A method, apparatus, device and storage medium for vehicles meeting on a narrow road

Abstract

This invention discloses a method, apparatus, device, and storage medium for passing on narrow roads. The method plans the trajectory of the vehicle based on its current state, predicts the trajectory of a first oncoming vehicle based on its current state, and predicts the trajectory of a second oncoming vehicle based on its current state and the trajectory of the first oncoming vehicle. The second oncoming vehicle avoids the first oncoming vehicle in time and space, with the first oncoming vehicle ahead of the second oncoming vehicle and its speed being less than that of the second oncoming vehicle. A multi-vehicle passing strategy is determined based on the trajectories of the vehicle and the second oncoming vehicle. When the second oncoming vehicle overtakes the first oncoming vehicle, the trajectory of the second oncoming vehicle can be predicted, and a corresponding multi-vehicle passing strategy can be implemented based on the trajectories of the vehicle and the second oncoming vehicle, thus avoiding traffic congestion or vehicle collisions and improving passing efficiency and passenger safety.

Description

Technical Field

[0001] This invention relates to autonomous driving technology, and more particularly to a method, apparatus, device, and storage medium for passing other vehicles on narrow roads. Background Technology

[0002] Autonomous vehicles are a new type of intelligent car that uses onboard sensors to perceive their surroundings, collect environmental information, and then uses a control device (i.e., the onboard intelligent brain) to perform precise calculations and analyses of the environmental information. Finally, the control device sends commands to the ECU (Electronic Control Unit) to control different devices in the driverless vehicle, thereby achieving fully automatic operation and the goal of autonomous driving.

[0003] As the application of autonomous vehicles expands, the number of driving scenarios that need to be handled also increases. Passing other vehicles on narrow roads is one of the most complex scenarios in Level 4 autonomous driving decision-making and planning algorithms.

[0004] Specifically, when two vehicles are traveling in opposite directions on a narrow road, and the vehicle in front is traveling slower than the vehicle behind, the vehicle behind may cross the center line and drive against traffic into the lane where the autonomous vehicle is located in order to overtake. However, the autonomous vehicle usually only treats the vehicle behind as a follower of the vehicle in front, only interacting with the vehicle in front, and will not predict that the vehicle behind will use its lane to overtake, leading to traffic congestion or vehicle collisions. Summary of the Invention

[0005] This invention provides a method, apparatus, device, and storage medium for passing on narrow roads to avoid traffic congestion or vehicle collisions, thereby improving passing efficiency and passenger safety.

[0006] In a first aspect, the present invention provides a method for meeting oncoming traffic on a narrow road, comprising:

[0007] Using the current state of the vehicle as a constraint, plan the trajectory of the vehicle.

[0008] Predict the trajectory of the first oncoming vehicle using its current state as a constraint.

[0009] Given the current state of the second oncoming vehicle and the trajectory of the first oncoming vehicle as constraints, the trajectory of the second oncoming vehicle is predicted. The second oncoming vehicle avoids the first oncoming vehicle in time and space. The first oncoming vehicle is in front of the second oncoming vehicle, and the speed of the first oncoming vehicle is less than the speed of the second oncoming vehicle.

[0010] A multi-vehicle meeting strategy is determined based on the trajectory of the first vehicle and the trajectory of the second oncoming vehicle.

[0011] Optionally, the trajectory of the second oncoming vehicle is predicted based on the current state of the second oncoming vehicle and the trajectory of the first oncoming vehicle, and the second oncoming vehicle avoids the first oncoming vehicle in time and space, including:

[0012] Without considering the first oncoming vehicle, the first trajectory of the second oncoming vehicle is predicted with the current state of the second oncoming vehicle as a constraint.

[0013] The meeting area between the second oncoming vehicle and the self-vehicle is determined based on the first trajectory of the second oncoming vehicle and the trajectory of the self-vehicle.

[0014] Calculate the first time required for the second oncoming vehicle to travel from its current position to the meeting area;

[0015] Determine the trajectory of the first oncoming vehicle within the first time period from its trajectory.

[0016] Using the current state of the second oncoming vehicle and the trajectory of the first oncoming vehicle within the first time period as constraints, the trajectory of the second oncoming vehicle is predicted.

[0017] Optionally, calculating the first time required for the second oncoming vehicle to travel from its current position to the meeting area includes:

[0018] The path length from the current position of the second oncoming vehicle to the meeting area is determined in the first trajectory of the second oncoming vehicle;

[0019] Based on the path length, calculate the first time required for the second oncoming vehicle to decelerate at a constant speed from its current speed to the safe speed required to reach the meeting area.

[0020] Optionally, the trajectory of the second oncoming vehicle is predicted based on the current state of the second oncoming vehicle and the trajectory of the first oncoming vehicle within the first time period, including:

[0021] The first trajectory of the second oncoming vehicle is sampled to obtain the distance of the second oncoming vehicle relative to the current position at multiple sampling points within a preset time period;

[0022] The trajectory of the first oncoming vehicle is sampled to determine the speed of the first oncoming vehicle at each sampling point;

[0023] For each of the sampling points, the acceleration required for the second oncoming vehicle to decelerate from its initial speed to the speed of the first oncoming vehicle at the sampling point is calculated based on the distance.

[0024] Determine the target sampling point where the acceleration is greater than a preset value, and determine the lateral constraint information of the second oncoming vehicle bypassing the first oncoming vehicle at the target sampling point based on the contour information of the first oncoming vehicle;

[0025] The trajectory of the second oncoming vehicle is predicted based on the first trajectory of the second oncoming vehicle and the lateral constraint information.

[0026] Optionally, a multi-vehicle meeting strategy is determined based on the trajectory of the self-vehicle and the trajectory of the second oncoming vehicle, including:

[0027] The overlap area between the second oncoming vehicle and the self-vehicle is determined based on the trajectory of the second oncoming vehicle and the trajectory of the self-vehicle.

[0028] The passage priority of the vehicle and the second oncoming vehicle is determined based on the trajectory of the vehicle and the trajectory of the second oncoming vehicle.

[0029] If the priority of the vehicle is higher than that of the oncoming vehicle, the passing strategy is determined as follows: the oncoming vehicle stops and yields to the vehicle before reaching the overlapping section.

[0030] If the passage priority of the second oncoming vehicle is higher than that of the vehicle itself, the passing strategy is determined as follows: the vehicle itself stops to yield to the second oncoming vehicle before reaching the overlapping section.

[0031] Optionally, there is a first static obstacle in front of the first oncoming vehicle, and / or there is a second static obstacle in front of the vehicle. The trajectory of the first oncoming vehicle is the trajectory of the first oncoming vehicle using the lane where the vehicle is located to avoid the first static obstacle, and the trajectory of the vehicle is the trajectory of the vehicle using the lane where the first oncoming vehicle is located to avoid the second static obstacle.

