Y-shaped lane decision-making method and system, vehicles

Abstract

This invention relates to the field of intelligent navigation technology for autonomous vehicles, specifically to a Y-shaped lane decision-making method and system, and a vehicle. The decision-making method includes: determining Y-shaped lane information based on positioning and navigation information; determining whether optimal path selection via curvature is necessary based on the path lengths of the two lanes in the Y-shaped lane; if not, determining the optimal path based on the path lengths of the two lanes; if necessary, determining the optimal path based on the curvature change values ​​of the two lanes. The technical solution of this invention considers both path length and curvature change values ​​simultaneously when selecting a path in a Y-shaped lane, making the optimal path selection based on different lane conditions, thus meeting the needs of vehicle driving safety and comfort.

Description

Technical Field

[0001] This invention relates to the field of intelligent navigation technology for autonomous vehicles, specifically to a Y-shaped lane decision-making method and system, and a vehicle. Background Technology

[0002] With the continuous development of autonomous driving technology, many countries are vigorously promoting the development and large-scale application of autonomous driving technology in the context of future intelligent mobility. Among them, in autonomous driving planning and control technology, optimal lane selection plays a crucial role in the safety and comfort of vehicle driving. Y-shaped lanes are common in urban roads.

[0003] Patent application publication number: CN110286681B, discloses a dynamic autonomous driving trajectory planning method for curves with variable curvature. By calculating the straight-line lane-changing trajectory curve and the curve trajectory curve, the trajectory selection for lane changing is determined by safety constraints. However, in practical applications, the technical solution of this invention fails to constrain lane-changing requests by detecting the distance ahead, which can easily lead to dead-end areas.

[0004] How to simultaneously consider the drivable path length and lane curvature variation in practical applications to make a safe and comfortable selection for Y-shaped lanes is a problem that urgently needs to be solved in this field. Summary of the Invention

[0005] To address the problem that existing technologies often lead to vehicles driving into dead-end areas in practical applications, this invention provides a Y-shaped lane decision-making method, system, and vehicle. By using a preset distance to be traveled ahead and lane curvature changes as decision factors, the optimal path is selected based on actual conditions, ensuring the safety and comfort of autonomous driving navigation.

[0006] To achieve the above objectives, a first aspect of the present invention provides a Y-shaped lane decision-making method, comprising the following steps:

[0007] Determining Y-shaped lane information based on location and navigation information;

[0008] Determine whether the optimal path selection based on curvature is necessary based on the path lengths of the two lanes in a Y-shaped lane; if not, determine the optimal path based on the path lengths of the two lanes; if so, determine the optimal path based on the curvature change values ​​of the two lanes.

[0009] Preferably, the positioning information includes latitude and longitude points and heading angle information. The current latitude and longitude points are matched with map information to determine the current lane code. Using the current lane code and heading angle information, a set of feasible lane sequences matching the navigation information within a preset range ahead is obtained. Y-shaped lane information is then determined from the set of feasible lane sequences.

[0010] Y-shaped lane information includes the codes of its two corresponding lanes, path length, and latitude and longitude points.

[0011] Preferably, determining whether to select the optimal path based on the curvature change value according to the path lengths of the two lanes of the Y-shaped lane includes:

[0012] Determine whether the lengths of the two paths both satisfy the condition that they are both greater than the first preset parameter and the difference between them is less than the second preset parameter. If the condition is met, the optimal path needs to be selected based on the curvature change value; otherwise, the optimal path is determined based on the path lengths of the two lanes.

[0013] Preferably, determining the optimal path based on the path lengths of the two lanes includes:

[0014] If both path lengths are greater than the first preset parameter, and the difference between them is greater than the second preset parameter, then the lane with the longer path length is selected as the optimal lane; and

[0015] If the lengths of both paths are less than the first preset parameter, or if the length of either path is less than the first preset parameter, then the lane with the longer path length will be selected as the optimal lane.

