Vehicle control method and device based on high-precision map and electronic equipment

Abstract

The disclosure provides a vehicle control method and device based on a high-precision map and electronic equipment, relates to the technical field of artificial intelligence, and particularly relates to the technical field of automatic driving, intelligent traffic and the like. The specific implementation scheme is: in a case where it is determined based on the high-precision map that a to-be-passed lane of a vehicle is bound with a safety island, a plurality of access areas bound with the safety island and a pedestrian crossing bound with each access area are acquired from the high-precision map, a target pedestrian crossing having an overlapping area with the to-be-passed lane is acquired from the plurality of pedestrian crossings, a target access area corresponding to the target pedestrian crossing is acquired from the plurality of access areas, and in a case where it is detected that a road surface distance between the vehicle and the safety island is less than a preset distance threshold, position information corresponding to the target access area is provided to the vehicle, so that the vehicle can perceive the target access area of the safety island based on the position information, and drive safely on the safety island based on a perception result, which is beneficial to safe driving of the vehicle.

Description

Technical Field

[0001] This disclosure relates to the field of artificial intelligence technology, specifically to technologies such as autonomous driving and intelligent transportation, and in particular to vehicle control methods, devices, and electronic devices based on high-precision maps. Background Technology

[0002] High-precision maps, also known as high-resolution maps, are used by autonomous vehicles. They possess accurate vehicle location information and rich road element data, helping cars anticipate complex road conditions and better avoid potential risks. Currently, to ensure the safe passage of pedestrians and non-motorized vehicles across the road, safety islands are placed between lanes. When an autonomous vehicle passes a safety island on one side of its lane, knowing the location of the entry and exit areas of the safety island is crucial for safe driving. Summary of the Invention

[0003] This disclosure provides a vehicle control method, apparatus, and electronic device based on high-precision maps.

[0004] According to one aspect of this disclosure, a vehicle control method based on a high-precision map is provided. The method includes: determining a lane that a vehicle is to pass through; if a safety island bound to the lane to be passed exists in the high-precision map, obtaining multiple entry / exit areas bound to the safety island from the high-precision map, and obtaining a pedestrian crossing bound to each entry / exit area from the high-precision map; obtaining a target pedestrian crossing that overlaps with the lane to be passed from the multiple pedestrian crossings; obtaining a target entry / exit area corresponding to the target pedestrian crossing from the multiple entry / exit areas; and if the distance between the vehicle and the safety island is detected to be less than a preset distance threshold, providing the vehicle with location information corresponding to the target entry / exit area, wherein the location information is used by the vehicle to perceive the target entry / exit area.

[0005] According to another aspect of this disclosure, a vehicle control method based on a high-precision map is provided. The method includes: receiving location information corresponding to a target entry / exit area, wherein the target entry / exit area is an entry / exit area corresponding to a target pedestrian crossing obtained from multiple entry / exit areas bound to a safety island, the safety island is bound to a lane through which the vehicle is to pass, and the target pedestrian crossing is a pedestrian crossing with an overlapping area with the lane through which the vehicle is to pass, obtained from the pedestrian crossings corresponding to each of the entry / exit areas, and the multiple entry / exit areas and the pedestrian crossings corresponding to each entry / exit area are all obtained from a high-precision map; perceiving the target entry / exit area according to the location information to obtain a perception result; and performing autonomous driving control of the vehicle according to the perception result.

[0006] According to another aspect of this disclosure, a vehicle control device based on a high-precision map is provided, comprising: a first determining module for determining a lane that a vehicle is to pass through; a first acquiring module for acquiring, in the case that a safety island bound to the lane to be passed exists in the high-precision map, acquiring multiple entry / exit areas bound to the safety island from the high-precision map, and acquiring a pedestrian crossing bound to each of the entry / exit areas from the high-precision map; a second acquiring module for acquiring, from the multiple pedestrian crossings, a target pedestrian crossing having an overlapping area with the lane to be passed through; a third acquiring module for acquiring, from the multiple entry / exit areas, a target entry / exit area corresponding to the target pedestrian crossing; and a providing module for providing, when detecting that the road surface distance between the vehicle and the safety island is less than a preset distance threshold, location information corresponding to the target entry / exit area to the vehicle, wherein the location information is used by the vehicle to perceive the target entry / exit area.

[0007] According to another aspect of this disclosure, a vehicle control device based on a high-precision map is provided, comprising: a first receiving module, configured to receive location information corresponding to a target entry / exit area, wherein the target entry / exit area is an entry / exit area corresponding to a target pedestrian crossing obtained from multiple entry / exit areas bound to a safety island, the safety island is bound to a lane through which the vehicle is to pass, and the target pedestrian crossing is a pedestrian crossing with an overlapping area with the lane through which the vehicle is to pass, obtained from the pedestrian crossings corresponding to each of the entry / exit areas, and the multiple entry / exit areas and the pedestrian crossings corresponding to each entry / exit area are all obtained from a high-precision map; a perception module, configured to perceive the target entry / exit area according to the location information to obtain a perception result; and a driving control module, configured to perform autonomous driving control of the vehicle according to the perception result.

[0008] According to another aspect of this disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the vehicle control method based on high-precision maps of this disclosure.

[0009] According to another aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions for causing the computer to execute the vehicle control method based on high-precision maps disclosed in embodiments of this disclosure.

[0010] According to another aspect of this disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the vehicle control method based on high-precision maps of this disclosure.

[0011] According to another aspect of this disclosure, an autonomous vehicle is provided, which may include the electronic devices disclosed in the embodiments of this disclosure.

[0012] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0013] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0014] Figure 1 This is a schematic diagram based on the first embodiment of the present disclosure;

[0015] Figure 2 This is a schematic diagram according to the second embodiment of the present disclosure;

[0016] Figure 3 This is a schematic diagram according to the third embodiment of the present disclosure;

[0017] Figure 4 This is an example diagram illustrating the relationship between a lane to be traversed and a candidate safety island in a high-precision map.

[0018] Figure 5 This is an example diagram illustrating the relationship between an entrance / exit area of ​​a safety island and a candidate crosswalk in a high-precision map.

