Vehicle interaction method, apparatus, and device
By determining the passage order through negotiation among autonomous vehicles, the problem of low passage efficiency of autonomous vehicles in areas with conflicting travel paths is solved, and efficient decentralized conflict handling is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HANGZHOU FABU TECH CO LTD
- Filing Date
- 2022-12-30
- Publication Date
- 2026-06-30
AI Technical Summary
Autonomous vehicles have low traffic efficiency in conflict zones along their routes, where they may compete for right-of-way or give way to each other, leading to reduced traffic efficiency or even preventing vehicles from passing.
By acquiring the driving paths of other autonomous vehicles within a preset communication range, conflict areas and their conflict information are identified, and a passage order is determined through negotiation. Based on the negotiation results, reasonable yielding is carried out to improve traffic efficiency.
While ensuring driving safety, it improves the efficiency of autonomous vehicles in conflict areas and realizes the handling of driving conflicts between autonomous vehicles without a central authority.
Smart Images
Figure CN115973193B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of autonomous driving technology, and in particular to a vehicle interaction method, device, and equipment. Background Technology
[0002] With the development of autonomous driving technology, autonomous vehicles are gradually being developed and applied. In practical applications, pre-planned driving routes are provided for autonomous vehicles so that they can drive automatically according to the planned routes.
[0003] Currently, when autonomous vehicles interact with other autonomous vehicles in conflict zones along their driving path, situations may arise where they compete for right-of-way or give way to each other, resulting in low traffic efficiency in these conflict zones. Summary of the Invention
[0004] This application provides a vehicle interaction method, apparatus, and device to address the problem of low traffic efficiency of current autonomous vehicles in conflict areas along their driving paths.
[0005] In a first aspect, this application provides a vehicle interaction method applied to a first autonomous vehicle, the first autonomous vehicle corresponding to a first driving path, the vehicle interaction method comprising:
[0006] Obtain the second driving path of the second autonomous vehicle within the preset communication range;
[0007] Based on the first driving path and the second driving path, determine the conflict area where the first autonomous vehicle and the second autonomous vehicle have conflicting driving paths, and the first conflict information of the first autonomous vehicle facing the conflict area.
[0008] Share the first conflict information with the second autonomous vehicle;
[0009] Before entering the conflict zone, based on the first conflict information and the second conflict information of the second autonomous vehicle facing the conflict zone, the passage order for the conflict zone is determined through negotiation with the second autonomous vehicle. The second conflict information is shared by the second autonomous vehicle with the first autonomous vehicle.
[0010] Drive through the conflict zone according to the order of passage.
[0011] Optionally, based on the first conflict information and the second conflict information of the second autonomous vehicle facing the conflict area, the passage order for the conflict area is determined by negotiating with the second autonomous vehicle, including: determining the priority of the first autonomous vehicle based on the first conflict information and the second conflict information; and negotiating with the second autonomous vehicle to determine the passage order for the conflict area based on the priority.
[0012] Optionally, the conflict information includes the right-of-way information of the autonomous vehicle and the time and distance to the conflict area. Based on the first conflict information and the second conflict information, the priority of the first autonomous vehicle is determined, including: weighting the right-of-way information and the time and distance to the conflict area of the first autonomous vehicle to obtain a first weighted processing result; weighting the right-of-way information and the time and distance to the conflict area of the second autonomous vehicle to obtain a second weighted processing result; and determining the priority of the first autonomous vehicle based on the first weighted processing result and the second weighted processing result.
[0013] Optionally, based on priority, the passage order for the conflict area is determined in consultation with the second autonomous vehicle, including: if the priority of the first autonomous vehicle is higher than that of the second autonomous vehicle, the passage order for the conflict area is determined to be that the first autonomous vehicle passes through the conflict area and the second autonomous vehicle yields outside the conflict area; if the priority of the first autonomous vehicle is lower than that of the second autonomous vehicle, the passage order for the conflict area is determined to be that the first autonomous vehicle yields outside the conflict area and the second autonomous vehicle passes through the conflict area.
[0014] Optionally, the autonomous vehicle is equipped with a state machine, and the vehicle interaction method further includes: updating the working state of the first autonomous vehicle according to the priority of the first autonomous vehicle and the first driving path.
[0015] Optionally, the state machine's operating states include an idle state, an approaching conflict zone state, a negotiation state, a waiting state, and an entering conflict zone state. Based on the priority of the first autonomous vehicle and the first driving path, the operating state of the first autonomous vehicle is updated, including: when the distance between the first autonomous vehicle and the conflict zone is less than a distance threshold, updating the first autonomous vehicle's operating state from the idle state to the approaching conflict zone state; if it is determined that the second autonomous vehicle's operating state is not idle and there is a conflict zone with the second autonomous vehicle, then updating the first autonomous vehicle's operating state from the approaching conflict zone state to the negotiation state; if it is determined that the second autonomous vehicle's operating state is the entering conflict zone state, then updating the first autonomous vehicle's operating state from the approaching conflict zone state to the negotiation state. The operating status of the first autonomous vehicle is updated from the negotiation state to the waiting state. If it is determined that the operating status of the second autonomous vehicle is not entering the conflict zone, and the priority of the first autonomous vehicle is lower than that of the second autonomous vehicle, then the operating status of the first autonomous vehicle is updated from the negotiation state to the waiting state. If it is determined that the operating status of the second autonomous vehicle is not entering the conflict zone, and the priority of the first autonomous vehicle is higher than that of the second autonomous vehicle, then the operating status of the first autonomous vehicle is updated from the negotiation state to the conflict zone state. If it is determined that the second autonomous vehicle has already passed through the conflict zone, then the operating status of the first autonomous vehicle is updated from the waiting state to the conflict zone state.
[0016] Optionally, there are multiple second autonomous vehicles. The vehicle interaction method further includes: if, after negotiation with the first vehicle that has a conflicting interaction with the second autonomous vehicles, it is determined to update the working state of the first autonomous vehicle from the negotiation state to the waiting state, then when negotiating with other vehicles that have a conflicting interaction with the second autonomous vehicles, the working state of the first autonomous vehicle is updated from the negotiation state to the waiting state.
