic participant to determine whether the first traffic participant needs to interact with the vehicle, that is, to determine whether the first traffic participant is an interaction participant, to accurately determine the interaction participant, that is, to accurately determine the traffic participant with which the vehicle needs to interact, so that the vehicle can interact with the traffic participant that needs to interact in a timely manner, ensuring the timeliness of the interaction.

[0193] In this embodiment, by predicting the target driving lane, i.e., the driving trajectory, of the first traffic participant and combining with the actual traffic rules, the right-of-way information of the first traffic participant is determined. Thus, when controlling the vehicle to drive based on the right-of-way information of the interaction participant determined from the first traffic participants, the vehicle can interact with the interaction participant reasonably and in a timely manner.

[0194] The embodiments of the vehicle driving device in this specification can be applied to in-vehicle terminals. The device embodiments can be implemented through software, or through hardware or a combination of software and hardware. Taking software implementation as an example, as a logically meaningful device, it is formed by the corresponding computer program instructions in the non-volatile memory being read into the memory by the processor where it is located and running. From the hardware level, as Figure 11 shown, it is a hardware structure diagram of the in-vehicle terminal where the vehicle driving device in the embodiments of this specification is located. In addition to Figure 11 the processor 1110, memory 1130, network interface 1120, and non-volatile memory 1140 shown, for the in-vehicle terminal where the vehicle driving device 1131 is located in the embodiments, usually according to the actual functions of the in-vehicle terminal, it may also include other hardware, which will not be elaborated here.

[0195] As Figure 12 shown, Figure 12 is a block diagram of a vehicle driving device shown according to an exemplary embodiment of this specification. The device includes:

[0196] An information acquisition module 1210, configured to acquire the first driving state information and the target driving lane of the first traffic participant in the intersection area to be passed by the vehicle, and acquire the second driving state information of the vehicle. Among them, the first driving state information includes the current position of the first traffic participant. The second driving state information includes the current position and driving direction of the vehicle.

[0197] A right-of-way determination unit 1220, configured to determine the right-of-way information corresponding to the first traffic participant according to the first driving state information, target driving lane of the first traffic participant, and the second driving state information of the vehicle. Among them, the right-of-way information indicates the avoidance behavior that the vehicle should take for the first traffic participant.

[0198] A participant determination module 1230, configured to determine an interaction participant from the first traffic participants. Among them, the interaction participant indicates the target object participating in the decision-making of the vehicle's driving information.

[0199] A driving control module 1240, configured to control the vehicle to drive according to the right-of-way information corresponding to the interaction participant.

[0200] In another embodiment of the present application, in the above Figure 8Based on the embodiments, the participant determination module 1230 is specifically configured to:

[0201] For each first traffic participant, obtain the expected state information of the first traffic participant, and determine whether the first driving state information of the first traffic participant matches the expected state information of the first traffic participant.

[0202] If the first driving state information matches the expected state information, determine that the first traffic participant is not an interaction participant.

[0203] If the first driving state information does not match the expected state information, obtain the interaction intention corresponding to the first traffic participant, and determine whether the first traffic participant is an interaction participant according to the interaction intention corresponding to the first traffic participant. Wherein, the interaction intention indicates the driving priority of the first traffic participant.

[0204] In this embodiment, optionally, the interaction intention includes priority driving and avoidance driving.

[0205] The participant determination module 1230 is further configured to:

[0206] If the interaction intention corresponding to the first traffic participant is priority driving, determine that the first traffic participant is an interaction participant.

[0207] If the interaction intention corresponding to the first traffic participant is avoidance driving, determine that the first traffic participant is not an interaction participant.

[0208] In this embodiment, optionally, the first driving state information further includes the current driving speed of the first traffic participant. The expected state information includes an expected speed range.

[0209] The participant determination module 1230 is further configured to:

[0210] Determine whether the current driving speed of the first traffic participant is within the expected speed range of the first traffic participant.

[0211] If it is within the expected speed range, determine that the first driving state information matches the expected state information.

[0212] If it is not within the expected speed range, determine that the first driving state information does not match the expected state information.

[0213] Optionally, the road right determination 1220 is specifically configured to:

[0214] Based on the current position of the vehicle and the current position of the first traffic participant, determine the right-of-way information corresponding to the target driving lane of the first traffic participant and the driving direction of the vehicle from a preset traffic driving rule table, and determine it as the right-of-way information corresponding to the first traffic participant. Among them, the traffic driving rule table includes the mapping relationship between the right-of-way and the driving direction.