[0019] Figure 6 This is a schematic diagram according to the fourth embodiment of the present disclosure;

[0020] Figure 7 This is a schematic diagram according to the fifth embodiment of the present disclosure;

[0021] Figure 8 This is a schematic diagram according to the sixth embodiment of the present disclosure;

[0022] Figure 9 This is a schematic diagram according to the seventh embodiment of the present disclosure;

[0023] Figure 10 This is a schematic diagram according to the eighth embodiment of the present disclosure;

[0024] Figure 11 This is a schematic diagram according to the ninth embodiment of the present disclosure;

[0025] Figure 12 This is a block diagram of an electronic device used to implement the vehicle control method based on high-precision maps according to the embodiments of this disclosure. Detailed Implementation

[0026] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0027] The vehicle control method, apparatus, electronic device, and storage medium based on high-precision maps according to embodiments of the present disclosure are described below with reference to the accompanying drawings.

[0028] Figure 1 This is a schematic diagram according to the first embodiment of the present disclosure, which provides a vehicle control method based on a high-precision map.

[0029] like Figure 1 As shown, the vehicle control method based on high-precision maps may include:

[0030] Step 101: Determine the lane the vehicle is about to pass through.

[0031] It should be noted that the vehicle control method based on high-precision maps in this embodiment is executed by a vehicle control device based on high-precision maps. This vehicle control device based on high-precision maps can be implemented by software and / or hardware. It can be an electronic device or can be configured in an electronic device.

[0032] It should be noted that the electronic device in this example can communicate with the vehicle via data.

[0033] The electronic device may include, but is not limited to, terminal devices, servers, etc., and this embodiment does not specifically limit the electronic device.

[0034] In this example embodiment, an electronic device is used as a server for illustrative purposes.

[0035] In this example, the vehicle can be a vehicle with autonomous driving capabilities.

[0036] As an example, the lane information sent by the vehicle can be used to determine the lane the vehicle is about to pass through. The lane information is used to represent the lane the vehicle is about to pass through.

[0037] Step 102: If there is a safety island in the high-precision map that is bound to the lane to be traversed, obtain multiple entrance and exit areas bound to the safety island from the high-precision map, and obtain the pedestrian crossing bound to each entrance and exit area from the high-precision map.

[0038] It should be noted that the server in this example has a high-precision map.

[0039] In some exemplary implementations, multiple access areas bound to the security can be obtained from the binding relationship data between the security island and the access area in the high-precision map.

[0040] In some exemplary implementations, for each entry / exit area, the pedestrian crossing bound to that entry / exit area can be obtained from the binding relationship data between the entry / exit area and the pedestrian crossing in the high-precision map.

[0041] Step 103: From multiple pedestrian crossings, obtain the target pedestrian crossing that has an overlapping area with the lane to be crossed.

[0042] It should be noted that the target pedestrian crossing refers to the pedestrian crossing that one must cross after leaving the target access area of ​​the safety island and crossing the lane to be crossed.

[0043] Step 104: Obtain the target entry / exit area corresponding to the target pedestrian crossing from multiple entry / exit areas.

[0044] Step 105: If the distance between the vehicle and the road surface of the safety island is less than a preset distance threshold, the location information corresponding to the target entry / exit area is provided to the vehicle. The location information is used by the vehicle to perceive the target entry / exit area.

[0045] Among them, the road distance refers to the distance that a vehicle needs to travel along the lane it is about to pass to reach the safety island.

[0046] The preset distance threshold is a distance threshold that is pre-set in the vehicle control device based on the high-precision map according to the actual application requirements. For example, the preset distance threshold is 10 meters, 30 meters or 40 meters, etc. This embodiment does not make a specific limitation on this.

[0047] Specifically, when the distance between the vehicle and the safety island is less than a preset distance threshold, the location information corresponding to the target entry / exit area is sent to the vehicle. Correspondingly, the vehicle uses its own perception system to perceive the target entry / exit area corresponding to the location information and performs autonomous driving control based on the perception results. For example, it performs emergency braking or automatic avoidance control based on the perception results to ensure safe driving.

[0048] The vehicle control method based on high-precision maps in this embodiment of the present disclosure, when it is determined from the high-precision map that a safety island is attached to the lane the vehicle is to pass through, obtains multiple entry and exit areas attached to the safety island from the high-precision map, obtains pedestrian crossings attached to each entry and exit area from the high-precision map, obtains a target pedestrian crossing with an overlapping area with the lane the vehicle is to pass through from the multiple pedestrian crossings, and obtains a target entry and exit area corresponding to the target pedestrian crossing from the multiple entry and exit areas. When it is detected that the distance between the vehicle and the road surface of the safety island is less than a preset distance threshold, the location information corresponding to the target entry and exit area is provided to the vehicle. Thus, the vehicle can perceive the target entry and exit area of ​​the safety island based on the location information, which facilitates the vehicle to drive safely on the safety island based on the perception results, and is beneficial to the safe driving of the vehicle.

[0049] Understandably, to accurately determine the lane a vehicle is about to pass through, some examples combine the vehicle's current lane and navigation path. To clearly understand the process of determining the lane based on the vehicle's current lane and navigation path, this example also proposes a vehicle control method based on a high-precision map, which will be discussed below. Figure 2 A further exemplary description of a vehicle control method based on high-precision maps is provided.

[0050] Figure 2 This is a schematic diagram according to the second embodiment of the present disclosure.

[0051] like Figure 2 As shown, the vehicle control method based on high-precision maps may include:

[0052] Step 201: Determine the current lane where the vehicle is located.

[0053] Step 202: Obtain the vehicle's navigation path.

[0054] In some exemplary implementations, a navigation path pre-set for the vehicle can be obtained.

[0055] Step 203: Determine the lane the vehicle will pass through based on the current lane and navigation route.

[0056] It is understandable that the methods for determining the lane a vehicle will pass through based on the current lane and the navigation path differ in different application scenarios. Examples are illustrated below:

[0057] As an example, the current road segment where the vehicle is located can be determined based on the vehicle's current lane; the road segment the vehicle is to pass through can be determined based on the current road segment and the vehicle's navigation path; and the lanes in the road segment to be passed through that connect with the current lane can be designated as the lanes to be passed through. Thus, by combining the current road segment where the current lane is located and the navigation path, the lane the vehicle is to pass through can be accurately determined.