[0017] Optionally, the vehicle interaction method further includes: if the duration of the first autonomous vehicle's working state in the conflict zone state is greater than a duration threshold, then the working state of the first autonomous vehicle is updated from the conflict zone state to the negotiation state; or, if it is determined that the working state of the second autonomous vehicle has been updated from the conflict zone state to the negotiation state, then the working state of the first autonomous vehicle is updated from the waiting state to the negotiation state.
[0018] Secondly, this application provides a vehicle interaction device applied to a first autonomous vehicle, the first autonomous vehicle corresponding to a first driving path, the vehicle interaction device comprising:
[0019] The acquisition module is used to acquire the second driving path of the second autonomous vehicle within a preset communication range;
[0020] The first determining module is used to determine, based on the first driving path and the second driving path, the conflict area where the first autonomous vehicle and the second autonomous vehicle have conflicting driving paths, and the first conflict information of the first autonomous vehicle facing the conflict area.
[0021] The shared module is used to share the first conflict information with the second autonomous vehicle;
[0022] The second determining module is used to negotiate with the second autonomous vehicle to determine the passage order for the conflict area before entering the conflict area, based on the first conflict information and the second conflict information of the second autonomous vehicle facing the conflict area. The second conflict information is shared by the second autonomous vehicle with the first autonomous vehicle.
[0023] The driving module is used to navigate through conflict zones according to the traffic order.
[0024] Optionally, the second determining module is specifically used to: determine the priority of the first autonomous vehicle based on the first conflict information and the second conflict information; and negotiate with the second autonomous vehicle to determine the passage order for the conflict area based on the priority.
[0025] Optionally, the conflict information includes the right-of-way information of the autonomous vehicle and the time and distance to the conflict area. When the second determining module determines the priority of the first autonomous vehicle based on the first conflict information and the second conflict information, it is specifically used to: perform weighted processing on the right-of-way information of the first autonomous vehicle and the time and distance to the conflict area to obtain a first weighted processing result; perform weighted processing on the right-of-way information of the second autonomous vehicle and the time and distance to the conflict area to obtain a second weighted processing result; and determine the priority of the first autonomous vehicle based on the first weighted processing result and the second weighted processing result.
[0026] Optionally, when the second determining module negotiates with the second autonomous vehicle to determine the passage order for the conflict area based on priority, it is specifically used to: if the priority of the first autonomous vehicle is higher than the priority of the second autonomous vehicle, then the passage order for the conflict area is determined to be that the first autonomous vehicle passes through the conflict area and the second autonomous vehicle yields outside the conflict area; if the priority of the first autonomous vehicle is lower than the priority of the second autonomous vehicle, then the passage order for the conflict area is determined to be that the first autonomous vehicle yields outside the conflict area and the second autonomous vehicle passes through the conflict area.
[0027] Optionally, the autonomous vehicle is equipped with a state machine, and the vehicle interaction device further includes a processing module for updating the working state of the first autonomous vehicle according to the priority of the first autonomous vehicle and the first driving path.
[0028] Optionally, the state machine's operating states include an idle state, an approaching conflict zone state, a negotiation state, a waiting state, and an entering conflict zone state. Specifically, the processing module is used to: update the operating state of the first autonomous vehicle from the idle state to the approaching conflict zone state when the distance between the first autonomous vehicle and the conflict zone is less than a distance threshold; if it is determined that the operating state of the second autonomous vehicle is not idle and there is a conflict zone with the second autonomous vehicle, then update the operating state of the first autonomous vehicle from the approaching conflict zone state to the negotiation state; if it is determined that the operating state of the second autonomous vehicle is entering the conflict zone, then update the operating state of the first autonomous vehicle from the negotiation state to the waiting state; if it is determined that the operating state of the second autonomous vehicle is not entering the conflict zone, and the priority of the first autonomous vehicle is lower than the priority of the second autonomous vehicle, then update the operating state of the first autonomous vehicle from the negotiation state to the waiting state; if it is determined that the operating state of the second autonomous vehicle is not entering the conflict zone, and the priority of the first autonomous vehicle is higher than the priority of the second autonomous vehicle, then update the operating state of the first autonomous vehicle from the negotiation state to the entering conflict zone state; if it is determined that the second autonomous vehicle has already passed through the conflict zone, then update the operating state of the first autonomous vehicle from the waiting state to the entering conflict zone state.
[0029] Optionally, there are multiple second autonomous vehicles, and the processing module is further configured to: if, after negotiation with the first vehicle that has a conflicting interaction with the second autonomous vehicles, it is determined to update the working state of the first autonomous vehicle from the negotiation state to the waiting state, then when negotiating with other vehicles that have a conflicting interaction with the second autonomous vehicles, update the working state of the first autonomous vehicle from the negotiation state to the waiting state.
[0030] Optionally, the processing module is further configured to: if the duration of the first autonomous vehicle's operating state in the conflict zone state is greater than a duration threshold, then update the operating state of the first autonomous vehicle from the conflict zone state to the negotiation state; or, if it is determined that the operating state of the second autonomous vehicle has been updated from the conflict zone state to the negotiation state, then update the operating state of the first autonomous vehicle from the waiting state to the negotiation state.
[0031] Thirdly, this application provides an electronic device, including: a processor, and a memory communicatively connected to the processor;
[0032] The memory stores instructions that the computer executes;
[0033] The processor executes computer execution instructions stored in memory to implement the vehicle interaction method as described in the first aspect of this application.
[0034] Fourthly, this application provides a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the vehicle interaction method as described in the first aspect of this application.
[0035] Fifthly, a computer program product includes a computer program that, when executed by a processor, implements the vehicle interaction method as described in the first aspect of this application.
