Vehicle ramp merging method, device, equipment and storage medium

Abstract

The present invention discloses a vehicle ramp merging method, device, equipment and storage medium, belonging to the technical field of vehicle control. When the target vehicle enters the ramp driving area, the present invention acquires the first traffic flow information and the first lane line information detected in advance by the roadside unit, so as to perform the first path planning; when the target vehicle enters the ramp merging area, the second traffic flow information and the second lane line information detected by the target vehicle sensor are acquired; the first traffic flow information is compared and corrected with the second traffic flow information, and the first lane line information is compared and corrected with the second lane line information to obtain the target traffic flow information and the target lane line information, so as to obtain more accurate traffic flow information; a more accurate local path planning is made for the target vehicle according to the target traffic flow information and the target lane line information, so that the target vehicle changes lanes and merges into the main road in the ramp merging area, improving the safety of the vehicle merging into the main road.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle ramp merging method, device, equipment and storage medium. Background Art

[0002] An autonomous vehicle (Autonomous vehicle; Self-driving automobile) is a smart car that achieves autonomous driving through artificial intelligence technology. It perceives the environment through sensors and then operates the vehicle on behalf of the driver, thereby reducing or replacing the driver's work. In the scenario where an autonomous vehicle merges into a main road from a secondary road, the main road and the secondary road are usually not in the same plane, or are blocked by other terrain reasons. The autonomous vehicle traveling on the secondary road cannot detect the vehicles traveling on the main road. In addition, the acceleration lane of the secondary road is short, which increases the difficulty for the autonomous vehicle to merge into the main road, posing a greater safety risk.

[0003] The existing vehicle ramp merging method is to detect external information through the vehicle's own detection module. The detection distance is short and the detection range is small, resulting in the calculated merging time into the main road being inaccurate, so that the vehicle does not have time to merge into the main road and needs to stop and wait, causing traffic congestion. In addition, it is impossible to respond in time to vehicles that suddenly break in, which can easily cause safety accidents. Summary of the invention

[0004] The main purpose of the present invention is to provide a vehicle ramp merging method, device, equipment and storage medium, aiming to solve the technical problem of low safety caused by inaccurate vehicle ramp merging control in the prior art.

[0005] To achieve the above object, the present invention provides a vehicle ramp merging method, the method comprising the following steps:

[0006] When the target vehicle enters the ramp driving area, first vehicle flow information and first lane line information detected by the roadside unit are obtained;

[0007] Performing a first path planning for the target vehicle according to the first traffic flow information and the first lane line information;

[0008] When the target vehicle enters the ramp merging area, obtaining second vehicle flow information and second lane line information detected by a sensor of the target vehicle;

[0009] Compare and correct the first traffic flow information with the second traffic flow information, and compare and correct the first lane line information with the second lane line information to obtain target traffic flow information and target lane line information;

[0010] Perform a second path planning for the target vehicle according to the target traffic flow information and the target lane line information, so that the target vehicle changes lanes and merges into the main road in the ramp merging area.

[0011] Optionally, the performing a second path planning for the target vehicle according to the target traffic flow information and the target lane line information includes:

[0012] Calculate a first target time for the target vehicle to reach the end of the ramp merging area and a second target time for the obstacle vehicle on the main road to reach the end of the ramp merging area according to the target traffic flow information and the target lane information;

[0013] Compare the first target time with the second target time;

[0014] When the first target time is less than the second target time, control the target vehicle to change lanes and merge into the main road;

[0015] When the first target time is greater than or equal to the second target time, control the target vehicle to decelerate.

[0016] Optionally, the comparing and correcting the first traffic flow information with the second traffic flow information, and comparing and correcting the first lane line information with the second lane line information to obtain target traffic flow information and target lane line information includes:

[0017] Obtain the sending time of the first traffic flow information and the first lane line information sent by the roadside unit and the detection time of the second traffic flow information and the second lane line information detected by the target vehicle sensor;

[0018] Compare and correct the sending time and the detection time to obtain a delay time;

[0019] Correct the first traffic flow information and the first lane line information detected by the roadside unit through the delay time to obtain first corrected traffic flow information and first corrected lane line information;

[0020] Fuse the first corrected traffic flow information and the second traffic flow information to obtain target traffic flow information;

[0021] Fuse the first corrected lane line information and the second lane line information to obtain target lane line information.