[0058] As another example, based on the vehicle's current lane, the next lane connected to the current lane is obtained from the vehicle's navigation path, and this obtained next lane is used as the lane the vehicle is to pass through. In other words, if the navigation path includes a lane sequence, the next lane connected to the current lane can be obtained from the lane sequence of the navigation path, and this obtained next lane can be used as the lane the vehicle is to pass through.

[0059] The lane sequence is a sequence of lanes that a vehicle passes through in sequence from the starting point to the destination.

[0060] Step 204: If there is a safety island in the high-precision map that is bound to the lane to be traversed, obtain multiple entrance and exit areas bound to the safety island from the high-precision map, and obtain the pedestrian crossing bound to each entrance and exit area from the high-precision map.

[0061] Step 205: From multiple pedestrian crossings, obtain the target pedestrian crossing that has an overlapping area with the lane to be crossed.

[0062] Step 206: Obtain the target entry / exit area corresponding to the target pedestrian crossing from multiple entry / exit areas.

[0063] Step 207: If the distance between the vehicle and the road surface of the safety island is less than a preset distance threshold, the location information corresponding to the target entry / exit area is provided to the vehicle. The location information is used by the vehicle to perceive the target entry / exit area.

[0064] It should be noted that for a detailed description of steps 204 to 207, please refer to the relevant descriptions of the embodiments of this disclosure, which will not be repeated here.

[0065] In this example, by combining the vehicle's current lane and the vehicle's navigation path, the lane the vehicle is about to pass through is accurately determined. This facilitates providing the vehicle with accurate information about the location of the target access area of ​​the corresponding safety island next to the lane it is about to pass through, thereby contributing to safe driving.

[0066] Based on any of the above embodiments, in order to accurately determine the safety islands bound to the lane to be passed in the high-precision map, in this example, the safety islands surrounding the lane to be passed can be determined by combining the extended area of ​​the lane to be passed, and the lane to be passed can be bound to the surrounding safety islands in the high-precision map, so as to facilitate the subsequent acquisition of the safety islands bound to the lane to be passed from the high-precision map. Therefore, this disclosure also proposes a vehicle control method based on a high-precision map, which is described below in conjunction with... Figure 3 The vehicle control method based on high-precision maps of this embodiment is described.

[0067] Figure 3 This is a schematic diagram according to the third embodiment of the present disclosure.

[0068] like Figure 3 As shown, the vehicle control method based on high-precision maps may include:

[0069] Step 301: Determine the lane the vehicle is about to pass through.

[0070] It should be noted that for a detailed description of step 301, please refer to the relevant description in the embodiments of this disclosure, which will not be repeated here.

[0071] Step 302: In the high-precision map, extend the lane boundary line of the lane to be traversed outward by a first preset distance to form a first extended area.

[0072] The first preset distance is pre-set; for example, it can be 1 meter. As an example, the actual distance between the lane boundary line and the safety island located next to the lane can be measured to obtain the measured distance between them, and the first preset distance can be pre-set based on the measured distance.

[0073] Step 303: For each candidate safety island in the high-precision map, if there is an overlap between the first extended area and the candidate safety island, the candidate safety island is used as the safety island bound to the lane to be traversed.

[0074] Specifically, for each candidate safety island in the high-precision map, if there is an overlapping area between the first extended area and the candidate safety island, the candidate safety island can be determined to be a safety island located around the lane to be passed. At this time, a binding can be established between the candidate safety island and the lane to be passed in the high-precision map. For example, the binding relationship between the candidate safety island and the lane to be passed can be added to the binding relationship data between the safety island and the lane.

[0075] For example, an example diagram showing the relationship between a lane to be traversed and a candidate safety island in a high-precision map, such as... Figure 4 As shown, through Figure 4 It can be seen that, Figure 4 The example shows the lane center and lane boundary line of the lane to be traversed. Extending the lane boundary line outward by a first preset distance yields the lane extension boundary line. The area between the lane boundary line and the lane extension boundary line is the first extension area. Figure 4 It can be seen that there is an overlapping area between the lane to be passed and the candidate safety island. At this time, the shortest distance between the lane to be passed and the candidate safety island can be further calculated. If the shortest distance is less than the first preset distance threshold, the candidate safety island can be determined to be a safety island located around the lane to be passed. At this time, the candidate safety island can be bound to the lane to be passed.

[0076] The first preset distance threshold is a pre-set critical value for distance. In practical applications, the value of the preset distance threshold can be set according to actual needs. For example, the preset distance threshold can be 0.8 meters.

[0077] Step 304: If a safety island bound to the lane to be traversed is found in the high-precision map, obtain multiple entrance and exit areas bound to the safety island from the high-precision map, and obtain the pedestrian crossing bound to each entrance and exit area from the high-precision map.

[0078] Specifically, if it is determined from the correspondence between lanes and safety islands in the high-precision map that there is a safety island corresponding to the lane to be passed, and it is determined that a safety island bound to the lane to be passed can be found in the high-precision map, then multiple entrance and exit areas bound to the safety island can be obtained from the high-precision map, and pedestrian crossings bound to each entrance and exit area can be obtained from the high-precision map.

[0079] In some exemplary embodiments, the exemplary process of obtaining a pedestrian crossing bound to an entry / exit area is as follows: A first minimum region containing the entry / exit area is formed in a high-precision map; the first minimum region is extended outward by a second preset distance to obtain a corresponding second extended region; for each candidate pedestrian crossing in the high-precision map, if there is an overlap between the candidate pedestrian crossing and the second extended region, the candidate pedestrian crossing is taken as the pedestrian crossing bound to the entry / exit area. Thus, the pedestrian crossing bound to the entry / exit area is accurately determined.

[0080] In some exemplary implementations, when there is an overlap between the candidate crosswalk and the second extended area, the candidate crosswalk can be identified as a crosswalk located around the entrance / exit area. In this case, a binding can be established between the candidate crosswalk and the entrance / exit area in a high-precision map to facilitate the subsequent acquisition of crosswalks bound to the entrance / exit area. Thus, the crosswalks in the vicinity of the entrance / exit area are accurately bound.

[0081] As an example, the first minimum region in this example can be the smallest rectangular region that contains the inlet / outlet region.