[0032] Optionally, a multi-vehicle meeting strategy is determined based on the trajectory of the self-vehicle and the trajectory of the second oncoming vehicle, including:

[0033] The first meeting strategy between the first oncoming vehicle and the self vehicle is determined based on the trajectory of the first oncoming vehicle and the trajectory of the self vehicle.

[0034] A second meeting strategy between the self vehicle and the second oncoming vehicle is determined based on the trajectory of the second oncoming vehicle and the trajectory of the self vehicle.

[0035] A multi-vehicle passing strategy is determined based on the first passing strategy and the second passing strategy.

[0036] Optionally, a multi-vehicle meeting strategy is determined based on the first meeting strategy and the second meeting strategy, including:

[0037] If the first passing strategy is for the vehicle to yield to the first oncoming vehicle, and the second passing strategy is for the vehicle to yield to the second oncoming vehicle, then the multi-vehicle passing strategy is determined to be: the vehicle stops and yields to the first and second oncoming vehicles before reaching the overlapping section;

[0038] If the first passing strategy is for the vehicle to yield to the first oncoming vehicle, and the second passing strategy is for the second oncoming vehicle to yield to the vehicle, then the first moment when the vehicle passes through the overlapping section is determined from the trajectory of the vehicle, and the second moment when the first oncoming vehicle passes through the overlapping section is determined from the trajectory of the first oncoming vehicle.

[0039] If the first time is earlier than the second time, the multi-vehicle passing strategy is determined as follows: the second oncoming vehicle stops to yield to the vehicle, and then the vehicle stops to yield to the first oncoming vehicle; if the first time is later than the second time, the multi-vehicle passing strategy is determined as follows: the vehicle stops to yield to the second oncoming vehicle, and then the vehicle stops to yield to the first oncoming vehicle.

[0040] If the first passing strategy is for the first oncoming vehicle to yield to the vehicle, and the second passing strategy is for the vehicle to yield to the second oncoming vehicle, then the third moment when the vehicle passes through the overlapping section is determined from the trajectory of the vehicle, and the fourth moment when the second oncoming vehicle passes through the overlapping section is determined from the trajectory of the second oncoming vehicle.

[0041] If the third time is earlier than the fourth time, the multi-vehicle meeting strategy is determined as follows: the vehicle stops to yield to the second oncoming vehicle, and then the first oncoming vehicle stops to yield to the vehicle; if the third time is later than the fourth time, the multi-vehicle meeting strategy is determined as follows: the vehicle stops to yield to the second oncoming vehicle, and then the vehicle stops to yield to the first oncoming vehicle.

[0042] If the first oncoming vehicle yields to the vehicle and the second oncoming vehicle yields to the vehicle, then the multi-vehicle oncoming vehicle strategy is determined to be: the second oncoming vehicle yields to the vehicle, and then the first oncoming vehicle yields to the vehicle.

[0043] Secondly, the present invention also provides a narrow-road meeting device, comprising:

[0044] The vehicle trajectory prediction module is used to plan the trajectory of the vehicle based on the current state of the vehicle.

[0045] The first oncoming vehicle trajectory prediction module is used to predict the trajectory of the first oncoming vehicle based on the current state of the first oncoming vehicle.

[0046] The second oncoming vehicle trajectory prediction module is used to predict the trajectory of the second oncoming vehicle based on the current state of the second oncoming vehicle and the trajectory of the first oncoming vehicle. The second oncoming vehicle avoids the first oncoming vehicle in time and space. The first oncoming vehicle is in front of the second oncoming vehicle, and the speed of the first oncoming vehicle is less than the speed of the second oncoming vehicle.

[0047] The vehicle meeting strategy determination module is used to determine a multi-vehicle meeting strategy based on the trajectory of the vehicle and the trajectory of the second oncoming vehicle.

[0048] Thirdly, the present invention also provides an electronic device, comprising:

[0049] one or more processors;

[0050] Memory, used to store one or more programs;

[0051] When the one or more programs are executed by the one or more processors, the one or more processors implement the narrow-road meeting method as provided in the first aspect of the present invention.

[0052] Fourthly, the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the narrow-road meeting method as provided in the first aspect of the present invention.

[0053] The present invention provides a method for passing on narrow roads, which plans the trajectory of the vehicle based on its current state, predicts the trajectory of the first oncoming vehicle based on its current state, and predicts the trajectory of the second oncoming vehicle based on its current state and the trajectory of the first oncoming vehicle. The second oncoming vehicle avoids the first oncoming vehicle in time and space, with the first oncoming vehicle in front of the second oncoming vehicle and its speed being less than that of the second oncoming vehicle. Based on the trajectories of the vehicle and the second oncoming vehicle, a multi-vehicle passing strategy is determined. When the second oncoming vehicle overtakes the first oncoming vehicle by using its lane, the trajectory of the second oncoming vehicle can be predicted, and a corresponding multi-vehicle passing strategy can be made based on the trajectories of the vehicle and the second oncoming vehicle, thereby avoiding traffic congestion or vehicle collisions and improving passing efficiency and passenger safety.

[0054] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1 A flowchart of a method for meeting on a narrow road provided by an embodiment of the present invention;

[0057] Figure 2 This is a schematic diagram of a narrow road meeting scenario provided by an embodiment of the present invention;

[0058] Figure 3 This is a schematic diagram of another narrow road meeting scenario provided by an embodiment of the present invention;

[0059] Figure 4 This is a schematic diagram of another narrow road meeting scenario provided by an embodiment of the present invention;

[0060] Figure 5 This is a schematic diagram of another narrow road meeting scenario provided by an embodiment of the present invention;

[0061] Figure 6 This is a schematic diagram of a narrow-road meeting device provided in an embodiment of the present invention;

[0062] Figure 7 This is a schematic diagram of the structure of an electronic device provided as an embodiment of the present invention. Detailed Implementation

[0063] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0064] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0065] Figure 1 This is a flowchart illustrating a method for passing on a narrow road according to an embodiment of the present invention. This embodiment is applicable to situations where multiple vehicles are passing each other on narrow roads. The device can be implemented in software and / or hardware, and is typically configured in an electronic device. This method can be executed by the narrow road passing device provided in this embodiment of the present invention. For example, the electronic device can be a computer device mounted on the autonomous vehicle itself, or it can be a computer device located at a remote end (e.g., a server). This embodiment of the present invention does not limit the scope of the method. Figure 1 As shown, the method for passing oncoming vehicles on a narrow road includes the following steps:

[0066] S101. Using the current state of the vehicle as a constraint, plan the trajectory of the vehicle.