[0036] The vehicle interaction method, apparatus, and equipment provided in this application are applied to a first autonomous vehicle, which corresponds to a first driving path. The first autonomous vehicle obtains a second driving path of a second autonomous vehicle within a preset communication range. Based on the first and second driving paths, a conflict area where the driving paths of the first and second autonomous vehicles conflict is determined, along with first conflict information of the first autonomous vehicle facing the conflict area. The first conflict information is shared with the second autonomous vehicle. Before entering the conflict area, based on the first conflict information and the second conflict information of the second autonomous vehicle facing the conflict area, a passage order for the conflict area is negotiated and determined with the second autonomous vehicle. The vehicle then passes through the conflict area according to the passage order. Because this application determines the passage order directly between autonomous vehicles based on the conflict information facing the conflict area after determining the conflict area of the first and second driving paths of the first and second autonomous vehicles, and then passes through the conflict area according to the passage order, it can effectively improve the passage efficiency of autonomous vehicles in conflict areas while ensuring driving safety, and achieves decentralized handling of driving conflicts between autonomous vehicles. Attached Figure Description
[0037] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0038] Figure 1 This is a schematic diagram illustrating an application scenario provided in one embodiment of this application;
[0039] Figure 2 A flowchart illustrating a vehicle interaction method provided in an embodiment of this application;
[0040] Figure 3 A flowchart of a vehicle interaction method provided in another embodiment of this application;
[0041] Figure 4A flowchart illustrating a method for updating the operating state of a first autonomous vehicle according to an embodiment of this application;
[0042] Figure 5 This is a schematic diagram of the structure of a vehicle interaction device provided in an embodiment of this application;
[0043] Figure 6 This is a schematic diagram of an electronic device structure provided in this application. Detailed Implementation
[0044] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0045] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation portals are provided for users to choose to authorize or refuse.
[0046] Currently, when autonomous vehicles interact with other autonomous vehicles in conflict zones along their driving path, especially when multiple autonomous vehicles interact in such zones, situations may arise where each vehicle tries to cut in or give way to the other. This not only significantly reduces traffic efficiency in the conflict zone but may also lead to a situation where all autonomous vehicles are unable to pass due to mutual locking, even without violating traffic rules.
[0047] To address the aforementioned issues, this application provides a vehicle interaction method, apparatus, and device. By determining the conflict zones between autonomous vehicles and the conflict information of each autonomous vehicle facing the conflict zones, the autonomous vehicles share their respective conflict information and negotiate to determine a passage order based on the conflict information. They then proceed through the conflict zones sequentially according to the negotiated passage order, achieving reasonable yielding between autonomous vehicles with conflicting travel paths and effectively improving the passage efficiency of autonomous vehicles in conflict zones. Furthermore, by directly negotiating and determining the passage order between autonomous vehicles, a decentralized approach to handling driving conflicts between autonomous vehicles is achieved.
[0048] The following section provides examples illustrating the application scenarios of the solution provided in this application.
[0049] Figure 1 This is a schematic diagram illustrating an application scenario provided by an embodiment of this application. For example... Figure 1 As shown, in this application scenario, autonomous vehicle 101 corresponds to driving path 102, and autonomous vehicle 103 corresponds to driving path 104. Driving paths 102 and 104 have a conflict area 105. Autonomous vehicles 101 and 103 share their respective conflict information and, based on this information, determine a passage order through negotiation. Autonomous vehicles 101 and 103 then proceed through the conflict area 105 in the agreed-upon passage order.
[0050] It should be noted that, Figure 1 This is merely a schematic diagram illustrating one application scenario provided by an embodiment of this application. This embodiment does not necessarily represent... Figure 1 The included equipment is not limited, nor is it restricted. Figure 1 The positional relationships between the devices are defined.
[0051] The technical solution of this application will now be described in detail through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.
[0052] Figure 2 The flowchart illustrates a vehicle interaction method provided in one embodiment of this application, applied to a first autonomous vehicle, which corresponds to a first driving path. This vehicle interaction method can be executed by software and / or hardware devices; for example, the hardware device can be a vehicle interaction device, which can be an electronic device or a processing chip within an electronic device. Figure 2 As shown, the method in this application embodiment includes:
[0053] S201. Obtain the second driving path of the second autonomous vehicle within the preset communication range.
[0054] In this embodiment, the preset communication range is, for example, the communication range determined by the first autonomous vehicle based on vehicle-to-vehicle short-range communication technology. Specifically, the vehicle-to-vehicle short-range communication technology is, for example, vehicle-to-vehicle (V2V) communication technology. Within the preset communication range, the first autonomous vehicle can detect the second autonomous vehicle and communicate with the second autonomous vehicle to obtain the second autonomous vehicle's second driving path.
[0055] S202. Based on the first driving path and the second driving path, determine the conflict area where the first autonomous vehicle and the second autonomous vehicle have conflicting driving paths, and the first conflict information of the first autonomous vehicle facing the conflict area.
[0056] It is understood that both the first and second driving paths are pre-planned. Therefore, based on the first and second driving paths, conflict areas where the first and second autonomous vehicles have conflicting driving paths can be determined. After determining the conflict areas, the first autonomous vehicle can determine the first conflict information facing the conflict areas. This first conflict information includes, for example, the time the first autonomous vehicle arrives at the conflict area, the time it leaves the conflict area, the distance between its current position and the entrance to the conflict area, the distance between its current position and the exit of the conflict area, and basic interactive information such as the right-of-way relationship with the second autonomous vehicle (e.g., main road, side road, or turning direction).
[0057] S203, sharing the first conflict information with the second autonomous vehicle.
[0058] In this step, after determining the first conflict information facing the conflict area, the first autonomous vehicle can share the first conflict information with the second autonomous vehicle. In one example, the first and second autonomous vehicles share the first conflict information through direct vehicle-to-vehicle communication. In another example, the first and second autonomous vehicles share the first conflict information through cloud relay.
[0059] S204. Before entering the conflict zone, based on the first conflict information and the second conflict information of the second autonomous vehicle facing the conflict zone, negotiate with the second autonomous vehicle to determine the passage order for the conflict zone.