[0082] In one exemplary implementation, when there is an overlap between the candidate crosswalk and the second extended area, the shortest distance between the candidate crosswalk and the opening area can be further determined, and it can be determined whether the shortest distance is less than a second preset distance threshold. If the shortest distance is less than the second preset distance threshold, the candidate crosswalk is determined to be a pedestrian crosswalk located around the entrance / exit area. The candidate crosswalk and the entrance / exit area can be bound together in the high-precision map to facilitate the subsequent acquisition of the pedestrian crosswalk bound to the entrance / exit area.

[0083] The second preset distance is a distance that is set in advance. The second preset distance can be 1 meter or 2 meters, etc. In actual application, the value of the second preset distance can be set according to the actual application requirements. This embodiment does not make specific limitations on this.

[0084] In this example, the first preset distance and the second preset distance may be the same or different; this embodiment does not specifically limit this.

[0085] The second preset distance threshold is a distance threshold preset in the vehicle control device based on high-precision maps. In practical applications, the value of the second preset distance threshold can be set according to the actual application requirements. This embodiment does not impose specific limitations on this.

[0086] For example, this example uses the smallest rectangular area surrounding the entrance / exit area as the first minimum region. An example diagram illustrating the relationship between an entrance / exit area of ​​a safety island and a candidate crosswalk in a high-precision map is shown below. Figure 5 As shown, through Figure 5 It can be seen that, Figure 5 In the diagram, marker A represents the smallest rectangular region. Correspondingly, the extended region formed by extending the smallest rectangular region outward by a second preset distance is defined as follows: Figure 5 The extended region is represented by the marker B. In this example, the extended region overlaps with the candidate crosswalk, where... Figure 5 The overlapping area is represented by the marker C. Correspondingly, the shortest distance between the entrance / exit area and the candidate crosswalk can be calculated, and it can be determined whether the shortest distance is less than a second preset distance threshold. If it is, the candidate crosswalk is determined to be a crosswalk located around the entrance / exit area. At this time, a binding can be established between the candidate crosswalk and the entrance / exit area in the high-precision map to facilitate the subsequent acquisition of crosswalks bound to the entrance / exit area.

[0087] In one embodiment of this disclosure, an exemplary process for obtaining the entry / exit area bound to the safety island is as follows: For each candidate entry / exit area in the high-definition map, a second minimum region containing the candidate entry / exit areas is formed in the high-definition map; if the second minimum region overlaps with the safety island and the candidate entry / exit area is inside the safety island, the candidate entry / exit area is used as the entry / exit area bound to the safety island. This accurately binds the safety island to the entry / exit areas set around it, facilitating the subsequent accurate acquisition of the entry / exit area corresponding to the safety island.

[0088] In some exemplary implementations, if there is an overlap between the second minimum region and the safety island, and the candidate entry / exit region is inside the safety island, the binding relationship between the candidate entry / exit region and the safety island can be added to the binding relationship data between the safety island and the entry / exit region.

[0089] Step 305: From multiple pedestrian crossings, obtain the target pedestrian crossing that has an overlapping area with the lane to be crossed.

[0090] Step 306: Obtain the target entry / exit area corresponding to the target pedestrian crossing from multiple entry / exit areas.

[0091] Step 307: If the distance between the vehicle and the road surface of the safety island is less than a preset distance threshold, the location information corresponding to the target entry / exit area is provided to the vehicle. The location information is used by the vehicle to perceive the target entry / exit area.

[0092] In this example, a first extended area is formed by extending the lane boundary line of the lane to be passed outward by a first preset distance. For each candidate safety island in the high-precision map, it is determined whether there is an overlapping area between the first extended area and the candidate safety island. If there is an overlapping area, the candidate safety island is determined to be a safety island located near the lane to be passed, and the candidate safety island is bound to the lane to be passed. Thus, based on the extended area corresponding to the lane to be passed, the safety island located near the lane to be passed is accurately determined, and the lane to be passed is pre-bound to the safety island located near it in the high-precision map, so that when using the high-precision map later, it can be accurately determined whether a safety island is set near the corresponding lane to be passed.

[0093] Based on any of the above embodiments, to facilitate accurate determination of the predicted movement trajectory of objects to be passed in the target entry / exit area by subsequent vehicles, the direction of travel from leaving the safety island in the target entry / exit area and crossing the lane to be passed along the target pedestrian crossing can be provided to the vehicle. This allows the vehicle to determine the predicted movement trajectory of the objects to be passed in the target entry / exit area based on the perception results and travel direction obtained from perceiving the target entry / exit area corresponding to this location information, and to perform autonomous driving control of the vehicle based on the predicted movement trajectory. To this end, this disclosure also proposes a vehicle control method based on high-precision maps, which will be discussed below. Figure 6 The vehicle control method based on high-precision maps of this embodiment is described exemplarily.

[0094] Figure 6 This is a schematic diagram according to the fourth embodiment of the present disclosure.

[0095] like Figure 6 As shown, the vehicle control method based on high-precision maps may include:

[0096] Step 601: Determine the lane the vehicle is about to pass through.

[0097] Step 602: If there is a safety island in the high-precision map that is bound to the lane to be traversed, obtain multiple entrance and exit areas bound to the safety island from the high-precision map, and obtain the pedestrian crossing bound to each entrance and exit area from the high-precision map.

[0098] Step 603: From multiple pedestrian crossings, obtain the target pedestrian crossing that has an overlapping area with the lane to be crossed.

[0099] Step 604: Obtain the target entry / exit area corresponding to the target pedestrian crossing from multiple entry / exit areas.

[0100] Step 605: Determine the direction of travel for leaving the safety island from the target access area and crossing the lane to be passed along the target pedestrian crossing.

[0101] Step 606: If the distance between the vehicle and the road surface of the safety island is less than a preset distance threshold, the location information and travel direction corresponding to the target entry / exit area are provided to the vehicle. The location information is used by the vehicle to perceive the target entry / exit area.

[0102] Specifically, after providing the location information and direction of travel to the vehicle, the vehicle can use its own perception system to perceive the target entry / exit area corresponding to the location information, obtain the perception result, and determine the predicted movement trajectory of the object to be passed based on the direction of travel and the location information of the object to be passed in the perception result, and perform autonomous driving control of the vehicle based on the predicted movement trajectory.