[0022] Optionally, the performing a first path planning for the target vehicle according to the first traffic flow information and the first lane line information includes:

[0023] Obtain the length of the ramp merging area and the end of the ramp merging area through the first lane line information;

[0024] Obtain the driving speed and position of the main road obstacle vehicle based on the first lane line information and the first traffic flow information;

[0025] Calculate the first arrival time of the target vehicle at the end of the ramp merging area and the second arrival time of the main road obstacle vehicle at the end of the ramp merging area according to the length of the ramp merging area, the end of the ramp merging area, the driving speed of the main road obstacle vehicle, and the position of the main road obstacle vehicle;

[0026] Perform the first path planning for the target vehicle based on the first arrival time and the second arrival time.

[0027] Optionally, the calculating the first arrival time of the target vehicle at the end of the ramp merging area and the second arrival time of the main road obstacle vehicle at the end of the ramp merging area according to the length of the ramp merging area, the end of the ramp merging area, the driving speed of the main road obstacle vehicle, and the position of the main road obstacle vehicle includes:

[0028] Obtain the current position and average speed of the target vehicle;

[0029] Calculate the first distance between the target vehicle and the end of the ramp merging area according to the current position of the target vehicle and the end of the ramp merging area;

[0030] Calculate the first arrival time of the target vehicle at the end of the ramp merging area through the first distance and the average speed of the target vehicle;

[0031] Calculate the average speed of the main road obstacle vehicle through the driving speed of the main road obstacle vehicle;

[0032] Calculate the second distance between the main road obstacle vehicle and the ramp merging area according to the position of the main road obstacle vehicle;

[0033] Calculate the second arrival time of the main road obstacle vehicle at the end of the ramp merging area through the second distance and the average speed of the main road obstacle vehicle.

[0034] Optionally, the performing the first path planning for the target vehicle based on the first arrival time and the second arrival time includes:

[0035] Compare the first arrival time with the second arrival time;

[0036] Control the target vehicle to decelerate when driving in the ramp area according to the comparison result to perform the first path planning for the target vehicle.

[0037] Optionally, obtaining the driving speed and position of the main road obstacle vehicle from the first lane line information and the first traffic flow information includes:

[0038] Obtaining the initial position of the obstacle vehicle within the detection range from the first traffic flow information;

[0039] Based on the end point of the ramp merging area and the initial position of the obstacle vehicle, screening the initial obstacle vehicle to obtain the initial obstacle vehicle that has not reached the end point of the ramp merging area, and taking the initial obstacle that has not reached the end point of the ramp merging area as the main road obstacle vehicle;

[0040] Based on the first lane line information, obtaining the driving speed and position of the main road obstacle vehicle.

[0041] In addition, to achieve the above object, the present invention also proposes a vehicle ramp merging device, and the vehicle ramp merging device includes:

[0042] An acquisition module, configured to acquire the first traffic flow information and the first lane line information detected by the roadside unit when the target vehicle enters the ramp driving area;

[0043] A planning module, configured to perform a first path planning on the target vehicle according to the first traffic flow information and the first lane line information;

[0044] The acquisition module is further configured to acquire the second traffic flow information and the second lane line information detected by the target vehicle sensor when the target vehicle enters the ramp merging area;

[0045] A correction module, configured to compare and correct the first traffic flow information with the second traffic flow information, and compare and correct the first lane line information with the second lane line information to obtain the target traffic flow information and the target lane line information;

[0046] The planning module is further configured to perform a second path planning on the target vehicle according to the target traffic flow information and the target lane line information, so that the target vehicle changes lanes and merges into the main road in the ramp merging area.

[0047] In addition, to achieve the above object, the present invention also proposes a vehicle ramp merging device, and the vehicle ramp merging device includes: a memory, a processor, and a vehicle ramp merging program stored on the memory and executable on the processor, and the vehicle ramp merging program is configured to implement the steps of the vehicle ramp merging method as described above.