[0060] The second conflict information is shared by the second autonomous vehicle with the first autonomous vehicle.
[0061] For example, the second conflict information may include basic information related to interaction, such as the time the second autonomous vehicle arrives at the conflict area, the time it leaves the conflict area, the distance between its current position and the entrance to the conflict area, the distance between its current position and the exit of the conflict area, and the right-of-way relationship (e.g., main road, side road, or turning direction) with the first autonomous vehicle. The second autonomous vehicle may share the second conflict information with the first autonomous vehicle, for example, through direct vehicle-to-vehicle communication. In this step, before entering the conflict area, for example, when the distance between the first autonomous vehicle and the conflict area is less than a distance threshold, the first autonomous vehicle may negotiate with the second autonomous vehicle to determine the passage order for the conflict area based on the first and second conflict information. This passage order may be, for example, the second autonomous vehicle entering the conflict area first, and the first autonomous vehicle yielding outside the conflict area. For details on how the passage order for the conflict area is negotiated with the second autonomous vehicle based on the first and second conflict information, please refer to subsequent embodiments; it will not be repeated here.
[0062] S205, proceed through the conflict zone according to the traffic order.
[0063] In this step, after the passage order is determined, the first and second autonomous vehicles can pass through the conflict area in sequence according to the passage order.
[0064] It is understandable that if there is no conflict in the driving paths between the first autonomous vehicle and the second autonomous vehicle, the first autonomous vehicle can drive automatically according to the first driving path corresponding to the first autonomous vehicle.
[0065] The vehicle interaction method provided in this application is applied to a first autonomous vehicle, which corresponds to a first driving path. The first autonomous vehicle obtains a second driving path of a second autonomous vehicle within a preset communication range. Based on the first and second driving paths, a conflict area where the driving paths of the first and second autonomous vehicles conflict is determined, along with first conflict information of the first autonomous vehicle facing the conflict area. The first conflict information is shared with the second autonomous vehicle. Before entering the conflict area, based on the first conflict information and the second conflict information of the second autonomous vehicle facing the conflict area, a passage order for the conflict area is negotiated and determined with the second autonomous vehicle. The vehicle then passes through the conflict area according to the passage order. Because this application, after determining the conflict area between the first and second driving paths of the first and second autonomous vehicles, determines the passage order through direct negotiation between the autonomous vehicles based on the conflict information facing the conflict area, and then passes through the conflict area according to the passage order, it can effectively improve the passage efficiency of autonomous vehicles in conflict areas while ensuring driving safety, and achieves decentralized handling of driving conflicts between autonomous vehicles.
[0066] Figure 3 A flowchart illustrating a vehicle interaction method according to another embodiment of this application. Based on the above embodiments, this application further describes the vehicle interaction method. For example... Figure 3 As shown, the method in this application embodiment may include:
[0067] S301. Obtain the second driving path of the second autonomous vehicle within the preset communication range.
[0068] For a detailed description of this step, please refer to [link / reference]. Figure 2 The relevant description of S201 in the illustrated embodiment will not be repeated here.
[0069] S302. Based on the first driving path and the second driving path, determine the conflict area where the first autonomous vehicle and the second autonomous vehicle have conflicting driving paths, and the first conflict information of the first autonomous vehicle facing the conflict area.
[0070] For a detailed description of this step, please refer to [link / reference]. Figure 2 The relevant description of S202 in the illustrated embodiment will not be repeated here.
[0071] S303, sharing the first conflict information with the second autonomous vehicle.
[0072] For a detailed description of this step, please refer to [link / reference]. Figure 2 The relevant description of S203 in the illustrated embodiment will not be repeated here.
[0073] In the embodiments of this application, Figure 2 Step S204 can further include the following two steps, S304 and S305:
[0074] S304. Before entering the conflict zone, the priority of the first autonomous vehicle is determined based on the first conflict information and the second conflict information of the second autonomous vehicle facing the conflict zone.
[0075] In this step, after the first autonomous vehicle shares the first conflict information with the second autonomous vehicle and receives the second conflict information shared by the second autonomous vehicle, the first autonomous vehicle can determine its priority based on the first conflict information and the second conflict information before entering the conflict area.
[0076] Further, optionally, the conflict information includes the right-of-way information of the autonomous vehicle and the time and distance to the conflict area. Determining the priority of the first autonomous vehicle based on the first conflict information and the second conflict information may include: weighting the right-of-way information of the first autonomous vehicle and the time and distance to the conflict area to obtain a first weighted processing result; weighting the right-of-way information of the second autonomous vehicle and the time and distance to the conflict area to obtain a second weighted processing result; and determining the priority of the first autonomous vehicle based on the first weighted processing result and the second weighted processing result.
[0077] The priority of autonomous vehicles traversing conflict zones is a relative indicator, used to suggest that a first autonomous vehicle has a higher or lower priority than a second autonomous vehicle when traversing a conflict zone. For example, the priority of an autonomous vehicle can be determined using the following formula:
[0078] P=1 / (k_eda*k_feeder_road*k_turn*eta)
[0079] Where eta represents the time it takes for the autonomous vehicle to reach the conflict zone; k_eda represents the weighting coefficient corresponding to the distance the autonomous vehicle travels to the conflict zone; k_feeder_road represents the weighting coefficient for the autonomous vehicle on the side road; and k_turn represents the weighting coefficient for the autonomous vehicle turning.
[0080] Autonomous vehicles can determine their priorities according to the formula above. A higher priority means the autonomous vehicle can pass through the conflict area with greater priority. The priority of an autonomous vehicle can be adjusted by changing the values of different weighting coefficients in the formula.
[0081] Based on the above formula, the right-of-way information of the first autonomous vehicle and its arrival time and distance to the conflict area can be weighted to obtain a first weighted processing result; the right-of-way information of the second autonomous vehicle and its arrival time and distance to the conflict area can be weighted to obtain a second weighted processing result. By comparing the first weighted processing result and the second weighted processing result, the priority of the first autonomous vehicle can be determined.