[0103] The objects to be passed refer to virtual objects created from real-world pedestrians or non-motorized vehicles.

[0104] Correspondingly, the vehicle determines its own trajectory and the predicted trajectory of the object to be crossed, performs collision prediction, and controls the vehicle to perform emergency braking or avoidance based on the collision prediction results.

[0105] It is understood that, in some exemplary implementations, the safety island in this example can also be located at an intersection. Correspondingly, the intersection bound to the safety island can be obtained from a high-precision map. Correspondingly, the vehicle can also combine the traffic light status information, location information, and traffic direction of the intersection to perform autonomous driving control, so as to further improve the safe driving of the vehicle.

[0106] Figure 7 This is a schematic diagram according to the fourth embodiment of the present disclosure. This embodiment provides a vehicle control method based on a high-precision map. The executing entity of the vehicle control method based on the high-precision map in this embodiment is a vehicle control device based on a high-precision map. The vehicle control device based on the high-precision map can be a vehicle or can be configured in a vehicle. For example, the vehicle control device based on the high-precision map can be configured in the vehicle's in-vehicle infotainment system.

[0107] Figure 7 This is a schematic diagram according to the fifth embodiment of the present disclosure.

[0108] like Figure 7 As shown, the vehicle control method based on high-precision maps may include:

[0109] Step 701: Receive the location information corresponding to the target entry / exit area.

[0110] The target access area is the access area corresponding to the target pedestrian crossing, which is obtained from the multiple access areas bound to the safety island.

[0111] The safety island is linked to the lane through which the vehicle will pass.

[0112] Among them, the target pedestrian crossing is the pedestrian crossing that overlaps with the lane that the vehicle is about to pass through, obtained from the pedestrian crossings corresponding to each entry and exit area.

[0113] The multiple entry and exit areas, as well as the corresponding pedestrian crossings for each entry and exit area, were all obtained from high-precision maps.

[0114] For details not disclosed in this example, please refer to other embodiments of this disclosure, which will not be repeated here.

[0115] Step 702: Based on the location information, sense the target's entry and exit area to obtain the sensing result.

[0116] Step 703: Perform autonomous driving control on the vehicle based on the perception results.

[0117] As an example implementation, autonomous driving decisions can be made based on perception results, and autonomous driving control of the vehicle can be performed based on the decision results.

[0118] As another exemplary implementation, the location information and movement trajectory of the object to be passed in the target entry and exit area can be determined based on the perception results, and the vehicle can be controlled to automatically avoid the object based on the location information and movement trajectory of the object to be passed, so as to reduce the risk of collision between the vehicle and the object to be passed.

[0119] The vehicle control method based on high-precision maps provided in this embodiment of the present disclosure perceives the target entry / exit area of ​​the safety island to be passed through based on the received location information of the target entry / exit area, and performs autonomous driving control of the vehicle based on the perception results. This enables the vehicle to perceive the target entry / exit area of ​​the safety island to be passed through, which is beneficial to the safe driving of the vehicle on the safety island.

[0120] To further enhance vehicle safety, this disclosure also proposes a vehicle control method based on high-precision maps, which will be described below in conjunction with... Figure 8 The vehicle control method based on high-precision maps of this embodiment is described exemplarily.

[0121] Figure 8 This is a schematic diagram according to the sixth embodiment of the present disclosure.

[0122] like Figure 8 As shown, the vehicle control method based on high-precision maps may include:

[0123] Step 801: Receive the location information corresponding to the target entry / exit area.

[0124] The target access area is the access area corresponding to the target pedestrian crossing, obtained from multiple access areas bound to the safety island.

[0125] The safety island is linked to the lane through which the vehicle will pass.

[0126] The target pedestrian crossing is obtained from the pedestrian crossings corresponding to each entry and exit area, and is the pedestrian crossing that overlaps with the lane through which the vehicle will pass.

[0127] Among them, the multiple entry and exit areas and the corresponding pedestrian crossings in each entry and exit area were all obtained from high-precision maps;

[0128] Step 802: Receive the direction of travel, where the direction of travel refers to the direction from leaving the safety island from the target access area and crossing the lane to be passed along the target pedestrian crossing.

[0129] It should be noted that in this example, the traffic direction and the location information corresponding to the target entry / exit area can be sent to the vehicle together or separately. This embodiment does not specifically limit this.

[0130] Step 803: Based on the location information, sense the target's entry and exit area to obtain the sensing result.

[0131] Step 804: Determine the predicted movement trajectory of the object to be passed based on the direction of passage and the current position of the object to be passed in the target entry and exit area included in the perception results.

[0132] Step 805: Perform autonomous driving control on the vehicle based on the predicted movement trajectory.

[0133] In this example, based on the received location information of the target entry / exit area of ​​the safety island to be traversed, the target entry / exit area is perceived, and the predicted movement trajectory of the target object to be traversed is determined according to the direction of travel and the current position of the object to be traversed in the target entry / exit area included in the perception result. The vehicle is then controlled automatically based on the predicted movement trajectory, which further facilitates safe driving of the vehicle.

[0134] To implement the above embodiments, this disclosure also provides a vehicle control device based on a high-precision map.

[0135] Figure 9 This is a schematic diagram according to the seventh embodiment of the present disclosure, which provides a vehicle control device based on a high-precision map.

[0136] like Figure 9 As shown, the vehicle control device 90 based on high-precision maps may include a first determining module 901, a first acquiring module 902, a second acquiring module 903, a third acquiring module 904, and a providing module 905, wherein:

[0137] The first determining module 901 is used to determine the lane that the vehicle is about to pass through.

[0138] The first acquisition module 902 is used to acquire multiple access areas bound to the safety island from the high-precision map when there is a safety island bound to the lane to be passed in the high-precision map, and to acquire the pedestrian crossing bound to each access area from the high-precision map.

[0139] The second acquisition module 903 is used to acquire a target pedestrian crossing that has an overlapping area with the lane to be crossed from multiple pedestrian crossings.

[0140] The third acquisition module 904 is used to acquire the target entry / exit area corresponding to the target pedestrian crossing from multiple entry / exit areas.