[0048] In addition, to achieve the above object, the present invention further provides a storage medium, on which a vehicle ramp merging program is stored. When the vehicle ramp merging program is executed by a processor, the steps of the vehicle ramp merging method described above are implemented.

[0049] When the target vehicle enters the ramp driving area, the present invention acquires the first traffic flow information and the first lane line information detected by the roadside unit; performs the first path planning for the target vehicle according to the first traffic flow information and the first lane line information; when the target vehicle enters the ramp merging area, acquires the second traffic flow information and the second lane line information detected by the target vehicle sensor; compares and corrects the first traffic flow information with the second traffic flow information, and compares and corrects the first lane line information with the second lane line information to obtain the target traffic flow information and the target lane line information; performs the second path planning for the target vehicle according to the target traffic flow information and the target lane line information, so that the target vehicle changes lanes and merges into the main road in the ramp merging area. By acquiring vehicle and lane line information in advance through the roadside unit, the first-level path planning for the target vehicle is performed in advance. By performing the first-level path planning for the target vehicle, the safety problem of collision caused by the target vehicle stopping and waiting for congestion in the ramp merging area is avoided, and the first traffic flow information and the first lane line information obtained by the roadside unit and the second traffic flow information and the second lane line information detected by the target vehicle sensor are respectively subjected to information fusion and correction, so as to obtain more accurate traffic flow information and lane line information, and more accurate path planning can be performed according to the target traffic flow information and the target lane line information, thereby improving the safety of the vehicle merging into the main road. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 is a schematic structural diagram of a vehicle ramp merging device in the hardware operating environment related to the embodiment solution of the present invention;

[0051] Figure 2 is a schematic flowchart of the first embodiment of the vehicle ramp merging method of the present invention;

[0052] Figure 3 is a schematic diagram of the driving of the target vehicle in an embodiment of the vehicle ramp merging method of the present invention;

[0053] Figure 4 is a schematic overall flowchart of vehicle ramp merging in an embodiment of the vehicle ramp merging method of the present invention;

[0054] Figure 5 is a schematic flowchart of the second embodiment of the vehicle ramp merging method of the present invention;

[0055] Figure 6 is a schematic flowchart of the third embodiment of the vehicle ramp merging method of the present invention;

[0056] Figure 7 It is a schematic flowchart of the fourth embodiment of the vehicle ramp merging method of the present invention;

[0057] Figure 8 It is a structural block diagram of the first embodiment of the vehicle ramp merging device of the present invention.

[0058] The realization, functional characteristics and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Specific Embodiments

[0059] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0060] Refer to Figure 1 , Figure 1 It is a schematic structural diagram of a vehicle ramp merging device which is the hardware operating environment involved in the solution of the embodiment of the present invention.

[0061] As Figure 1 shown, the vehicle ramp merging device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard). Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed Random Access Memory (RAM) or a stable Non-Volatile Memory (NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0062] Those skilled in the art can understand that Figure 1 the structure shown in

[0063] does not constitute a limitation on the vehicle ramp merging device, and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Figure 1 As

[0064] InFigure 1 In the shown vehicle ramp merging device, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the vehicle ramp merging device of the present invention can be arranged in the vehicle ramp merging device. The vehicle ramp merging device calls the vehicle ramp merging program stored in the memory 1005 through the processor 1001 and executes the vehicle ramp merging method provided by the embodiment of the present invention.

[0065] An embodiment of the present invention provides a vehicle ramp merging method. Refer to Figure 2 , Figure 2 which is a schematic flow chart of the first embodiment of the vehicle ramp merging method of the present invention.

[0066] In this embodiment, the vehicle ramp merging method includes the following steps:

[0067] Step S10: When the target vehicle enters the ramp driving area, obtain the first traffic flow information and the first lane line information detected by the roadside unit.

[0068] It should be noted that the execution subject of this embodiment is a controller that controls the target vehicle to merge into the ramp, and it can also be other devices that can achieve the same or similar functions. This embodiment does not limit this, and this embodiment takes the controller that controls the target vehicle to merge into the ramp as an example for description.