[0067] Figure 2 This is a schematic diagram of a narrow road meeting scenario provided by an embodiment of the present invention, as shown below. Figure 2 As shown in this embodiment of the invention, the narrow road section is a two-way single lane, but the lane where the oncoming vehicle is located has multiple vehicles (two are shown in the figure). The vehicle in front in the lane where the oncoming vehicle is located is referred to as the first oncoming vehicle o1, and the vehicle behind is referred to as the second oncoming vehicle o2. The speed of the first oncoming vehicle is less than that of the second oncoming vehicle. In order to overtake, the second oncoming vehicle o2 may cross the center line and drive against the flow of traffic into the lane where the autonomous vehicle (i.e., the autonomous vehicle) is located. This embodiment does not consider the influence of other obstacles in the lane (e.g., illegally parked vehicles, roadblocks, etc.).

[0068] In this embodiment of the invention, after the vehicle and the oncoming vehicle enter a narrow road section, sensors mounted on the vehicle collect real-time data on the vehicle's status, environmental information, and the status of the oncoming vehicles (including the first and second oncoming vehicles). The vehicle's status can include its position, speed, acceleration, and heading, and can be acquired through onboard status sensors, such as satellite locators and gyroscopes. Environmental information can be acquired through onboard environmental sensors, such as cameras and lidar. The oncoming vehicle's status can include its position, speed, acceleration, and heading, and can be acquired through onboard environmental sensors.

[0069] In this embodiment of the invention, the trajectory of the vehicle is planned using a path planning algorithm based on the vehicle's current state and environmental information. The path planning algorithm may include A* algorithm, Dijkstra's algorithm, D* algorithm, etc., and is not limited thereto in this embodiment. In this embodiment, the trajectory is essentially a set of the vehicle's states at different times.

[0070] In some embodiments of the present invention, before executing step S101, it can be determined whether the vehicle is currently in a narrow road section. If so, step S101 continues; otherwise, the process ends. For example, the vehicle's current location information is obtained, and a pre-drawn semantic map within a preset range is obtained based on this location information. The semantic map is annotated on a traditional map layer, highlighting key information on the road surface, such as lane lines, road edges, and intersections. After obtaining the pre-drawn semantic map, the road parameters in the semantic map are analyzed to determine whether the vehicle is currently in a narrow road section.

[0071] In some embodiments of the present invention, after determining whether the vehicle is currently in a narrow road section, it can also be determined whether the speed of the first oncoming vehicle is less than the speed of the second oncoming vehicle. If so, step S101 is continued; otherwise, the process ends.

[0072] S102. Using the current state of the first oncoming vehicle as a constraint, predict the trajectory of the first oncoming vehicle.

[0073] In this embodiment of the invention, the trajectory of the first oncoming vehicle is planned using a path planning algorithm based on its current state and environmental information. The path planning algorithm may include A* algorithm, Dijkstra's algorithm, D* algorithm, etc., and is not limited thereto in this embodiment.

[0074] S103. Using the current state of the second oncoming vehicle and the trajectory of the first oncoming vehicle as constraints, predict the trajectory of the second oncoming vehicle, and the second oncoming vehicle avoids the first oncoming vehicle in time and space.

[0075] In this embodiment of the invention, considering the influence of the trajectory of the first oncoming vehicle on the second oncoming vehicle, the current state of the second oncoming vehicle and the trajectory of the first oncoming vehicle are used as constraints, and a path planning algorithm is used to predict the trajectory of the second oncoming vehicle. The second oncoming vehicle avoids the first oncoming vehicle in time and space, that is, the trajectory of the second oncoming vehicle during the overtaking process is predicted.

[0076] In some embodiments of the present invention, S103, using the current state of the second oncoming vehicle and the trajectory of the first oncoming vehicle as constraints, predicting the trajectory of the second oncoming vehicle, and the second oncoming vehicle avoiding the first oncoming vehicle in time and space, includes the following sub-steps:

[0077] 1. Without considering the first oncoming vehicle, predict the first trajectory of the second oncoming vehicle by taking the current state of the second oncoming vehicle as a constraint.

[0078] In this embodiment of the invention, without considering the first oncoming vehicle, the current state of the second oncoming vehicle is used as a constraint to predict the first trajectory of the second oncoming vehicle using a path planning algorithm. The path planning algorithm may include the A* algorithm, Dijkstra's algorithm, D* algorithm, etc., and this embodiment of the invention does not limit it.

[0079] 2. Determine the meeting area between the second opposing vehicle and the self vehicle based on the first trajectory of the second opposing vehicle and the trajectory of the self vehicle.

[0080] In this embodiment of the invention, without considering the first oncoming vehicle, the meeting area between the second oncoming vehicle and the vehicle is determined based on the first trajectory of the second oncoming vehicle and the trajectory of the vehicle itself. For example, the meeting area is the region between the intersection of the frontal ends of the second oncoming vehicle and the separation of the vehicle from the parking space along the road direction.

[0081] 3. Calculate the first time required for the second oncoming vehicle to travel from its current position to the meeting area.

[0082] In this embodiment of the invention, a safe speed for vehicles to meet is set, for example, 2 km / h, and the first time required for the second oncoming vehicle to decelerate from its current position and speed to the safe speed to reach the meeting area is calculated.

[0083] For example, the path length from the current position of the second oncoming vehicle to the meeting area is determined in the first trajectory of the second oncoming vehicle. Based on this path length, a first time required for the second oncoming vehicle to decelerate uniformly from its current speed to the safe speed for reaching the meeting area is calculated. Specifically, the formula for calculating the first time t1 is as follows:

[0084]

[0085] Where d1 is the path length from the current position of the second oncoming vehicle in the first trajectory to the meeting area, v1 is the current speed of the second oncoming vehicle, and va is the safe speed for meeting.

[0086] 4. Determine the trajectory of the first oncoming vehicle within the first time period from its trajectory.

[0087] After calculating the first time required for the second oncoming vehicle to travel from its current position to the meeting area, the trajectory of the first oncoming vehicle within the first time can be determined from its trajectory based on the first time.

[0088] For example, for the first oncoming vehicle, the path length from the current position of the first oncoming vehicle to the meeting area is determined in the trajectory of the first oncoming vehicle. Assuming the first oncoming vehicle undergoes uniformly decelerated motion from its current position to the meeting area, the deceleration 'a' of the first oncoming vehicle can be calculated using the following formula:

[0089]

[0090] Where v2 is the current speed of the first oncoming vehicle, va is the safe speed for passing, and d2 is the path length from the current position of the first oncoming vehicle to the passing area.