[0215] Optionally, the driving control module 1240 is specifically configured to:

[0216] In response to the existence of an interaction participant with the right-of-way being the first right-of-way among the interaction participants, control the vehicle to stop driving, where the first right-of-way indicates that the vehicle should give way.

[0217] In the case where there is no interaction participant with the right-of-way being the first right-of-way among the interaction participants, in response to the existence of an interaction participant with the right-of-way being the second right-of-way among the interaction participants, control the vehicle to drive at a low speed within the first preset area in the intersection area to be passed, where the second right-of-way indicates that the vehicle does not need to give way.

[0218] Optionally, the driving control module 1240 is further configured to:

[0219] In response to the existence of an interaction participant with the right-of-way being the second right-of-way among the interaction participants, output a vehicle passing prompt message to the interaction participant with the right-of-way being the second right-of-way in a preset prompt manner. Among them, the preset prompt manner includes a text prompt manner and / or a voice prompt manner.

[0220] Optionally, the first driving state information further includes the current orientation of the first traffic participant.

[0221] The vehicle driving device further includes a first lane determination module. The first lane determination module is specifically configured to:

[0222] Divide the intersection area to be passed to obtain multiple sub-areas, and obtain the boundary lines corresponding to each sub-area and the lanes corresponding to each boundary line.

[0223] For each first traffic participant within the intersection area to be passed, determine the driving orientation marking line corresponding to the first traffic participant. Among them, the indicated direction corresponding to the driving orientation marking line is consistent with the current orientation of the first traffic participant.

[0224] Extend the driving orientation marking line corresponding to the first traffic participant to determine the target boundary line that intersects with the extended driving orientation marking line.

[0225] Obtain the lane corresponding to the target boundary line, and determine the target driving lane corresponding to the first traffic participant according to the lane corresponding to the target boundary line.

[0226] Optionally, the first driving state information further includes the current position of a preset point on the first traffic participant.

[0227] The vehicle driving device further includes a second lane determination module. Specifically, the second lane determination module is configured to:

[0228] For each first traffic participant within the intersection area to be passed, obtain the driving-out lane corresponding to the first traffic participant. The driving-out lane indicates the lane through which the first traffic participant passes when entering the intersection area to be passed.

[0229] Based on the current position of the preset point on the first traffic participant, determine the connection line between the first preset position within the driving-out lane corresponding to the first traffic participant and the preset point on the first traffic participant, and extend the connection line to determine the target preset lane segment that intersects with the extended connection line.

[0230] Obtain the lane corresponding to the target preset lane segment, and determine the target driving lane corresponding to the first traffic participant according to the lane corresponding to the target preset lane segment.

[0231] Optionally, the information acquisition module 1210 is further configured to:

[0232] Obtain the target lane area. The target lane area includes at least one lane, and the target lane area indicates the lane area that the vehicle focuses on when passing through the intersection area to be passed.

[0233] For each lane within the target lane area, obtain the collision time corresponding to each second traffic participant within the lane. The collision time indicates the time required for the second traffic participant within the lane to reach the second preset position within the lane.

[0234] Sort the collision times from smallest to largest, select a preset number of second traffic participants from all the second traffic participants within the lane, and use the selected second traffic participants as the first traffic participants.

[0235] An embodiment of the present application provides a computer-readable storage medium, in which computer program code is stored, and when the computer program code is executed by a processor, the above method steps are implemented.

[0236] An embodiment of the present application further provides a computer program product, including a computer program, and when the computer program is executed by a processor, the above method steps are implemented.

[0237] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to the descriptions of the method embodiments. The device embodiments described above are only illustrative. The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution in this specification. Those of ordinary skill in the art can understand and implement it without creative work.

[0238] The specific embodiments of this specification have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in a different order from that in the embodiments and still achieve the desired results. Additionally, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0239] Those skilled in the art will readily conceive of other embodiments of this specification after considering the specification and practicing the invention herein. This specification is intended to cover any variations, uses, or adaptations of this specification that follow the general principles of this specification and include the common general knowledge or conventional technical means in the technical field not claimed in this application. The specification and embodiments are only illustrative, and the true scope and spirit of this specification are pointed out by the following claims.

[0240] It should be understood that this specification is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of this specification is only limited by the appended claims.