[0016] Preferably, determining the optimal path based on the curvature variation values ​​of the two lanes includes:

[0017] The curvature change value before and after the bifurcation point is calculated by the latitude and longitude points corresponding to the two lanes of the Y-shaped lane, and the lane with the smaller curvature change value is selected as the optimal lane.

[0018] A second aspect of the present invention provides a Y-shaped lane decision-making system, comprising:

[0019] The positioning module is used to acquire positioning information, which includes latitude and longitude points and heading angle information;

[0020] The navigation module matches the current latitude and longitude point with the map information to determine the current lane code. It then uses the current lane code and heading angle information to obtain a set of feasible lane sequences within a preset range ahead that match the navigation information. Finally, it determines Y-shaped lane information from this set of feasible lane sequences.

[0021] Y-shaped lane information includes the codes of its two corresponding lanes, path length, and latitude and longitude points;

[0022] The path selection module determines whether the optimal path selection needs to be based on the path lengths of the two lanes of the Y-shaped lane; if not, it determines the optimal path based on the path lengths of the two lanes; if so, it determines the optimal path based on the curvature change value of the two lanes.

[0023] Preferably, determining whether to select the optimal path based on the curvature change value according to the path lengths of the two lanes of the Y-shaped lane includes:

[0024] Determine whether the lengths of the two paths both satisfy the condition that they are both greater than the first preset parameter and the difference between them is less than the second preset parameter. If the condition is met, the optimal path needs to be selected based on the curvature change value; otherwise, the optimal path is determined based on the path lengths of the two lanes.

[0025] Preferably, determining the optimal path based on the path lengths of the two lanes includes:

[0026] If both path lengths are greater than the first preset parameter, and the difference between them is greater than the second preset parameter, then the lane with the longer path length is selected as the optimal lane; and

[0027] If the lengths of both paths are less than the first preset parameter, or if the length of either path is less than the first preset parameter, then the lane with the longer path length will be selected as the optimal lane.

[0028] Preferably, determining the optimal path based on the curvature variation values ​​of the two lanes includes:

[0029] The curvature change value before and after the bifurcation point is calculated by the latitude and longitude points corresponding to the two lanes of the Y-shaped lane, and the lane with the smaller curvature change value is selected as the optimal lane.

[0030] A third aspect of the present invention provides a vehicle comprising the aforementioned Y-shaped lane decision system.

[0031] The beneficial effects of the present invention are as follows: When selecting a path in a Y-shaped lane, the technical solution of the present invention takes into account both the path length and the curvature change value, and selects the optimal path according to different lane conditions, thereby meeting the needs of vehicle driving safety and comfort. Attached Figure Description

[0032] Figure 1 This is a schematic flowchart of the method of the present invention;

[0033] Figure 2 This is a schematic diagram of the system of the present invention;

[0034] Figure 3 This is a schematic diagram of a Y-shaped lane structure.

[0035] Figure 4 This is a schematic diagram of the n-ary tree search algorithm in an embodiment of the present invention. Detailed Implementation

[0036] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0037] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0038] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0039] When using expressions such as "at least one of A, B, and C," the expression should generally be interpreted in accordance with the meaning commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, and C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.). Similarly, when using expressions such as "at least one of A, B, or C," the expression should generally be interpreted in accordance with the meaning commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, or C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.).

[0040] The accompanying drawings illustrate several block diagrams and / or flowcharts. It should be understood that some blocks, or combinations thereof, in the block diagrams and / or flowcharts can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that, when executed by the processor, these instructions can create means for implementing the functions / operations described in these block diagrams and / or flowcharts. The technology of this disclosure can be implemented in hardware and / or software (including firmware, microcode, etc.). Alternatively, the technology of this disclosure can take the form of a computer program product stored on a computer-readable storage medium, which is available for use by or in conjunction with an instruction execution system.