[0091] After the first time interval, the speed v3 of the first oncoming vehicle is:

[0092] v3 = v2 - at1

[0093] Then the trajectory length d3 of the first oncoming vehicle during the first time period is:

[0094]

[0095] Thus, starting from the current moment, the trajectory of the first oncoming vehicle is taken as the trajectory of the first oncoming vehicle within the first time period, with a path length of d3.

[0096] 5. Using the current state of the second oncoming vehicle and the trajectory of the first oncoming vehicle within the first time period as constraints, predict the trajectory of the second oncoming vehicle.

[0097] In this embodiment of the invention, considering the influence of the first oncoming vehicle on the second oncoming vehicle, the trajectory of the second oncoming vehicle is predicted by taking the current state of the second oncoming vehicle and the trajectory of the first oncoming vehicle within a first time period as constraints.

[0098] For example, predicting the trajectory of the second oncoming vehicle, constrained by the current state of the second oncoming vehicle and the trajectory of the first oncoming vehicle within a first time period, includes the following sub-steps:

[0099] 1) Sample the first trajectory of the second oncoming vehicle to obtain the distance of the second oncoming vehicle relative to the current position at multiple sampling points within a preset time period.

[0100] In this embodiment of the invention, the first trajectory of the second oncoming vehicle is sampled to obtain the distance of the second oncoming vehicle relative to its current position at multiple sampling points within a preset time period. For example, if a sampling point is set every 0.2 seconds within 8 seconds, the distance in the first trajectory at each moment can be represented as Se(se0, se1, se2, ..., se40).

[0101] 2) Sample the trajectory of the first oncoming vehicle and determine the speed of the first oncoming vehicle at each sampling point.

[0102] The trajectory of the first oncoming vehicle predicted above is sampled to determine the speed of the first oncoming vehicle at each sampling point. The speed of the first oncoming vehicle at each sampling point can be represented as Vo1(vo0, vo1, vo2, ..., vo40).

[0103] 3) For each sampling point, calculate the acceleration required for the second oncoming vehicle to decelerate from its initial speed to the speed of the first oncoming vehicle at the sampling point, based on the distance.

[0104] For example, for a certain sampling point k, the distance of the second oncoming vehicle in the first trajectory is so2k, and the speed of the first oncoming vehicle is sampled as vok. Then, the acceleration ak required for the second oncoming vehicle to decelerate from its initial speed to the speed vok of the first oncoming vehicle at sampling point k is:

[0105]

[0106] 4) Determine the target sampling point where the acceleration is greater than the preset value, and determine the lateral constraint information of the second oncoming vehicle around the first oncoming vehicle at the target sampling point based on the contour information of the first oncoming vehicle.

[0107] In this embodiment of the invention, the relationship between the acceleration ak corresponding to each sampling point and a preset value is determined. The preset value can be the maximum acceleration at which the second oncoming vehicle can follow the first oncoming vehicle. If, at a certain sampling point k, the acceleration required for the second oncoming vehicle to decelerate from its initial speed to the speed of the first oncoming vehicle at sampling point k is less than or equal to the preset value, it indicates that the second oncoming vehicle can comfortably follow the first oncoming vehicle. If, at a certain sampling point k, the acceleration required for the second oncoming vehicle to decelerate from its initial speed to the speed of the first oncoming vehicle at sampling point k is greater than the preset value, it indicates that the second oncoming vehicle cannot comfortably follow the first oncoming vehicle and needs to use its own lane to overtake. In this embodiment of the invention, a target sampling point with an acceleration greater than the preset value is determined, that is, at this target sampling point, the second oncoming vehicle needs to use its own lane to overtake. Based on the contour information of the first oncoming vehicle, the lateral constraint information for the second oncoming vehicle to bypass the first oncoming vehicle at the target sampling point is determined for overtaking in its own lane. In this embodiment of the invention, based on the contour information of the first oncoming vehicle collected by environmental sensors, the lateral constraint information for the second oncoming vehicle to bypass the first dynamic obstacle at the target sampling point is determined. Lateral constraint information can be the maximum and minimum coordinates of the first oncoming vehicle in the direction perpendicular to the lane centerline.

[0108] 5) Predict the trajectory of the second oncoming vehicle based on the first trajectory and lateral constraint information of the second oncoming vehicle.

[0109] Based on the lateral constraint information, the QP algorithm is used to optimize the first trajectory of the second oncoming vehicle, thus obtaining the trajectory of the second oncoming vehicle avoiding the first oncoming vehicle in space and time.

[0110] S104. Determine the multi-vehicle meeting strategy based on the trajectory of the vehicle and the trajectory of the second opposing vehicle.

[0111] After obtaining the trajectory of the vehicle and the trajectory of the second oncoming vehicle, a multi-vehicle passing strategy is determined based on these trajectories. In this embodiment of the invention, the passing priority of the vehicle and the second oncoming vehicle is calculated based on their trajectories. The vehicle with the higher passing priority has the right to pass first when passing, while the vehicle with the lower passing priority needs to move aside and give way.

[0112] In some embodiments of the present invention, a multi-vehicle meeting strategy is determined based on the trajectory of the vehicle and the trajectory of the second oncoming vehicle, including:

[0113] 1. Determine the overlapping area between the second opposing vehicle and the self vehicle based on the trajectory of the second opposing vehicle and the trajectory of the self vehicle.

[0114] like Figure 2 As shown, considering the first oncoming vehicle, the overlap between the second oncoming vehicle and the vehicle itself is as follows: Figure 2As shown in area1. In this embodiment of the invention, considering the trajectory of the second oncoming vehicle and the trajectory of the vehicle itself, as well as the width of the vehicle itself and the width of the second oncoming vehicle, the overlap space of the vehicle itself and the second oncoming vehicle is determined. For example, a search is performed along the trajectory of the vehicle itself to find two target points whose distance between the trajectory of the vehicle itself and the trajectory of the second oncoming vehicle is equal to (da+db) / 2. The area between the two target points is the overlap space, where da is the width of the vehicle itself and db is the width of the second oncoming vehicle.

[0115] 2. Determine the passage priority of the vehicle and the second oncoming vehicle based on the vehicle's trajectory and the trajectory of the second oncoming vehicle.