[0082] S305. Based on priority, negotiate with the second autonomous vehicle to determine the passage order for the conflict area.
[0083] In this step, after determining the priority of the first autonomous vehicle, the second autonomous vehicle can negotiate and determine the passage order for the conflict area based on the priority of the first autonomous vehicle.
[0084] Further, optionally, based on priority, negotiating with the second autonomous vehicle to determine the passage order for the conflict area may include: if the priority of the first autonomous vehicle is higher than that of the second autonomous vehicle, then the passage order for the conflict area is determined to be that the first autonomous vehicle passes through the conflict area and the second autonomous vehicle yields outside the conflict area; if the priority of the first autonomous vehicle is lower than that of the second autonomous vehicle, then the passage order for the conflict area is determined to be that the first autonomous vehicle yields outside the conflict area and the second autonomous vehicle passes through the conflict area.
[0085] It's understandable that higher priority areas pass through conflict zones first.
[0086] S306, proceed through the conflict zone according to the traffic order.
[0087] For a detailed description of this step, please refer to [link / reference]. Figure 2 The relevant description of S205 in the illustrated embodiment will not be repeated here.
[0088] The vehicle interaction method provided in this application is applied to a first autonomous vehicle, which corresponds to a first driving path. The first autonomous vehicle obtains a second driving path of a second autonomous vehicle within a preset communication range. Based on the first and second driving paths, a conflict area is determined where the first and second autonomous vehicles have conflicting driving paths, along with first conflict information of the first autonomous vehicle facing the conflict area. This first conflict information is shared with the second autonomous vehicle. Before entering the conflict area, the priority of the first autonomous vehicle is determined based on the first conflict information and the second conflict information of the second autonomous vehicle facing the conflict area. Based on the priority, a passage order for the conflict area is negotiated with the second autonomous vehicle. The vehicle then passes through the conflict area according to the passage order. Because this application method determines the passage order for the conflict area based on the priority of the first autonomous vehicle passing through the conflict area and negotiates with the second autonomous vehicle, and then passes through the conflict area according to the passage order, it can effectively improve the passage efficiency of autonomous vehicles in conflict areas while ensuring driving safety. Furthermore, by directly negotiating between autonomous vehicles to determine the passage order, it achieves decentralized handling of driving conflicts between autonomous vehicles.
[0089] Based on the above embodiments, an autonomous vehicle is provided with a state machine. The vehicle interaction method provided in this application embodiment may further include: updating the working state of the first autonomous vehicle according to the priority of the first autonomous vehicle and the first driving path.
[0090] It is understandable that each autonomous vehicle maintains a state machine to negotiate the passage order with other autonomous vehicles. For example, after determining the priority of the first autonomous vehicle passing through the conflict zone, its operating state can be updated based on its priority and its position on the first travel path. For instance, when the first autonomous vehicle approaches the conflict zone, its operating state can be updated.
[0091] Based on the above embodiments, the working states of the state machine set in the autonomous vehicle can include idle state (FREE_STAGE), approaching conflict zone state (APPROACH_STAGE), negotiation state (NEGOTIATE_STAGE), waiting state (WAIT_STAGE), and entering conflict zone state (ENTER_STAGE). The autonomous vehicle will be in one of these working states at any given time. Figure 4This is a flowchart illustrating a method for updating the operating state of a first autonomous vehicle according to an embodiment of this application. Based on the above embodiment, this application further explains how to update the operating state of a first autonomous vehicle according to its priority and a first driving path. Figure 4 As shown, the method in this application embodiment may include:
[0092] S401. After the first autonomous vehicle is initialized, it drives automatically according to the first driving path and remains in an idle state.
[0093] The first autonomous vehicle is in an idle state, meaning that the first autonomous vehicle has not engaged in conflicting interactions with any other autonomous vehicles.
[0094] S402. When the distance between the first autonomous vehicle and the conflict area is less than the distance threshold, the working state of the first autonomous vehicle is updated from idle state to near conflict area state.
[0095] S403. If it is determined that the working state of the second autonomous vehicle is not idle and there is a conflict area with the second autonomous vehicle, then the working state of the first autonomous vehicle is updated from the near conflict area state to the negotiation state.
[0096] In this step, when the first autonomous vehicle is in the "approaching conflict zone" state, if it detects a second autonomous vehicle that is not idle and has a conflict zone with it, the first autonomous vehicle updates its state from "approaching conflict zone" to "negotiation state." Autonomous vehicles in the negotiation state can negotiate with each other to determine the communication order.
[0097] S404. If it is determined that the working state of the second autonomous vehicle is the state of entering the conflict zone, then the working state of the first autonomous vehicle is updated from the negotiation state to the waiting state.
[0098] It is understandable that after the working state of the first autonomous vehicle is updated to the negotiation state, the working state of the second autonomous vehicle may have been updated to the conflict zone state through negotiation. At this time, the working state of the first autonomous vehicle is updated from the negotiation state to the waiting state, so as to wait for the second autonomous vehicle to exit the conflict zone state, that is, to pass through the conflict zone.
[0099] S405. If it is determined that the working state of the second autonomous vehicle is not entering the conflict area, and the priority of the first autonomous vehicle is lower than that of the second autonomous vehicle, then the working state of the first autonomous vehicle is updated from the negotiation state to the waiting state.
[0100] S406. If there are multiple second autonomous vehicles, and after negotiation with the first vehicle that has a conflict with the second autonomous vehicle, it is determined to update the working state of the first autonomous vehicle from the negotiation state to the waiting state, then when negotiating with other vehicles that have a conflict with the second autonomous vehicle, the working state of the first autonomous vehicle will be updated from the negotiation state to the waiting state.