[0041] The first aspect of this invention provides a Y-shaped lane decision-making method, comprising the following steps:

[0042] Determining Y-shaped lane information based on location and navigation information;

[0043] Determine whether the optimal path selection based on curvature is necessary based on the path lengths of the two lanes in a Y-shaped lane; if not, determine the optimal path based on the path lengths of the two lanes; if so, determine the optimal path based on the curvature change values ​​of the two lanes.

[0044] This invention obtains information about the upcoming Y-shaped lane by analyzing the current vehicle's positioning and navigation information. Based on the information of the two lanes in the Y-shaped lane, it makes a judgment. When the specified conditions are met, the optimal path can be determined directly without comparing the lane curvature change values. When the specified conditions are not met, further path selection is required based on the lane curvature change values ​​to determine the optimal path.

[0045] Preferably, the positioning information includes latitude and longitude points and heading angle information. The current latitude and longitude points are matched with map information to determine the current lane code. Using the current lane code and heading angle information, a set of feasible lane sequences matching the navigation information within a preset range ahead is obtained. Y-shaped lane information is then determined from the set of feasible lane sequences.

[0046] Y-shaped lane information includes the codes of its two corresponding lanes, path length, and latitude and longitude points.

[0047] In one embodiment, the latitude and longitude points and heading angle information of the vehicle are obtained by using the RTK positioning module. Specifically, the linear acceleration and angular acceleration of the vehicle during the driving process are integrated by the vehicle acceleration sensor and gyroscope to obtain the vehicle's pose information relative to the initial moment. The road information collected by the lidar is matched with the high-precision map information to obtain the latitude and longitude points and heading angle information of the vehicle on the current road.

[0048] By matching the vehicle's own location latitude and longitude with map information, such as crowdsourced maps, the current lane code of the vehicle can be obtained. Each lane has a unique lane code, which can be represented as a specific lane ID in practical applications. All lanes can be distinguished by the lane code. The lane code corresponds to a specific latitude and longitude point. Therefore, after determining the current lane code and heading angle information, a set of lane sequences is obtained, and then Y-shaped lane information is obtained.

[0049] Specifically, the distance between the obtained vehicle positioning latitude and longitude points and the set of lane line latitude and longitude points is calculated, and the lane code with the smallest absolute distance is taken and denoted as crruent_id;

[0050] Using the lane code of the vehicle's current location, a set of feasible lane sequences matching the vehicle's navigation information is obtained within a preset range (e.g., 800m). Specifically, based on the obtained lane code (denoted as current_id), the current_id of the current lane and its successor lane's next_id are searched in the lane code set of the static map (each lane's attributes contain the successor lane). Within the 800m range ahead, the lanes in the static map form a kind of n-ary tree structure, such as... Figure 4 As shown, an n-ary tree search algorithm (e.g., level-order traversal algorithm) is used to find the successor lane of next_id (denoted as next_id_nt1), and so on. All the lane codes are stored in a two-dimensional array (denoted as current_id, next_id, next_id_nt1, next_id_nt2…; current_id, next_id1, next_id_lt1…;…).

[0051] Using the set of feasible lane sequences matched by vehicle navigation information, Y-shaped lane scenarios are extracted. Specifically, the two-dimensional array of candidate lane sets generated in the previous step is examined, and each dimension of the array is compared. For example, the arrays [current_id, next_id, next_id_nt1, next_id_nt2…] and [current_id, next_id1, next_id_lt1…] are compared. If the next_id and next_id1 at the lane code index at the second position in the array are different, it is considered that the first Y-shaped road scenario will appear at the second lane during the current lane's exploration. Its lane array index is extracted and its lane attribute is recorded as a Y-shaped lane, thereby determining the Y-shaped lane information.

[0052] Preferably, determining whether to select the optimal path based on the curvature change value according to the path lengths of the two lanes of the Y-shaped lane includes:

[0053] Determine whether the lengths of the two paths both satisfy the condition that they are both greater than the first preset parameter and the difference between them is less than the second preset parameter. If the condition is met, the optimal path needs to be selected based on the curvature change value; otherwise, the optimal path is determined based on the path lengths of the two lanes.