[0116] For example, in this embodiment of the invention, a collision avoidance cost function is constructed based on the vehicle speed and the distance from the vehicle to the overlapping space. This function calculates the cost required for the vehicle to avoid a collision. A higher collision avoidance cost indicates lower passing efficiency when the vehicle stops to avoid a collision, and the vehicle should be allowed to pass first. For example, the collision avoidance cost function f is:

[0117]

[0118] Among them, v i Let be the vehicle's current speed, 's' be the distance the vehicle travels from its current position to the overlapping space, and 'A' be other influencing factors, which may include right-of-way factors, vehicle type factors, etc. When the vehicle's travel direction is the same as the road's travel direction, the vehicle is determined to have right-of-way; when the vehicle's travel direction is not the same as the road's travel direction, the vehicle is determined to not have right-of-way. For example, the right-of-way factor is 1 when the vehicle has right-of-way and 0 when it does not. Vehicle type can include trucks, buses, ambulances, etc., and the vehicle type factor differs for different vehicle types. For example, the second constant term B obtained by mapping a truck is 0.6, the second constant term B obtained by mapping a bus is 0.3, and the second constant term B obtained by mapping an ambulance is 0.

[0119] Based on the aforementioned avoidance cost function, the avoidance cost for the second oncoming vehicle to stop and avoid the collision before the overlapping section, and the avoidance cost for the vehicle itself to stop and avoid the collision before the overlapping section, are calculated respectively. The vehicle with the higher avoidance cost is determined to have higher passage priority, and this vehicle is given priority to pass, thereby improving passing efficiency.

[0120] If the vehicle's priority is higher than that of the second oncoming vehicle, the passing strategy is determined as follows: the second oncoming vehicle stops and yields to the vehicle before reaching the overlapping section.

[0121] If the priority of the second oncoming vehicle is higher than that of the vehicle itself, the passing strategy is determined as follows: the vehicle itself stops and yields to the second oncoming vehicle before reaching the overlapping section.

[0122] The narrow-road passing method provided in this invention uses the current state of the vehicle as a constraint to plan the trajectory of the vehicle, uses the current state of the first oncoming vehicle as a constraint to predict the trajectory of the first oncoming vehicle, and uses the current state of the second oncoming vehicle and the trajectory of the first oncoming vehicle as constraints to predict the trajectory of the second oncoming vehicle. The second oncoming vehicle avoids the first oncoming vehicle in time and space. The first oncoming vehicle is in front of the second oncoming vehicle and its speed is less than that of the second oncoming vehicle. Based on the trajectories of the vehicle and the second oncoming vehicle, a multi-vehicle passing strategy is determined. When the second oncoming vehicle overtakes the first oncoming vehicle by using its lane, the trajectory of the second oncoming vehicle can be predicted, and a corresponding multi-vehicle passing strategy can be made based on the trajectories of the vehicle and the second oncoming vehicle, thus avoiding traffic congestion or vehicle collision accidents and improving passing efficiency and passenger safety.

[0123] In some embodiments of the present invention Figure 2 In the scenario shown, there may be static obstacles in the lane of the oncoming vehicle and / or the lane of the vehicle itself. The presence of static obstacles will affect the trajectory of the vehicle and the oncoming vehicle, as well as the passing strategy. Figure 3 This is a schematic diagram of another narrow road meeting scenario provided by an embodiment of the present invention, such as... Figure 3 As shown, there is a first static obstacle b1 in front of the first oncoming vehicle o1, and the trajectory of the first oncoming vehicle o1 is the trajectory of the first oncoming vehicle using the lane where vehicle e is located in order to avoid the first static obstacle b1. Figure 4 This is a schematic diagram of another narrow road meeting scenario provided by an embodiment of the present invention, such as... Figure 4 As shown, there is a second static obstacle b2 in front of vehicle e, and the trajectory of vehicle e is the trajectory of vehicle e taking the lane where the first oncoming vehicle o1 is located in order to avoid the second static obstacle b2. Figure 5 This is a schematic diagram of another narrow road meeting scenario provided by an embodiment of the present invention, such as... Figure 5 As shown, there is a first static obstacle b1 in front of the first oncoming vehicle o1, and a second static obstacle b2 in front of the vehicle e.

[0124] In embodiments where static obstacles exist in the lane of the oncoming vehicle and / or the lane of the vehicle, it is necessary to consider the passing strategy between the vehicle and the first oncoming vehicle. Therefore, determining the multi-vehicle passing strategy based on the trajectory of the vehicle and the trajectory of the second oncoming vehicle includes the following steps:

[0125] 1. Determine the first meeting strategy between the first oncoming vehicle and the vehicle based on the trajectory of the first oncoming vehicle and the trajectory of the vehicle itself.

[0126] For example, in this embodiment of the invention, the passage priority of the vehicle and the first oncoming vehicle is calculated based on the trajectory of the vehicle and the trajectory of the first oncoming vehicle. The vehicle with the higher passage priority has the right to pass first when the two vehicles meet, while the vehicle with the lower passage priority needs to move aside and give way. The process of calculating the vehicle passage priority has been described in detail in the foregoing embodiments, and will not be repeated here.

[0127] 2. Determine the second meeting strategy between the self vehicle and the second oncoming vehicle based on the trajectory of the second oncoming vehicle and the trajectory of the self vehicle.

[0128] For example, in this embodiment of the invention, the traffic priority of the vehicle and the second oncoming vehicle is calculated based on the trajectory of the vehicle and the trajectory of the oncoming vehicle. The vehicle with the higher traffic priority has the right to pass first when the two vehicles meet, while the vehicle with the lower traffic priority needs to pull over and give way. The process of calculating the traffic priority of the vehicles has been described in detail in the foregoing embodiments, and will not be repeated here.

[0129] 3. Determine the multi-vehicle meeting strategy based on the first and second meeting strategies.

[0130] After obtaining the first and second passing strategies, the multi-vehicle passing strategy is determined by taking into account both strategies.

[0131] For example, if the first oncoming traffic strategy is for the vehicle to yield to the first oncoming vehicle, and the second oncoming traffic strategy is for the vehicle to yield to the second oncoming vehicle, then the multi-vehicle oncoming traffic strategy is determined as follows: the vehicle stops and yields to the first and second oncoming vehicles before reaching the overlapping section. Figure 5 In the embodiment shown, the vehicle stops to yield to the first and second oncoming vehicles before reaching the second static obstacle.