[0101] It is understandable that in situations involving conflicting interactions among multiple autonomous vehicles, the first autonomous vehicle might first conflict with the first of the two autonomous vehicles, and then with the second. If, after negotiation with the first vehicle, it is determined that the operating state of the first autonomous vehicle will be updated from the negotiation state to the waiting state, then during negotiation with the second vehicle, the operating state of the first autonomous vehicle will also be updated from the negotiation state to the waiting state to ensure the stability of the first autonomous vehicle's operating state. For multiple autonomous vehicles in the waiting state, once an autonomous vehicle in the "entering the conflict zone" state enters the conflict zone, the passage order can be determined through further negotiation.
[0102] S407. If it is determined that the working state of the second autonomous vehicle is not in the conflict zone state, and the priority of the first autonomous vehicle is higher than that of the second autonomous vehicle, then the working state of the first autonomous vehicle is updated from the negotiation state to the conflict zone state.
[0103] It is understandable that during the negotiation process with the second autonomous vehicle, if the first autonomous vehicle determines that the second autonomous vehicle's operating state is not in the conflict zone state, and the first autonomous vehicle has a higher priority than the second autonomous vehicle (meaning the first autonomous vehicle does not need to update its operating state to the waiting state), then the first autonomous vehicle's operating state is updated from the negotiation state to the conflict zone state. The first autonomous vehicle, in the conflict zone state, can pass through the conflict zone first, while the second autonomous vehicle remains in the waiting state. If the first autonomous vehicle has completely passed through the conflict zone, its state machine automatically terminates.
[0104] S408. If it is determined that the second autonomous vehicle has passed through the conflict area, the working status of the first autonomous vehicle is updated from the waiting state to the state of entering the conflict area.
[0105] It is understandable that when the first autonomous vehicle is in a waiting state, if it is determined that the second autonomous vehicle has driven through the conflict area, that is, all other autonomous vehicles that are in the state of entering the conflict area have completely passed through the conflict area and the autonomous vehicle no longer has conflicting interactions with other autonomous vehicles, then the working state of the first autonomous vehicle is updated from the waiting state to the state of entering the conflict area. The first autonomous vehicle passes through the conflict area and the state machine of the first autonomous vehicle automatically ends.
[0106] Based on the above embodiments, optionally, if the duration of the first autonomous vehicle's working state in the conflict zone state is greater than the duration threshold, then the working state of the first autonomous vehicle is updated from the conflict zone state to the negotiation state; or, if it is determined that the working state of the second autonomous vehicle is updated from the conflict zone state to the negotiation state, then the working state of the first autonomous vehicle is updated from the waiting state to the negotiation state.
[0107] For example, in scenarios where non-autonomous and autonomous vehicles coexist, an autonomous vehicle in the conflict zone entry state may be unable to pass through the conflict zone due to external factors such as non-autonomous vehicles. If it continues to occupy the conflict zone entry state, all autonomous vehicles will be unable to pass, thus reducing traffic efficiency. Therefore, a renegotiation mechanism can be used to solve this problem. Specifically, if an autonomous vehicle in the conflict zone entry state remains stationary for an extended period, its conflict zone entry state is proactively updated to a negotiation state. For autonomous vehicles in the waiting state, since there are no longer any autonomous vehicles in the conflict zone entry state that they are supposed to yield to, their waiting state is updated to a negotiation state. The autonomous vehicles in the negotiation state then negotiate again to re-determine the passage order. For example, during the negotiation process, if it is determined that the first autonomous vehicle is blocked by an obstacle and cannot pass, while the second autonomous vehicle can pass, the priority of the second autonomous vehicle can be increased so that it can pass through the conflict zone first.
[0108] This application embodiment uses a state machine installed in the autonomous vehicle to accurately update the working state of the first autonomous vehicle, thereby accurately determining the passage order of the first autonomous vehicle in the conflict area based on the working state of the first autonomous vehicle, and improving the passage efficiency of the conflict area.
[0109] It is understandable that if there is no conflict in the driving paths between the first autonomous vehicle and the second autonomous vehicle, the first autonomous vehicle does not need to use a state machine to update its working state, and can drive automatically according to the first driving path corresponding to the first autonomous vehicle.
[0110] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.
[0111] Figure 5 This is a schematic diagram of the structure of a vehicle interaction device provided in an embodiment of this application, applied to a first autonomous driving vehicle, which corresponds to a first driving path. Figure 5 As shown, the vehicle interaction device 500 of this application embodiment includes: an acquisition module 501, a first determination module 502, a sharing module 503, a second determination module 504, and a driving module 505. Wherein:
[0112] The acquisition module 501 is used to acquire the second driving path of the second autonomous vehicle within a preset communication range.
[0113] The first determining module 502 is used to determine, based on the first driving path and the second driving path, the conflict area where the first autonomous vehicle and the second autonomous vehicle have conflicting driving paths, and the first conflict information of the first autonomous vehicle facing the conflict area.
[0114] The shared module 503 is used to share the first conflict information with the second autonomous vehicle.
[0115] The second determining module 504 is used to negotiate with the second autonomous vehicle to determine the passage order for the conflict area before entering the conflict area, based on the first conflict information and the second conflict information of the second autonomous vehicle facing the conflict area. The second conflict information is shared by the second autonomous vehicle with the first autonomous vehicle.
[0116] The driving module 505 is used to drive through conflict areas according to the passage order.
[0117] In some embodiments, the second determining module 504 may be specifically used to: determine the priority of the first autonomous vehicle based on the first conflict information and the second conflict information; and negotiate with the second autonomous vehicle to determine the passage order for the conflict area based on the priority.
[0118] Optionally, the conflict information includes the right-of-way information of the autonomous vehicle and the time and distance to the conflict area. When the second determining module 504 determines the priority of the first autonomous vehicle based on the first conflict information and the second conflict information, it can specifically be used to: perform weighted processing on the right-of-way information of the first autonomous vehicle and the time and distance to the conflict area to obtain a first weighted processing result; perform weighted processing on the right-of-way information of the second autonomous vehicle and the time and distance to the conflict area to obtain a second weighted processing result; and determine the priority of the first autonomous vehicle based on the first weighted processing result and the second weighted processing result.