[0141] The module 905 is used to provide the vehicle with the location information corresponding to the target entry / exit area when the distance between the vehicle and the road surface of the safety island is less than a preset distance threshold. The location information is used by the vehicle to perceive the target entry / exit area.

[0142] It should be noted that the foregoing explanation of the vehicle control method embodiment based on high-precision maps also applies to the vehicle control device based on high-precision maps in this embodiment, and this embodiment does not specifically limit it.

[0143] The vehicle control device based on a high-precision map according to this embodiment, when it is determined from the high-precision map that the lane the vehicle is to pass through is bound to a safety island, obtains multiple entry and exit areas bound to the safety island from the high-precision map, obtains pedestrian crossings bound to each entry and exit area from the high-precision map, obtains a target pedestrian crossing with an overlapping area with the lane to be passed from the multiple pedestrian crossings, and obtains a target entry and exit area corresponding to the target pedestrian crossing from the multiple entry and exit areas. When it is detected that the distance between the vehicle and the road surface of the safety island is less than a preset distance threshold, the device provides the vehicle with the location information corresponding to the target entry and exit area. Thus, the vehicle can perceive the target entry and exit area of ​​the safety island based on the location information, which facilitates the vehicle to drive safely on the safety island based on the perception results, thereby improving the vehicle's safe driving.

[0144] In one embodiment of this disclosure, such as Figure 10 As shown, the vehicle control device 100 based on a high-precision map may include: a first determining module 1001, a first acquiring module 1002, a second acquiring module 1003, a third acquiring module 1004, a providing module 1005, a first extension module 1006, a first processing module 1007, a second processing module 1008, a second extension module 1009, a third processing module 1010, a fourth processing module 1011, a fifth processing module 1012, and a second determining module 1013. The first determining module 1001 may include: a first determining unit 10011, an acquiring unit 10012, and a second determining unit 10013.

[0145] It should be noted that detailed descriptions of the first acquisition module 1002, the second acquisition module 1003, the third acquisition module 1004, and the providing module 1005 can be found above. Figure 9 The descriptions of the first acquisition module 902, the second acquisition module 903, the third acquisition module 904, and the providing module 905 are not provided here.

[0146] In one embodiment of this disclosure, the first determining module 1001 includes:

[0147] The first determining unit 10011 is used to determine the current lane where the vehicle is located;

[0148] Acquisition unit 10012 is used to acquire the vehicle's navigation path;

[0149] The second determining unit 10013 is used to determine the lane that the vehicle is to pass through based on the current lane and the navigation path.

[0150] In one embodiment of this disclosure, the second determining unit 10013 is specifically used to: determine the current road segment where the vehicle is located based on the current lane where the vehicle is located; determine the road segment to be traversed by the vehicle based on the current road segment and the vehicle's navigation path; and take the lanes in the road segment to be traversed that are connected to the current lane as the lanes to be traversed.

[0151] In one embodiment of this disclosure, the apparatus further includes:

[0152] The first extension module 1006 is used to extend the lane boundary line of the lane to be traversed by a first preset distance in the high-precision map to form a first extended area;

[0153] The first processing module 1007 is used to, for each candidate safety island in the high-precision map, if there is an overlapping area between the first extended area and the candidate safety island, treat the candidate safety island as a safety island bound to the lane to be passed.

[0154] In one embodiment of this disclosure, the apparatus further includes:

[0155] The second processing module 1008 is used to form a first minimum region containing the entry and exit areas in the high-precision map;

[0156] The second extension module 1009 is used to extend the first minimum region outward by a second preset distance to obtain the corresponding second extended region;

[0157] The third processing module 1010 is used to treat each candidate crosswalk in the high-precision map as a pedestrian crosswalk bound to the entry and exit area when there is an overlap between the candidate crosswalk and the second extended area.

[0158] In one embodiment of this disclosure, the apparatus further includes:

[0159] The fourth processing module 1011 is used to form a second minimum region in the high-precision map that contains each candidate entry / exit region for each candidate entry / exit region in the high-precision map.

[0160] The fifth processing module 1012 is used to treat the candidate entry / exit area as an entry / exit area bound to the safety island when there is an overlap between the second minimum area and the safety island, and the candidate entry / exit area is inside the safety island.

[0161] In one embodiment of this disclosure, the apparatus further includes:

[0162] The second determining module 1013 is used to determine the direction of travel for leaving the safety island from the target access area and crossing the lane to be passed along the target pedestrian crossing.

[0163] Module 1014 is also provided to provide the direction of travel to the vehicle.

[0164] It should be noted that the above explanation of the vehicle control method based on high-precision maps also applies to the vehicle control device based on high-precision maps in this embodiment, and this embodiment will not repeat the above.

[0165] Figure 11 This is a schematic diagram according to the ninth embodiment of the present disclosure, which provides a vehicle control device based on a high-precision map.

[0166] like Figure 11 As shown, the vehicle control device 110 based on high-precision maps may include: a first receiving module 1101, a sensing module 1102, and a driving control module 1103, wherein:

[0167] The first receiving module 1101 is used to receive the location information corresponding to the target entry / exit area. The target entry / exit area is the entry / exit area corresponding to the target pedestrian crossing obtained from multiple entry / exit areas bound to the safety island. The safety island is bound to the lane through which the vehicle is to pass. The target pedestrian crossing is the pedestrian crossing with an overlapping area with the lane through which the vehicle is to pass, obtained from the pedestrian crossings corresponding to each entry / exit area. The multiple entry / exit areas and the pedestrian crossings corresponding to each entry / exit area are all obtained from a high-precision map.

[0168] The sensing module 1102 is used to sense the target's entry and exit area based on location information in order to obtain the sensing result.

[0169] The driving control module 1103 is used to perform autonomous driving control of the vehicle based on the perception results.

[0170] In one embodiment of this disclosure, the device may further include:

[0171] The second receiving module is used to receive the direction of travel, which refers to the direction from leaving the safety island from the target access area and crossing the lane to be passed along the target pedestrian crossing.

[0172] The driving control module 1103 is specifically used to: determine the predicted trajectory information of the object to be passed based on the direction of travel and the current position of the object to be passed in the target entry and exit area included in the perception results, and predict the movement trajectory; and perform autonomous driving control of the vehicle based on the predicted trajectory information.