[0132] If the first oncoming traffic strategy is for the vehicle to yield to the first oncoming vehicle, and the second oncoming traffic strategy is for the second oncoming vehicle to yield to the vehicle, then based on the second oncoming traffic strategy, the first moment when the vehicle passes through the overlapping section is determined from the vehicle's trajectory, and based on the first oncoming traffic strategy, the second moment when the first oncoming vehicle passes through the overlapping section is determined from the trajectory of the first oncoming vehicle. If the first moment is earlier than the second moment, then the multi-vehicle oncoming traffic strategy is determined as follows: the second oncoming vehicle stops to yield to the vehicle, and then the vehicle stops to yield to the first oncoming vehicle. Figure 5 Taking the illustrated embodiment as an example, the second oncoming vehicle stops to yield to the first oncoming vehicle, allowing it to pass the second static obstacle. Then, the first oncoming vehicle stops to yield to the first oncoming vehicle, allowing it to pass the second static obstacle. If the first moment is later than the second moment, it indicates a conflict between the first vehicle's refusal to yield to the second oncoming vehicle and its yielding to the first oncoming vehicle. In this case, the multi-vehicle passing strategy is determined to be: the first vehicle stops to yield to the second oncoming vehicle, and then the first vehicle stops to yield to the first oncoming vehicle. Figure 5In the embodiment shown, the vehicle stops to yield to the first and second oncoming vehicles before reaching the second static obstacle.

[0133] If the first oncoming vehicle's passing strategy is for the first oncoming vehicle to yield to the first vehicle, and the second passing strategy is for the first vehicle to yield to the second oncoming vehicle, then the third moment when the first vehicle passes through the overlapping section is determined from its trajectory, and the fourth moment when the second oncoming vehicle passes through the overlapping section is determined from its trajectory. If the third moment is earlier than the fourth moment, then the multi-vehicle passing strategy is determined as follows: the first vehicle stops to yield to the second oncoming vehicle, and then the first oncoming vehicle stops to yield to the first vehicle. Figure 5 Taking the illustrated embodiment as an example, the vehicle stops to yield to the second oncoming vehicle before reaching the second static obstacle, allowing the second oncoming vehicle to pass the second static obstacle. Then, the first oncoming vehicle stops to yield to the vehicle, allowing the vehicle to pass the first static obstacle. If the third time point is later than the fourth time point, the multi-vehicle meeting strategy is determined as follows: the vehicle stops to yield to the second oncoming vehicle, and then the vehicle stops to yield to the first oncoming vehicle. Figure 5 In the embodiment shown, the vehicle stops to yield to the first and second oncoming vehicles before reaching the second static obstacle.

[0134] If the first oncoming vehicle yields to the first oncoming vehicle, and the second oncoming vehicle yields to the second oncoming vehicle, then the multi-vehicle passing strategy is determined as follows: the second oncoming vehicle yields to the first oncoming vehicle, and then the first oncoming vehicle yields to the first oncoming vehicle. Figure 5 In the example shown, the second oncoming vehicle stops to give way to the first vehicle before reaching the second static obstacle, so that the first vehicle can pass through the second obstacle. Then, the first oncoming vehicle stops to give way to the first vehicle before reaching the first obstacle, so that the first vehicle can pass through the first obstacle.

[0135] This invention also provides a narrow road meeting device. Figure 6 This is a schematic diagram of a narrow-road meeting device provided in an embodiment of the present invention, as shown below. Figure 6 As shown, the narrow road meeting device includes:

[0136] The vehicle trajectory prediction module 201 is used to plan the trajectory of the vehicle based on the current state of the vehicle.

[0137] The first oncoming vehicle trajectory prediction module 202 is used to predict the trajectory of the first oncoming vehicle based on the current state of the first oncoming vehicle.

[0138] The second oncoming vehicle trajectory prediction module 203 is used to predict the trajectory of the second oncoming vehicle based on the current state of the second oncoming vehicle and the trajectory of the first oncoming vehicle. The second oncoming vehicle avoids the first oncoming vehicle in time and space. The first oncoming vehicle is in front of the second oncoming vehicle, and the speed of the first oncoming vehicle is less than the speed of the second oncoming vehicle.

[0139] The vehicle meeting strategy determination module 204 is used to determine a multi-vehicle meeting strategy based on the trajectory of the vehicle and the trajectory of the second oncoming vehicle.

[0140] In some embodiments of the present invention, the second oncoming vehicle trajectory prediction module 203 includes:

[0141] The first trajectory prediction unit is used to predict the first trajectory of the second oncoming vehicle without considering the first oncoming vehicle and with the current state of the second oncoming vehicle as a constraint.

[0142] The meeting area determination unit is used to determine the meeting area between the second oncoming vehicle and the self-vehicle based on the first trajectory of the second oncoming vehicle and the trajectory of the self-vehicle;

[0143] The first duration calculation unit is used to calculate the first duration required for the second oncoming vehicle to travel from its current position to the meeting area;

[0144] The trajectory determination unit is used to determine the trajectory of the first oncoming vehicle within the first time period from the trajectory of the first oncoming vehicle;

[0145] The second oncoming vehicle trajectory prediction unit is used to predict the trajectory of the second oncoming vehicle by using the current state of the second oncoming vehicle and the trajectory of the first oncoming vehicle within the first time period as constraints.

[0146] In some embodiments of the present invention, the first duration calculation unit includes:

[0147] The path length calculation subunit is used to determine the path length from the current position of the second oncoming vehicle to the meeting area in the first trajectory of the second oncoming vehicle;

[0148] The first duration calculation subunit is used to calculate, based on the path length, the first duration required for the second oncoming vehicle to decelerate uniformly from its current speed to the safe speed for reaching the meeting area.

[0149] In some embodiments of the present invention, the second oncoming vehicle trajectory prediction unit includes:

[0150] The first sampling subunit is used to sample the first trajectory of the second oncoming vehicle to obtain the distance of the second oncoming vehicle relative to the current position at multiple sampling points within a preset time period;

[0151] The second sampling subunit is used to sample the trajectory of the first oncoming vehicle and determine the speed of the first oncoming vehicle at each sampling point;

[0152] An acceleration calculation subunit is used to calculate, for each of the sampling points, the acceleration required for the second oncoming vehicle to decelerate from its initial speed to the speed of the first oncoming vehicle at the sampling point, based on the distance.

[0153] The constraint information determination subunit is used to determine the target sampling point where the acceleration is greater than a preset value, and to determine the lateral constraint information of the second oncoming vehicle around the first oncoming vehicle at the target sampling point based on the contour information of the first oncoming vehicle.

[0154] The second oncoming vehicle trajectory prediction subunit is used to predict the trajectory of the second oncoming vehicle based on the first trajectory of the second oncoming vehicle and the lateral constraint information.

[0155] In some embodiments of the present invention, the meeting strategy determination module 204 includes:

[0156] An overlap interval determination unit is used to determine the overlap interval between the second oncoming vehicle and the self-vehicle based on the trajectory of the second oncoming vehicle and the trajectory of the self-vehicle.

[0157] A traffic priority calculation unit is used to determine the traffic priority of the vehicle and the second oncoming vehicle based on the trajectory of the vehicle and the trajectory of the second oncoming vehicle.