[0054] Based on the candidate feasible lane sequences [current_id, next_id, next_id_nt1, next_id_nt2…] and [current_id, next_id1, next_id_lt1…] of the two lanes of the Y-shaped lane determined above, the corresponding lane length and latitude and longitude attributes are obtained through each ID (denoted as length1, length2, length3… and (x1, y1), (x2, y2), (x3, y3)…). The corresponding lane lengths are summed to obtain the path lengths of the two lanes of the Y-shaped lane (denoted as length_A and length_B).

[0055] Preferably, determining the optimal path based on the path lengths of the two lanes includes:

[0056] If both path lengths are greater than the first preset parameter, and the difference between them is greater than the second preset parameter, then the lane with the longer path length is selected as the optimal lane; and

[0057] If the lengths of both paths are less than the first preset parameter, or if the length of either path is less than the first preset parameter, then the lane with the longer path length will be selected as the optimal lane.

[0058] In one embodiment, the first preset parameter is 200m, the second preset parameter is 100m, and the path lengths length_A and length_B of the two lanes of the Y-shaped lane are compared as follows:

[0059] If both are greater than 200m, and the difference between length_A and length_B is greater than 100m, then the longer path is selected and the curvature change value is not determined in the next step.

[0060] If both are less than or equal to 200m, or if one path is less than 200m, then the longer path is selected and the curvature change value is not determined in the next step.

[0061] If both are greater than 200m, and the difference between length_A and length_B is less than 100m, then proceed to the next step of determining the curvature change value.

[0062] Preferably, determining the optimal path based on the curvature variation values ​​of the two lanes includes:

[0063] The curvature change value before and after the bifurcation point is calculated by the latitude and longitude points corresponding to the two lanes of the Y-shaped lane, and the lane with the smaller curvature change value is selected as the optimal lane.

[0064] In one embodiment, the curvature change value before and after the bifurcation point is calculated using the latitude and longitude points corresponding to the two lanes. Specifically, the latitude and longitude points of the lane attribute centerline ((x1, y1), (x2, y2), (x3, y3)...) of the lane encoding sequence (current_id before bifurcation point, next_id after bifurcation point, next_id1) before and after the bifurcation point are obtained through the two lane sets of the Y-shaped lane. The average curvature of the lane where current_id is located is calculated (denoted as Kappa_cur). The average curvature of the lanes where current_id, next_id, and next_id1 are located is calculated (denoted as Kappa_next and Kappa_nexta). The absolute value of the difference between Kappa_cur and Kappa_next is calculated (denoted as Kappa1). The absolute value of the difference between Kappa_cur and Kappa_nexta is calculated (denoted as Kappa2).

[0065] Kappa1 and Kappa2 represent the curvature changes of the two lanes in the Y-shaped lane. By comparing Kappa1 and Kappa2, the lane with the smaller curvature change value is selected as the optimal lane.

[0066] A second aspect of the present invention provides a Y-shaped lane decision-making system, comprising:

[0067] The positioning module is used to acquire positioning information, which includes latitude and longitude points and heading angle information;

[0068] The navigation module matches the current latitude and longitude point with the map information to determine the current lane code. It then uses the current lane code and heading angle information to obtain a set of feasible lane sequences within a preset range ahead that match the navigation information. Finally, it determines Y-shaped lane information from this set of feasible lane sequences.

[0069] Y-shaped lane information includes the codes of its two corresponding lanes, path length, and latitude and longitude points;

[0070] The path selection module determines whether the optimal path selection needs to be based on the path lengths of the two lanes of the Y-shaped lane; if not, it determines the optimal path based on the path lengths of the two lanes; if so, it determines the optimal path based on the curvature change value of the two lanes.