[0119] Optionally, when the second determining module 504 negotiates with the second autonomous vehicle to determine the passage order for the conflict area based on priority, it can be specifically used to: if the priority of the first autonomous vehicle is higher than the priority of the second autonomous vehicle, then the passage order for the conflict area is determined to be that the first autonomous vehicle passes through the conflict area and the second autonomous vehicle yields outside the conflict area; if the priority of the first autonomous vehicle is lower than the priority of the second autonomous vehicle, then the passage order for the conflict area is determined to be that the first autonomous vehicle yields outside the conflict area and the second autonomous vehicle passes through the conflict area.
[0120] In some embodiments, the autonomous vehicle is provided with a state machine, and the vehicle interaction device further includes a processing module 506 for updating the working state of the first autonomous vehicle according to the priority of the first autonomous vehicle and the first driving path.
[0121] In some embodiments, the working states of the state machine include an idle state, an approaching conflict zone state, a negotiation state, a waiting state, and an entering conflict zone state. The processing module 506 can be specifically configured to: update the working state of the first autonomous vehicle from the idle state to the approaching conflict zone state when the distance between the first autonomous vehicle and the conflict zone is less than a distance threshold; if it is determined that the working state of the second autonomous vehicle is not idle and there is a conflict zone with the second autonomous vehicle, then update the working state of the first autonomous vehicle from the approaching conflict zone state to the negotiation state; if it is determined that the working state of the second autonomous vehicle is entering the conflict zone, then update the working state of the first autonomous vehicle from the negotiation state to the waiting state; if it is determined that the working state of the second autonomous vehicle is not entering the conflict zone and the priority of the first autonomous vehicle is lower than the priority of the second autonomous vehicle, then update the working state of the first autonomous vehicle from the negotiation state to the waiting state; if it is determined that the working state of the second autonomous vehicle is not entering the conflict zone and the priority of the first autonomous vehicle is higher than the priority of the second autonomous vehicle, then update the working state of the first autonomous vehicle from the negotiation state to the entering conflict zone state; if it is determined that the second autonomous vehicle has already passed through the conflict zone, then update the working state of the first autonomous vehicle from the waiting state to the entering conflict zone state.
[0122] Optionally, there may be multiple second autonomous vehicles. The processing module 506 may also be used to: if, after negotiation with the first vehicle that has a conflicting interaction with the second autonomous vehicle, it is determined to update the working state of the first autonomous vehicle from the negotiation state to the waiting state, then when negotiating with other vehicles that have a conflicting interaction with the second autonomous vehicle, the working state of the first autonomous vehicle is updated from the negotiation state to the waiting state.
[0123] Optionally, the processing module 506 can also be used to: if the duration of the first autonomous vehicle's working state in the conflict zone state is greater than the duration threshold, then update the working state of the first autonomous vehicle from the conflict zone state to the negotiation state; or, if it is determined that the working state of the second autonomous vehicle has been updated from the conflict zone state to the negotiation state, then update the working state of the first autonomous vehicle from the waiting state to the negotiation state.
[0124] The apparatus of this embodiment can be used to execute the technical solutions of any of the method embodiments shown above. Its implementation principle and technical effect are similar, and will not be repeated here.
[0125] Figure 6 This is a schematic diagram of an electronic device structure provided in this application. Figure 6 As shown, the electronic device 600 may include at least one processor 601 and a memory 602.
[0126] The memory 602 is used to store programs. Specifically, the program may include program code, which includes computer-executable instructions.
[0127] The memory 602 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device.
[0128] The processor 601 executes computer execution instructions stored in the memory 602 to implement the vehicle interaction method described in the foregoing method embodiments. The processor 601 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. Specifically, when implementing the vehicle interaction method described in the foregoing method embodiments, the electronic device may be, for example, an electronic control unit in a vehicle.
[0129] Optionally, the electronic device 600 may also include a communication interface 603. In specific implementations, if the communication interface 603, memory 602, and processor 601 are implemented independently, they can be interconnected via a bus to complete communication. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc., but this does not imply that there is only one bus or one type of bus.
[0130] Optionally, in a specific implementation, if the communication interface 603, memory 602, and processor 601 are integrated on a single chip, then the communication interface 603, memory 602, and processor 601 can communicate through an internal interface.
[0131] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-mentioned vehicle interaction method.
[0132] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described vehicle interaction method.
[0133] The aforementioned computer-readable storage medium can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.
[0134] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an application-specific integrated circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in a vehicle interaction device.
[0135] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.
[0136] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.
Claims
1. A vehicle interaction method, characterized in that, Applied to a first autonomous vehicle, the first autonomous vehicle is equipped with a state machine and corresponds to a first driving path; the vehicle interaction method includes: Obtain the second driving path of the second autonomous vehicle within the preset communication range; Based on the first driving path and the second driving path, a conflict area is determined where the first autonomous vehicle and the second autonomous vehicle have conflicting driving paths, and first conflict information is obtained where the first autonomous vehicle faces the conflict area. The first conflict information is shared with the second autonomous vehicle; Before entering the conflict zone, based on the first conflict information and the second conflict information of the second autonomous vehicle facing the conflict zone, the passage order for the conflict zone is determined through negotiation with the second autonomous vehicle. The second conflict information is shared by the second autonomous vehicle to the first autonomous vehicle. According to the stated traffic order, proceed through the conflict zone; The method further includes: The operating status of the first autonomous vehicle is updated according to its priority and the first driving path; wherein the priority is determined based on the first conflict information and the second conflict information, and the operating status includes idle status, approaching conflict area status, negotiation status, waiting status, and entering conflict area status. The step of updating the operating status of the first autonomous vehicle based on its priority and the first driving path includes: When the distance between the first autonomous vehicle and the conflict area is less than a distance threshold, the working state of the first autonomous vehicle is updated from the idle state to the approaching conflict area state. If it is determined that the working state of the second autonomous vehicle is not the idle state, and there is a conflict area with the second autonomous vehicle, then the working state of the first autonomous vehicle is updated from the near conflict area state to the negotiation state. If it is determined that the working state of the second autonomous vehicle is the state of entering the conflict area, then the working state of the first autonomous vehicle is updated from the negotiation state to the waiting state. If it is determined that the working state of the second autonomous vehicle is not the state of entering the conflict area, and the priority of the first autonomous vehicle is lower than the priority of the second autonomous vehicle, then the working state of the first autonomous vehicle is updated from the negotiation state to the waiting state. If it is determined that the operating state of the second autonomous vehicle is not the state of entering the conflict zone, and the priority of the first autonomous vehicle is higher than the priority of the second autonomous vehicle, then the operating state of the first autonomous vehicle is updated from the negotiation state to the state of entering the conflict zone. If it is determined that the second autonomous vehicle has passed through the conflict area, the operating status of the first autonomous vehicle is updated from the waiting state to the state of entering the conflict area.