[0173] It should be noted that the foregoing explanation of the vehicle control method based on high-precision maps also applies to the vehicle control device based on high-precision maps in this embodiment, and this embodiment will not repeat the above.

[0174] The vehicle control device based on high-precision maps in this embodiment of the present disclosure perceives the target entry / exit area of ​​the safety island to be passed through based on the received location information of the target entry / exit area, and performs automatic driving control of the vehicle based on the perception results. This enables the vehicle to perceive the target entry / exit area of ​​the safety island to be passed through, which is beneficial to the safe driving of the vehicle on the safety island.

[0175] It should be noted that the acquisition, storage, and application of various data involved in the technical solution disclosed herein comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0176] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0177] According to embodiments of this disclosure, this disclosure also provides an autonomous driving vehicle that may include the electronic devices of this disclosure.

[0178] Figure 12 A schematic block diagram of an example electronic device 1200 that can be used to implement embodiments of the present disclosure is shown. 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 may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, 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 present disclosure described and / or claimed herein.

[0179] like Figure 12As shown, the electronic device 1200 may include a computing unit 1201, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1202 or a computer program loaded from a storage unit 1208 into a random access memory (RAM) 1203. The RAM 1203 may also store various programs and data required for the operation of the device 1200. The computing unit 1201, ROM 1202, and RAM 1203 are interconnected via a bus 1204. An input / output (I / O) interface 1205 is also connected to the bus 1204.

[0180] Multiple components in device 1200 are connected to I / O interface 1205, including: input unit 1206, such as keyboard, mouse, etc.; output unit 1207, such as various types of monitors, speakers, etc.; storage unit 1208, such as disk, optical disk, etc.; and communication unit 1209, such as network card, modem, wireless transceiver, etc. Communication unit 1209 allows device 1200 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0181] The computing unit 1201 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 1201 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 computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1201 performs the various methods and processes described above, such as a high-definition map-based vehicle control method. For example, in some embodiments, the high-definition map-based vehicle control method can be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 1208. In some embodiments, part or all of the computer program can be loaded and / or installed on device 1200 via ROM 1202 and / or communication unit 1209. When the computer program is loaded into RAM 1203 and executed by the computing unit 1201, one or more steps of the high-definition map-based vehicle control method described above can be performed. Alternatively, in other embodiments, the computing unit 1201 may be configured to perform a vehicle control method based on a high-precision map by any other suitable means (e.g., by means of firmware).

[0182] Various embodiments of the apparatuses and techniques described above herein can be implemented in digital electronic circuit devices, integrated circuit devices, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), device-on-a-chip (SoC) devices, complex 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 device 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 device, at least one input device, and at least one output device, and transmitting data and instructions to the storage device, the at least one input device, and the at least one output device.

[0183] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0184] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution apparatus, device, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor device, device, or device, or any suitable combination of the foregoing. 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 fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0185] To provide interaction with a user, the apparatus and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of apparatus can also be used to provide interaction with the user; for example, 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 sound input, voice input, or tactile input).

[0186] The apparatus and techniques described herein can be implemented in computing devices that include backend components (e.g., as a data server), or computing devices that include middleware components (e.g., an application server), or computing devices that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the apparatus and techniques described herein), or computing devices that include any combination of such backend, middleware, or frontend components. The components of the apparatus can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), the Internet, and blockchain networks.

[0187] Computer devices can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. A server can be a cloud server, also known as a cloud computing server or cloud host, a hosting product within the cloud computing service system, addressing the shortcomings of traditional physical hosts and VPS (Virtual Private Server, or simply "VPS") services, such as high management difficulty and weak business scalability. A server can be a cloud server, a distributed server, or a server incorporating blockchain technology.

[0188] It's important to note that artificial intelligence (AI) is the study of enabling computers to simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, and planning). It encompasses both hardware and software technologies. AI hardware technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, and big data processing. AI software technologies primarily include computer vision, speech recognition, natural language processing, machine learning / deep learning, big data processing, and knowledge graph technologies.

[0189] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0190] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A vehicle control method based on a high-definition map, comprising: determining a to-be-passed lane of a vehicle; in a case where a safety island is bound to the to-be-passed lane in a high-definition map, obtaining a plurality of access areas bound to the safety island from the high-definition map, and obtaining a plurality of crosswalks bound to each of the access areas from the high-definition map; from the plurality of crosswalks, obtaining a target crosswalk having an overlapping area with the to-be-passed lane; from the plurality of access areas, obtaining a target access area corresponding to the target crosswalk; in a case where a road surface distance between the vehicle and the safety island is detected to be less than a preset distance threshold, providing position information corresponding to the target access area to the vehicle, wherein the position information is used for the vehicle to perceive the target access area.

2. The method of claim 1, wherein, The determination of the to-be-passed lane of the vehicle comprises: determining a current lane in which the vehicle is located; obtaining a navigation path of the vehicle; determining the to-be-passed lane of the vehicle according to the current lane and the navigation path.

3. The method of claim 2, wherein, The determination of the to-be-passed lane of the vehicle according to the current lane and the navigation path comprises: determining a current road segment in which the vehicle is located according to the current lane in which the vehicle is located; determining a to-be-passed road segment of the vehicle according to the current road segment and the navigation path of the vehicle; determining a lane in the to-be-passed road segment that is in communication with the current lane as the to-be-passed lane.

4. The method of any one of claims 1-3, wherein, The method further comprises: extending a lane boundary line of the to-be-passed lane outward by a first preset distance in the high-definition map to form a first extended area; for each candidate safety island in the high-definition map, in a case where the first extended area and the candidate safety island have an overlapping area, regarding the candidate safety island as the safety island bound to the to-be-passed lane.

5. The method of any one of claims 1-3, wherein, The method further comprises: forming a first minimum area containing the access area in the high-definition map; extending the first minimum area outward by a second preset distance to obtain a corresponding second extended area; for each candidate crosswalk in the high-definition map, in a case where the candidate crosswalk and the second extended area have an overlapping area, regarding the candidate crosswalk as the crosswalk bound to the access area.