[0071] This invention obtains the Y-shaped lane information that the positioning and navigation modules will encounter by acquiring the current vehicle's positioning and navigation information. The path selection module then makes a judgment based on the information of the two lanes of the Y-shaped lane. When the specified conditions are met, the optimal path can be determined directly without comparing the lane curvature change values. When the specified conditions are not met, further path selection is required based on the lane curvature change values ​​to determine the optimal path.

[0072] Preferably, determining whether to select the optimal path based on the curvature change value according to the path lengths of the two lanes of the Y-shaped lane includes:

[0073] Determine whether the lengths of the two paths both satisfy the condition that they are both greater than the first preset parameter and the difference between them is less than the second preset parameter. If the condition is met, the optimal path needs to be selected based on the curvature change value; otherwise, the optimal path is determined based on the path lengths of the two lanes.

[0074] Based on the candidate feasible lane sequences [current_id, next_id, next_id_nt1, next_id_nt2…] and [current_id, next_id1, next_id_lt1…] of the two lanes of the Y-shaped lane determined above, the corresponding lane length and latitude and longitude attributes are obtained through each ID (denoted as length1, length2, length3… and (x1, y1), (x2, y2), (x3, y3)…). The corresponding lane lengths are summed to obtain the path lengths of the two lanes of the Y-shaped lane (denoted as length_A and length_B).

[0075] Preferably, determining the optimal path based on the path lengths of the two lanes includes:

[0076] If both path lengths are greater than the first preset parameter, and the difference between them is greater than the second preset parameter, then the lane with the longer path length is selected as the optimal lane; and

[0077] If the lengths of both paths are less than the first preset parameter, or if the length of either path is less than the first preset parameter, then the lane with the longer path length will be selected as the optimal lane.

[0078] In one embodiment, the first preset parameter is 200m, the second preset parameter is 100m, and the path lengths length_A and length_B of the two lanes of the Y-shaped lane are compared as follows:

[0079] If both are greater than 200m, and the difference between length_A and length_B is greater than 100m, then the longer path is selected and the curvature change value is not determined in the next step.

[0080] If both are less than or equal to 200m, or if one path is less than 200m, then the longer path is selected and the curvature change value is not determined in the next step.

[0081] If both are greater than 200m, and the difference between length_A and length_B is less than 100m, then proceed to the next step of determining the curvature change value.

[0082] Preferably, determining the optimal path based on the curvature variation values ​​of the two lanes includes:

[0083] The curvature change value before and after the bifurcation point is calculated by the latitude and longitude points corresponding to the two lanes of the Y-shaped lane, and the lane with the smaller curvature change value is selected as the optimal lane.

[0084] In one embodiment, the curvature change value before and after the bifurcation point is calculated using the latitude and longitude points corresponding to the two lanes. Specifically, the latitude and longitude points of the lane attribute centerline ((x1, y1), (x2, y2), (x3, y3)...) of the lane encoding sequence (current_id before bifurcation point, next_id after bifurcation point, next_id1) before and after the bifurcation point are obtained through the two lane sets of the Y-shaped lane. The average curvature of the lane where current_id is located is calculated (denoted as Kappa_cur). The average curvature of the lanes where current_id, next_id, and next_id1 are located is calculated (denoted as Kappa_next and Kappa_nexta). The absolute value of the difference between Kappa_cur and Kappa_next is calculated (denoted as Kappa1). The absolute value of the difference between Kappa_cur and Kappa_nexta is calculated (denoted as Kappa2).

[0085] Kappa1 and Kappa2 represent the curvature changes of the two lanes in the Y-shaped lane. By comparing Kappa1 and Kappa2, the lane with the smaller curvature change value is selected as the optimal lane.

[0086] A third aspect of the present invention provides a vehicle comprising the aforementioned Y-shaped lane decision system.