2. The vehicle interaction method according to claim 1, characterized in that, The step of negotiating with the second autonomous vehicle to determine the passage order for the conflict area based on the first conflict information and the second conflict information of the second autonomous vehicle facing the conflict area includes: Based on the priority, the passage order for the conflict area is determined in consultation with the second autonomous vehicle.
3. The vehicle interaction method according to claim 2, characterized in that, The conflict information includes the right-of-way information of the autonomous vehicle and the time and distance to the conflict area. Determining the priority of the first autonomous vehicle based on the first conflict information and the second conflict information includes: The right-of-way information of the first autonomous vehicle and the time and distance to reach the conflict area are weighted to obtain a first weighted processing result; The right-of-way information of the second autonomous vehicle and the time and distance to reach the conflict area are weighted to obtain a second weighted processing result; The priority of the first autonomous vehicle is determined based on the first weighted processing result and the second weighted processing result.
4. The vehicle interaction method according to claim 2, characterized in that, The step of negotiating with the second autonomous vehicle to determine the passage order for the conflict area based on the priority includes: If the priority of the first autonomous vehicle is higher than that of the second autonomous vehicle, then the passage order for the conflict area is determined as follows: the first autonomous vehicle passes through the conflict area and the second autonomous vehicle yields outside the conflict area. If the priority of the first autonomous vehicle is lower than that of the second autonomous vehicle, then the passage order for the conflict area is determined as follows: the first autonomous vehicle yields outside the conflict area, and the second autonomous vehicle passes through the conflict area.
5. The vehicle interaction method according to claim 1, characterized in that, The second autonomous driving vehicle comprises multiple vehicles, and the vehicle interaction method further includes: If, after negotiation with the first vehicle in the second autonomous vehicle where a conflict occurs, it is determined that the operating state of the first autonomous vehicle will be updated from the negotiation state to the waiting state, then when negotiating with other vehicles in the second autonomous vehicle where a conflict occurs, the operating state of the first autonomous vehicle will be updated from the negotiation state to the waiting state.
6. The vehicle interaction method according to claim 1, characterized in that, Also includes: If the duration of the first autonomous vehicle's operating state as the "entering the conflict zone" state is greater than the duration threshold, then the operating state of the first autonomous vehicle is updated from the "entering the conflict zone" state to the "negotiation" state. Alternatively, if it is determined that the operating state of the second autonomous vehicle is updated from the state of entering the conflict zone to the state of negotiation, then the operating state of the first autonomous vehicle is updated from the state of waiting to the state of negotiation.
7. A vehicle interaction device, characterized in that, Applied to a first autonomous vehicle, the first autonomous vehicle is equipped with a state machine and corresponds to a first driving path. The vehicle interaction device includes: The acquisition module is used to acquire the second driving path of the second autonomous vehicle within a preset communication range; The first determining module is used to determine, based on the first driving path and the second driving path, a conflict area where the first autonomous vehicle and the second autonomous vehicle have conflicting driving paths, and first conflict information of the first autonomous vehicle facing the conflict area. The sharing module is used to share the first conflict information with the second autonomous vehicle; The second determining module is used to negotiate with the second autonomous vehicle to determine the passage order for the conflict area before entering the conflict area, based on the first conflict information and the second conflict information of the second autonomous vehicle facing the conflict area. The second conflict information is shared by the second autonomous vehicle to the first autonomous vehicle. A driving module is used to drive through the conflict area according to the passage order; The processing module is used to update the working status of the first autonomous vehicle according to the priority of the first autonomous vehicle and the first driving path; wherein the priority is determined based on the first conflict information and the second conflict information, and the working status includes idle status, approaching conflict area status, negotiation status, waiting status and entering conflict area status. The processing module is specifically used to update the working state of the first autonomous vehicle from the idle state to the approaching conflict area state when the distance between the first autonomous vehicle and the conflict area is less than a distance threshold. If it is determined that the working state of the second autonomous vehicle is not the idle state, and there is a conflict area with the second autonomous vehicle, then the working state of the first autonomous vehicle is updated from the near conflict area state to the negotiation state. If it is determined that the working state of the second autonomous vehicle is the state of entering the conflict area, then the working state of the first autonomous vehicle is updated from the negotiation state to the waiting state. If it is determined that the working state of the second autonomous vehicle is not the state of entering the conflict area, and the priority of the first autonomous vehicle is lower than the priority of the second autonomous vehicle, then the working state of the first autonomous vehicle is updated from the negotiation state to the waiting state. If it is determined that the operating state of the second autonomous vehicle is not the state of entering the conflict zone, and the priority of the first autonomous vehicle is higher than the priority of the second autonomous vehicle, then the operating state of the first autonomous vehicle is updated from the negotiation state to the state of entering the conflict zone. If it is determined that the second autonomous vehicle has passed through the conflict area, the operating status of the first autonomous vehicle is updated from the waiting state to the state of entering the conflict area.
8. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the vehicle interaction method as described in any one of claims 1 to 6.