6. The method of any one of claims 1-3, wherein, The method further comprises: for each candidate access area in the high-definition map, forming a second minimum area containing the candidate access area in the high-definition map; in a case where the second minimum area and the safety island have an overlapping area and the candidate access area is inside the safety island, regarding the candidate access area as the access area bound to the safety island.

7. The method of any one of claims 1-3, wherein, The method further comprises: determining a traffic direction in which the safety island is exited from the target access area and the to-be-passed lane is crossed along the target crosswalk; providing the traffic direction to the vehicle. 8.A vehicle control method based on a high-definition map, comprising: receive position information corresponding to a target access area, wherein the target access area is an access area corresponding to a target pedestrian crossing and obtained from a plurality of access areas bound to a safety island, the safety island is bound to a vehicle-to-be-passed lane, the target pedestrian crossing is a pedestrian crossing with an overlapping area with the vehicle-to-be-passed lane and obtained from pedestrian crossings corresponding to each of the access areas, and the plurality of access areas and the pedestrian crossing corresponding to each of the access areas are obtained from a high-definition map; perform perception on the target access area according to the position information to obtain a perception result; perform automatic driving control on the vehicle according to the perception result.

9. The method of claim 8, wherein, The method further includes: receiving a passing direction, wherein the passing direction refers to a direction of leaving the safety island from the target access area and crossing the target pedestrian crossing along the vehicle-to-be-passed lane; the automatic driving control on the vehicle according to the perception result includes: determining a predicted moving track of a to-be-passed object in the target access area according to the passing direction and a current position of the to-be-passed object included in the perception result; and performing automatic driving control on the vehicle according to the predicted moving track.

10. A vehicle control device based on a high-definition map, comprising: a first determination module configured to determine a vehicle-to-be-passed lane; a first acquisition module configured to, when a safety island bound to the vehicle-to-be-passed lane exists in a high-definition map, acquire a plurality of access areas bound to the safety island from the high-definition map, and acquire a pedestrian crossing bound to each of the access areas from the high-definition map; a second acquisition module configured to acquire a target pedestrian crossing with an overlapping area with the vehicle-to-be-passed lane from a plurality of pedestrian crossings; a third acquisition module configured to acquire a target access area corresponding to the target pedestrian crossing from the plurality of access areas; a providing module configured to, when a road surface distance between the vehicle and the safety island is detected to be less than a preset distance threshold, provide position information corresponding to the target access area to the vehicle, wherein the position information is used for the vehicle to perform perception on the target access area.

11. The apparatus of claim 10, wherein, The first determination module includes: a first determination unit configured to determine a current lane in which the vehicle is located; an acquisition unit configured to acquire a navigation path of the vehicle; a second determination unit configured to determine a vehicle-to-be-passed lane according to the current lane and the navigation path.

12. The apparatus of claim 11, wherein, The second determination unit is specifically configured to: determine a current road segment in which the vehicle is located according to the current lane in which the vehicle is located; determine a to-be-passed road segment of the vehicle according to the current road segment and the navigation path of the vehicle; determine a lane in the to-be-passed road segment that is in communication with the current lane as the vehicle-to-be-passed lane.

13. The apparatus of any of claims 10-12, wherein, The device further includes: a first extension module configured to extend a lane boundary line of the vehicle-to-be-passed lane outward by a first preset distance in the high-definition map to form a first expansion area; The first processing module is configured to, for each candidate safety island in the high-definition map, if there is an overlapping region between the first extended region and the candidate safety island, take the candidate safety island as the safety island bound with the to-be-passed lane.

14. The apparatus of any one of claims 10-12, wherein, The device further includes: The second processing module is configured to form a first minimum region containing the access region in the high-definition map; The second extension module is configured to extend the first minimum region outward by a second preset distance to obtain a corresponding second extended region; The third processing module is configured to, for each candidate pedestrian crossing in the high-definition map, if there is an overlapping region between the candidate pedestrian crossing and the second extended region, take the candidate pedestrian crossing as the pedestrian crossing bound with the access region.

15. The apparatus of any one of claims 10-12, wherein, The device further includes: The fourth processing module is configured to, for each candidate access region in the high-definition map, form a second minimum region containing the candidate access region in the high-definition map; The fifth processing module is configured to, if there is an overlapping region between the second minimum region and the safety island, and the candidate access region is inside the safety island, take the candidate access region as the access region bound with the safety island.

16. The apparatus of any one of claims 10-12, wherein, The device further includes: The second determination module is configured to determine a passing direction of leaving the safety island from the target access region and crossing the to-be-passed lane along the target pedestrian crossing; The providing module is further configured to provide the passing direction to the vehicle.

17. A vehicle control device based on a high-definition map, comprising: The first receiving module is configured to receive position information corresponding to a target access region, wherein the target access region is an access region corresponding to a target pedestrian crossing, which is obtained from a plurality of access regions bound with a safety island, the safety island is bound with a to-be-passed lane of a vehicle, the target pedestrian crossing is a pedestrian crossing having an overlapping region with the to-be-passed lane of the vehicle, which is obtained from pedestrian crossings corresponding to each of the access regions, and the plurality of access regions and the pedestrian crossings corresponding to each of the access regions are obtained from a high-definition map; The perception module is configured to perceive the target access region according to the position information to obtain a perception result; The driving control module is configured to automatically drive control the vehicle according to the perception result.

18. The apparatus of claim 17, wherein, The device further includes: The second receiving module is configured to receive a passing direction, wherein the passing direction refers to a direction of leaving the safety island from the target access region and crossing the to-be-passed lane along the target pedestrian crossing; The driving control module is specifically configured to: determine a predicted moving track of a to-be-passed object in the target access region according to the passing direction and a current position of the to-be-passed object included in the perception result; automatically drive control the vehicle according to the predicted moving track.

19. An electronic device, comprising: at least one processor; and a memory connected with the at least one processor in communication; wherein, The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7, or the method of any one of claims 8-9.

20. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are for causing the computer to perform the method of any one of claims 1-7, or the method of any one of claims 8-9.

21. A computer program product comprising computer program which, when executed by a processor, implements the steps of the method of any one of claims 1-7, or the method of any one of claims 8-9.

22. An autonomous vehicle comprising the electronic device of claim 19.

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