[0087] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0088] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0089] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0090] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0091] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0092] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0093] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0094] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0095] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A Y-shaped lane decision-making method, characterized in that, Includes the following steps: Obtain vehicle location and navigation information; the location information includes latitude and longitude points and heading angle information; The vehicle's current lane code is determined by matching the vehicle's current latitude and longitude with map information. Using the current lane code and the heading angle information, a set of feasible lane sequences matching the navigation information is obtained within a preset range ahead of the vehicle, and Y-shaped lane information is determined from the set of feasible lane sequences; the Y-shaped lane information includes the codes, path lengths, and latitude and longitude points of its two corresponding lanes; Determine whether the optimal path selection based on curvature is necessary based on the path lengths of the two lanes in a Y-shaped lane; if not, determine the optimal path based on the path lengths of the two lanes; if so, determine the optimal path based on the curvature change values ​​of the two lanes.

2. The decision-making method according to claim 1, characterized in that, The step of determining whether to select the optimal path based on the curvature change value according to the path lengths of the two lanes of the Y-shaped lane includes: Determine whether the lengths of the two paths both satisfy the condition that they are both greater than the first preset parameter and the difference between them is less than the second preset parameter. If the condition is met, the optimal path needs to be selected based on the curvature change value; otherwise, the optimal path is determined based on the path lengths of the two lanes.

3. The decision-making method according to claim 1, characterized in that, The process of determining the optimal route based on the path lengths of the two lanes includes: If both path lengths are greater than the first preset parameter, and the difference between them is greater than the second preset parameter, then the lane with the longer path length is selected as the optimal lane; and If the lengths of both paths are less than the first preset parameter, or if the length of either path is less than the first preset parameter, then the lane with the longer path length will be selected as the optimal lane.

4. The decision-making method according to claim 1, characterized in that, The process of determining the optimal path based on the curvature variation values ​​of the two lanes includes: The curvature change value before and after the bifurcation point is calculated by the latitude and longitude points corresponding to the two lanes of the Y-shaped lane, and the lane with the smaller curvature change value is selected as the optimal lane.

5. A Y-shaped lane decision-making system, characterized in that, include: A positioning module is used to acquire the vehicle's positioning information, which includes latitude and longitude points and heading angle information. The navigation module matches the current latitude and longitude point with the map information to determine the current lane code. It then uses the current lane code and heading angle information to obtain a set of feasible lane sequences within a preset range ahead that match the navigation information. Finally, it determines Y-shaped lane information from this set of feasible lane sequences. Y-shaped lane information includes the codes of its two corresponding lanes, path length, and latitude and longitude points; The path selection module determines whether the optimal path selection needs to be based on the path lengths of the two lanes of the Y-shaped lane; if not, it determines the optimal path based on the path lengths of the two lanes; if so, it determines the optimal path based on the curvature change value of the two lanes.

6. The decision-making system according to claim 5, characterized in that, The step of determining whether to select the optimal path based on the curvature change value according to the path lengths of the two lanes of the Y-shaped lane includes: Determine whether the lengths of the two paths both satisfy the condition that they are both greater than the first preset parameter and the difference between them is less than the second preset parameter. If the condition is met, the optimal path needs to be selected based on the curvature change value; otherwise, the optimal path is determined based on the path lengths of the two lanes.

7. The decision-making system according to claim 5, characterized in that, The process of determining the optimal route based on the path lengths of the two lanes includes: If both path lengths are greater than the first preset parameter, and the difference between them is greater than the second preset parameter, then the lane with the longer path length is selected as the optimal lane; and If the lengths of both paths are less than the first preset parameter, or if the length of either path is less than the first preset parameter, then the lane with the longer path length will be selected as the optimal lane.

8. The decision-making system according to claim 5, characterized in that, The process of determining the optimal path based on the curvature variation values ​​of the two lanes includes: The curvature change value before and after the bifurcation point is calculated by the latitude and longitude points corresponding to the two lanes of the Y-shaped lane, and the lane with the smaller curvature change value is selected as the optimal lane.

9. A vehicle, characterized in that, The vehicle includes the Y-lane decision system as described in any one of claims 5-8.

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