[0241] The above are only the preferred embodiments of this specification and are not intended to limit this specification. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this specification shall be included within the scope of protection of this specification.

Claims

1. A vehicle driving method, characterized in that, Including: Obtain the first driving state information and the target driving lane of the first traffic participant within the intersection area to be passed by the vehicle, and obtain the second driving state information of the vehicle; wherein, the first driving state information includes the current position of the first traffic participant; the second driving state information includes the current position and driving direction of the vehicle; Determine the right-of-way information corresponding to the first traffic participant according to the first driving state information, the target driving lane of the first traffic participant, and the second driving state information of the vehicle; wherein, the right-of-way information indicates the avoidance behavior to be taken by the vehicle with respect to the first traffic participant; Determine an interaction participant from the first traffic participants; wherein, the interaction participant indicates the target object participating in the decision-making of the driving information of the vehicle; Control the driving of the vehicle according to the right-of-way information corresponding to the interaction participant; Wherein, the determining an interaction participant from the first traffic participants includes: For each first traffic participant, obtain the expected state information of the first traffic participant, and determine whether the first driving state information of the first traffic participant matches the expected state information of the first traffic participant; If the first driving state information matches the expected state information, determine that the first traffic participant is not an interaction participant; If the first driving state information does not match the expected state information, obtain the interaction intention corresponding to the first traffic participant, and determine whether the first traffic participant is an interaction participant according to the interaction intention corresponding to the first traffic participant; wherein, the interaction intention indicates the driving priority of the first traffic participant.

2. The method according to claim 1, wherein The interaction intention includes priority driving and avoidance driving; The determining whether the first traffic participant is an interaction participant according to the interaction intention corresponding to the first traffic participant includes: If the interaction intention corresponding to the first traffic participant is the priority driving, determine that the first traffic participant is an interaction participant; If the interaction intention corresponding to the first traffic participant is the avoidance driving, determine that the first traffic participant is not an interaction participant.

3. The method according to claim 1, wherein The first driving state information further includes the current driving speed of the first traffic participant; the expected state information includes an expected speed range; The determining whether the first driving state information of the first traffic participant matches the expected state information of the first traffic participant includes: Determine whether the current driving speed of the first traffic participant is within the expected speed range of the first traffic participant; If it is within the expected speed range, determine that the first driving state information matches the expected state information; If it is not within the expected speed range, determine that the first driving state information does not match the expected state information.

4. The method according to claim 1, wherein The determining the right-of-way information corresponding to the first traffic participant according to the first driving state information, the target driving lane of the first traffic participant, and the second driving state information of the vehicle includes: Based on the current position of the vehicle and the current position of the first traffic participant, determine the right-of-way information corresponding to the target driving lane of the first traffic participant and the driving direction of the vehicle from a preset traffic driving rule table, and determine it as the right-of-way information corresponding to the first traffic participant; wherein, the traffic driving rule table includes the mapping relationship between the right-of-way and the driving direction.

5. The method according to claim 1, wherein The controlling the vehicle to drive according to the right-of-way information of the interaction participant includes: In response to the existence of an interaction participant with the right-of-way information being the first right-of-way among the interaction participants, control the vehicle to stop driving, wherein the first right-of-way indicates that the vehicle should give way. In the case where there is no interaction participant with the right-of-way information being the first right-of-way among the interaction participants, in response to the existence of an interaction participant with the right-of-way information being the second right-of-way among the interaction participants, control the vehicle to drive at a low speed within a first preset area in the area to be passed through the intersection, wherein the second right-of-way indicates that the vehicle does not need to give way.

6. The method according to claim 5, wherein The method further includes: In response to the existence of an interaction participant with the right-of-way information being the second right-of-way among the interaction participants, output vehicle passing prompt information to the interaction participant with the right-of-way information being the second right-of-way in a preset prompt manner; wherein, the preset prompt manner includes a text prompt manner and / or a voice prompt manner.

7. The method according to any one of claims 1 to 6, characterized in that The first driving state information further includes the current orientation of the first traffic participant. The method further includes: Divide the area to be passed through the intersection to obtain multiple sub-areas, and obtain the boundary lines corresponding to each sub-area and the lanes corresponding to each boundary line. For each first traffic participant in the area to be passed through the intersection, determine the driving orientation marking line corresponding to the first traffic participant; wherein, the indicating direction of the driving orientation marking line is consistent with the current orientation of the first traffic participant. Extend the driving orientation marking line corresponding to the first traffic participant to determine the target boundary line intersecting with the extended driving orientation marking line. Obtain the lane corresponding to the target boundary line, and determine the target driving lane corresponding to the first traffic participant according to the lane corresponding to the target boundary line.