[0158] The vehicle-passing strategy determination unit is used to determine the vehicle-passing strategy as follows if the vehicle's passage priority is higher than the second oncoming vehicle's passage priority: the second oncoming vehicle stops and yields to the vehicle before reaching the overlapping section.

[0159] If the passage priority of the second oncoming vehicle is higher than that of the vehicle itself, the passing strategy is determined as follows: the vehicle itself stops to yield to the second oncoming vehicle before reaching the overlapping section.

[0160] In some embodiments of the present invention, there is a first static obstacle in front of the first oncoming vehicle, and / or there is a second static obstacle in front of the vehicle. The trajectory of the first oncoming vehicle is the trajectory of the first oncoming vehicle passing through the lane where the vehicle is located in order to avoid the first static obstacle, and the trajectory of the vehicle is the trajectory of the vehicle passing through the lane where the first oncoming vehicle is located in order to avoid the second static obstacle.

[0161] In some embodiments of the present invention, the meeting strategy determination module 204 includes:

[0162] The first vehicle meeting strategy determination unit is used to determine the first vehicle meeting strategy between the first oncoming vehicle and the vehicle based on the trajectory of the first oncoming vehicle and the trajectory of the vehicle itself.

[0163] The second vehicle meeting strategy determination unit is used to determine the second vehicle meeting strategy between the vehicle and the second oncoming vehicle based on the trajectory of the second oncoming vehicle and the trajectory of the vehicle.

[0164] The strategy determination unit is used to determine a multi-vehicle passing strategy based on the first passing strategy and the second passing strategy.

[0165] In some embodiments of the present invention, the strategy determination unit is used for:

[0166] If the first passing strategy is for the vehicle to yield to the first oncoming vehicle, and the second passing strategy is for the vehicle to yield to the second oncoming vehicle, then the multi-vehicle passing strategy is determined to be: the vehicle stops and yields to the first and second oncoming vehicles before reaching the overlapping section;

[0167] If the first passing strategy is for the vehicle to yield to the first oncoming vehicle, and the second passing strategy is for the second oncoming vehicle to yield to the vehicle, then the first moment when the vehicle passes through the overlapping section is determined from the trajectory of the vehicle, and the second moment when the first oncoming vehicle passes through the overlapping section is determined from the trajectory of the first oncoming vehicle.

[0168] If the first time is earlier than the second time, the multi-vehicle passing strategy is determined as follows: the second oncoming vehicle stops to yield to the vehicle, and then the vehicle stops to yield to the first oncoming vehicle; if the first time is later than the second time, the multi-vehicle passing strategy is determined as follows: the vehicle stops to yield to the second oncoming vehicle, and then the vehicle stops to yield to the first oncoming vehicle.

[0169] If the first passing strategy is for the first oncoming vehicle to yield to the vehicle, and the second passing strategy is for the vehicle to yield to the second oncoming vehicle, then the third moment when the vehicle passes through the overlapping section is determined from the trajectory of the vehicle, and the fourth moment when the second oncoming vehicle passes through the overlapping section is determined from the trajectory of the second oncoming vehicle.

[0170] If the third time is earlier than the fourth time, the multi-vehicle meeting strategy is determined as follows: the vehicle stops to yield to the second oncoming vehicle, and then the first oncoming vehicle stops to yield to the vehicle; if the third time is later than the fourth time, the multi-vehicle meeting strategy is determined as follows: the vehicle stops to yield to the second oncoming vehicle, and then the vehicle stops to yield to the first oncoming vehicle.

[0171] If the first oncoming vehicle yields to the vehicle and the second oncoming vehicle yields to the vehicle, then the multi-vehicle oncoming vehicle strategy is determined to be: the second oncoming vehicle yields to the vehicle, and then the first oncoming vehicle yields to the vehicle.

[0172] The aforementioned narrow-road meeting device can execute the narrow-road meeting method provided in the embodiments of the present invention, and has the corresponding functional modules and beneficial effects for executing the narrow-road meeting method.

[0173] This invention also provides an electronic device. Figure 7 This is a schematic diagram of an electronic device provided for an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0174] like Figure 7 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0175] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0176] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the narrow-road meeting method.

[0177] In some embodiments, the narrow-road passing method can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or mounted on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the narrow-road passing method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the narrow-road passing method by any other suitable means (e.g., by means of firmware).

[0178] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0179] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0180] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0181] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0182] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0183] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0184] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the narrow-road meeting method as provided in any embodiment of this application.

[0185] In implementing the computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0186] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0187] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for allowing vehicles to pass each other on a narrow road, characterized in that, include: Using the current state of the vehicle as a constraint, plan the trajectory of the vehicle. Predict the trajectory of the first oncoming vehicle using its current state as a constraint. Given the current state of the second oncoming vehicle and the trajectory of the first oncoming vehicle as constraints, the trajectory of the second oncoming vehicle is predicted. The second oncoming vehicle avoids the first oncoming vehicle in time and space. The first oncoming vehicle is in front of the second oncoming vehicle, and the speed of the first oncoming vehicle is less than the speed of the second oncoming vehicle. A multi-vehicle meeting strategy is determined based on the trajectory of the first vehicle and the trajectory of the second oncoming vehicle. Using the current state of the second oncoming vehicle and the trajectory of the first oncoming vehicle as constraints, the trajectory of the second oncoming vehicle is predicted, and the second oncoming vehicle avoids the first oncoming vehicle in time and space, including: Without considering the first oncoming vehicle, the first trajectory of the second oncoming vehicle is predicted with the current state of the second oncoming vehicle as a constraint. The meeting area between the second oncoming vehicle and the self-vehicle is determined based on the first trajectory of the second oncoming vehicle and the trajectory of the self-vehicle. Calculate the first time required for the second oncoming vehicle to travel from its current position to the meeting area; Determine the trajectory of the first oncoming vehicle within the first time period from its trajectory. Using the current state of the second oncoming vehicle and the trajectory of the first oncoming vehicle within the first time period as constraints, the trajectory of the second oncoming vehicle is predicted.

2. The method for meeting on a narrow road according to claim 1, characterized in that, Calculating the first time required for the second oncoming vehicle to travel from its current position to the meeting area includes: The path length from the current position of the second oncoming vehicle to the meeting area is determined in the first trajectory of the second oncoming vehicle; Based on the path length, calculate the first time required for the second oncoming vehicle to decelerate at a constant speed from its current speed to the safe speed required to reach the meeting area.