8. The method according to any one of claims 1 to 6, characterized in that, The first driving state information further includes the current position of a preset point on the first traffic participant. The method further includes: For each first traffic participant in the area to be passed through the intersection, obtain the exit lane corresponding to the first traffic participant; the exit lane represents the lane through which the first traffic participant passes when entering the area to be passed through the intersection. Based on the current position of the preset point on the first traffic participant, determine the connection line between the first preset position in the exit lane corresponding to the first traffic participant and the preset point on the first traffic participant, and extend the connection line to determine the target preset lane segment intersecting with the extended connection line. Obtain the lane corresponding to the target preset lane segment, and determine the target driving lane corresponding to the first traffic participant according to the lane corresponding to the target preset lane segment.

9. The method according to any one of claims 1 to 6, characterized in that, The method further includes: Obtain a target lane area; wherein, the target lane area includes at least one lane, and the target lane area indicates the lane area that the vehicle focuses on when passing through the intersection area to be passed; For each lane in the target lane area, obtain the collision time corresponding to each second traffic participant in the lane; wherein, the collision time represents the time required for the second traffic participant in the lane to reach a second preset position in the lane; According to the sorting of the collision times from small to large, select a preset number of second traffic participants from all the second traffic participants in the lane, and use the selected second traffic participants as the first traffic participants.

10. A vehicle driving device, characterized in that, The device includes: An information acquisition module, configured to acquire the first driving state information and the target driving lane of the first traffic participant in the intersection area to be passed by the vehicle, and acquire the second driving state information of the vehicle; wherein, the first driving state information includes the current position of the first traffic participant; the second driving state information includes the current position and the driving direction of the vehicle; A right-of-way determination module, configured to determine the right-of-way information corresponding to the first traffic participant according to the first driving state information, the target driving lane of the first traffic participant, and the second driving state information of the vehicle; wherein, the right-of-way information indicates the avoidance behavior that the vehicle needs to take for the first traffic participant; A participant determination module, configured to determine an interaction participant from the first traffic participants; wherein, the interaction participant indicates the target object participating in the decision-making of the driving information of the vehicle; A driving control module, configured to control the driving of the vehicle according to the right-of-way information corresponding to the interaction participant; Wherein, determining the interaction participant from the first traffic participants includes: For each first traffic participant, obtain the expected state information of the first traffic participant, and determine whether the first driving state information of the first traffic participant matches the expected state information of the first traffic participant; If the first driving state information matches the expected state information, it is determined that the first traffic participant is not an interaction participant; If the first driving state information does not match the expected state information, obtain the interaction intention corresponding to the first traffic participant, and determine whether the first traffic participant is an interaction participant according to the interaction intention corresponding to the first traffic participant; wherein, the interaction intention indicates the driving priority of the first traffic participant.

11. A vehicle-mounted terminal, characterized in that, It includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the following method is implemented: Obtain the first driving state information and the target driving lane of the first traffic participant in the intersection area to be passed by the vehicle, and obtain the second driving state information of the vehicle; wherein, the first driving state information includes the current position of the first traffic participant; the second driving state information includes the current position and the driving direction of the vehicle; Determine the right-of-way information corresponding to the first traffic participant based on the first driving state information of the first traffic participant, the target driving lane, and the second driving state information of the vehicle; wherein the right-of-way information indicates the avoidance behavior to be taken by the vehicle with respect to the first traffic participant. Determine an interaction participant from the first traffic participants; wherein the interaction participant indicates the target object participating in the decision-making of the driving information of the vehicle. Control the driving of the vehicle according to the right-of-way information corresponding to the interaction participant. Wherein, determining an interaction participant from the first traffic participants includes: For each first traffic participant, obtain the expected state information of the first traffic participant, and determine whether the first driving state information of the first traffic participant matches the expected state information of the first traffic participant. If the first driving state information matches the expected state information, determine that the first traffic participant is not an interaction participant. If the first driving state information does not match the expected state information, obtain the interaction intention corresponding to the first traffic participant, and determine whether the first traffic participant is an interaction participant according to the interaction intention corresponding to the first traffic participant; wherein the interaction intention indicates the driving priority of the first traffic participant.

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