3. The method for meeting on a narrow road according to claim 1, characterized in that, Using the current state of the second oncoming vehicle and the trajectory of the first oncoming vehicle within the first time period as constraints, the trajectory of the second oncoming vehicle is predicted, including: The first trajectory of the second oncoming vehicle is sampled to obtain the distance of the second oncoming vehicle relative to the current position at multiple sampling points within a preset time period; The trajectory of the first oncoming vehicle is sampled to determine the speed of the first oncoming vehicle at each sampling point; For each of the sampling points, the acceleration required for the second oncoming vehicle to decelerate from its initial speed to the speed of the first oncoming vehicle at the sampling point is calculated based on the distance. Determine the target sampling point where the acceleration is greater than a preset value, and determine the lateral constraint information of the second oncoming vehicle bypassing the first oncoming vehicle at the target sampling point based on the contour information of the first oncoming vehicle; The trajectory of the second oncoming vehicle is predicted based on the first trajectory of the second oncoming vehicle and the lateral constraint information.

4. The method for meeting on a narrow road according to any one of claims 1-3, characterized in that, Determining a multi-vehicle meeting strategy based on the trajectory of the self-vehicle and the trajectory of the second oncoming vehicle includes: The overlap area between the second oncoming vehicle and the self-vehicle is determined based on the trajectory of the second oncoming vehicle and the trajectory of the self-vehicle. The passage priority of the vehicle and the second oncoming vehicle is determined based on the trajectory of the vehicle and the trajectory of the second oncoming vehicle. If the priority of the vehicle is higher than that of the oncoming vehicle, the passing strategy is determined as follows: the oncoming vehicle stops and yields to the vehicle before reaching the overlapping section. If the passage priority of the second oncoming vehicle is higher than that of the vehicle itself, the passing strategy is determined as follows: the vehicle itself stops to yield to the second oncoming vehicle before reaching the overlapping section.

5. The method for meeting on a narrow road according to any one of claims 1-3, characterized in that, There is a first static obstacle in front of the first oncoming vehicle, and / or there is a second static obstacle in front of the vehicle. The trajectory of the first oncoming vehicle is the trajectory of the first oncoming vehicle taking a detour through the lane where the vehicle is located in order to avoid the first static obstacle. The trajectory of the vehicle is the trajectory of the vehicle taking a detour through the lane where the first oncoming vehicle is located in order to avoid the second static obstacle.

6. The method for meeting on a narrow road according to claim 5, characterized in that, Determining a multi-vehicle meeting strategy based on the trajectory of the self-vehicle and the trajectory of the second oncoming vehicle includes: The first meeting strategy between the first oncoming vehicle and the self vehicle is determined based on the trajectory of the first oncoming vehicle and the trajectory of the self vehicle. A second meeting strategy between the self vehicle and the second oncoming vehicle is determined based on the trajectory of the second oncoming vehicle and the trajectory of the self vehicle. A multi-vehicle passing strategy is determined based on the first passing strategy and the second passing strategy.

7. The method for meeting on a narrow road according to claim 6, characterized in that, Determining a multi-vehicle passing strategy based on the first passing strategy and the second passing strategy includes: If the first passing strategy is for the vehicle to yield to the first oncoming vehicle, and the second passing strategy is for the vehicle to yield to the second oncoming vehicle, then the multi-vehicle passing strategy is determined to be: the vehicle stops and yields to the first and second oncoming vehicles before reaching the overlapping section; If the first passing strategy is for the vehicle to yield to the first oncoming vehicle, and the second passing strategy is for the second oncoming vehicle to yield to the vehicle, then the first moment when the vehicle passes through the overlapping section is determined from the trajectory of the vehicle, and the second moment when the first oncoming vehicle passes through the overlapping section is determined from the trajectory of the first oncoming vehicle. If the first time is earlier than the second time, the multi-vehicle passing strategy is determined as follows: the second oncoming vehicle stops to yield to the vehicle, and then the vehicle stops to yield to the first oncoming vehicle; if the first time is later than the second time, the multi-vehicle passing strategy is determined as follows: the vehicle stops to yield to the second oncoming vehicle, and then the vehicle stops to yield to the first oncoming vehicle. If the first passing strategy is for the first oncoming vehicle to yield to the vehicle, and the second passing strategy is for the vehicle to yield to the second oncoming vehicle, then the third moment when the vehicle passes through the overlapping section is determined from the trajectory of the vehicle, and the fourth moment when the second oncoming vehicle passes through the overlapping section is determined from the trajectory of the second oncoming vehicle. If the third time is earlier than the fourth time, the multi-vehicle meeting strategy is determined as follows: the vehicle stops to yield to the second oncoming vehicle, and then the first oncoming vehicle stops to yield to the vehicle; if the third time is later than the fourth time, the multi-vehicle meeting strategy is determined as follows: the vehicle stops to yield to the second oncoming vehicle, and then the vehicle stops to yield to the first oncoming vehicle. If the first oncoming vehicle yields to the vehicle and the second oncoming vehicle yields to the vehicle, then the multi-vehicle oncoming vehicle strategy is determined to be: the second oncoming vehicle yields to the vehicle, and then the first oncoming vehicle yields to the vehicle.

8. A device for passing vehicles on a narrow road, characterized in that, include: The vehicle trajectory prediction module is used to plan the trajectory of the vehicle based on the current state of the vehicle. The first oncoming vehicle trajectory prediction module is used to predict the trajectory of the first oncoming vehicle based on the current state of the first oncoming vehicle. The second oncoming vehicle trajectory prediction module is used to predict the trajectory of the second oncoming vehicle based on the current state of the second oncoming vehicle and the trajectory of the first oncoming vehicle. The second oncoming vehicle avoids the first oncoming vehicle in time and space. The first oncoming vehicle is in front of the second oncoming vehicle, and the speed of the first oncoming vehicle is less than the speed of the second oncoming vehicle. The vehicle meeting strategy determination module is used to determine a multi-vehicle meeting strategy based on the trajectory of the vehicle and the trajectory of the second oncoming vehicle. The second oncoming vehicle trajectory prediction module includes: The first trajectory prediction unit is used to predict the first trajectory of the second oncoming vehicle without considering the first oncoming vehicle and with the current state of the second oncoming vehicle as a constraint. The meeting area determination unit is used to determine the meeting area between the second oncoming vehicle and the self-vehicle based on the first trajectory of the second oncoming vehicle and the trajectory of the self-vehicle; The first duration calculation unit is used to calculate the first duration required for the second oncoming vehicle to travel from its current position to the meeting area; The trajectory determination unit is used to determine the trajectory of the first oncoming vehicle within the first time period from the trajectory of the first oncoming vehicle; The second oncoming vehicle trajectory prediction unit is used to predict the trajectory of the second oncoming vehicle by using the current state of the second oncoming vehicle and the trajectory of the first oncoming vehicle within the first time period as constraints.

9. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the narrow-road meeting method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the narrow-road meeting method as described in any one of claims 1-7.

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