[0069] In specific implementation, a camera, a lidar module, and an OBU (On board Unit) module are arranged on the target vehicle, and an RSU (Road Side Unit) module is arranged on the roadside of the ramp. The roadside unit communicates with the on-vehicle unit of the target vehicle. The roadside unit can detect traffic flow information and lane line information within its own detection range. When the target vehicle enters the ramp driving area, the on-vehicle unit installed on the vehicle communicates with the roadside unit arranged on the roadside to obtain the first traffic flow information and the first lane line information detected by the roadside unit.

[0070] It should be noted that the first traffic flow information includes vehicle information on the main road, such as the number of vehicles on the main road, the driving speed of the vehicles on the main road, the positions of the vehicles on the main road, etc. The first lane line information includes the length of the ramp merging area, the starting point and the ending point of the ramp merging area, etc.

[0071] Step S20: Perform a first path planning for the target vehicle according to the first traffic flow information and the first lane line information.

[0072] It should be understood that since the target vehicle has just entered the ramp driving area, the vehicle sensors of the target vehicle can only detect information within a short distance and a small range. For example, it can only detect the obstacle vehicle in front of the target vehicle and cannot detect the information in the ramp merging area and on the main road. Therefore, when the target vehicle is in the ramp driving area, communication can be carried out between the in-vehicle unit of the target vehicle and the roadside unit. The roadside unit can detect the first traffic flow information and the first lane line information of the main road and the ramp merging area at the far end of the target vehicle. After obtaining the first traffic flow information and the first lane line information detected by the roadside unit, analyze the first traffic flow information and the first lane line information, so as to initially plan the driving behavior of the target vehicle in advance, that is, the first path planning. The first path planning of the vehicle is executed by the by-wire execution module on the target vehicle, and the vehicle is controlled to drive according to the first path planning.

[0073] Step S30: When the target vehicle enters the ramp merging area, obtain the second traffic flow information and the second lane line information detected by the target vehicle sensors.

[0074] It should be noted that when the target vehicle drives according to the first path planning and leaves the ramp driving area, the target vehicle enters the ramp merging area. After the target vehicle approaches the ramp merging area, the vehicle sensors of the target vehicle can detect the information of the main road and the ramp merging area. Therefore, the second traffic flow information including the number of vehicles on the main road, the driving speed of the vehicles on the main road, and the positions of the vehicles on the main road, etc., and the second lane line information including the length of the ramp merging area, the starting point and the ending point of the ramp merging area can be detected by the vehicle sensors of the target vehicle.

[0075] Step S40: Compare and correct the first traffic flow information with the second traffic flow information, and compare and correct the first lane line information with the second lane line information to obtain the target traffic flow information and the target lane line information.

[0076] It should be noted that when the first traffic flow information and the first lane line information detected by the roadside unit are transmitted to the target vehicle, there will be time delay errors during communication, etc. Therefore, the first traffic flow information and the first lane line information can be compared and corrected with the second traffic flow information and the second lane line information detected by the vehicle sensors of the target vehicle, so as to correct the traffic flow information and the lane line information, and obtain more accurate traffic flow information and lane line information. The target traffic flow information and the target lane line information refer to the more accurate traffic flow information and lane line information after correcting the traffic flow information and the lane line information.

[0077] Step S50: Perform a second path planning for the target vehicle according to the target traffic flow information and the target lane line information, so that the target vehicle can change lanes and merge into the main road in the ramp merging area.

[0078] It should be understood that after obtaining the target traffic flow information and the target lane line information, the target traffic flow information and the target lane line information can be calculated to perform a second path planning for the target vehicle. For example, the target vehicle can be accelerated or decelerated or first accelerated and then decelerated or first decelerated and then accelerated according to the target traffic flow information and the target lane line information, so that the target vehicle changes lanes and merges into the main road within the ramp merging area.

[0079] As Figure 3 shown, Figure 3 This is a schematic diagram of the target vehicle traveling in this embodiment. The target vehicle travels in the ramp driving area and reaches the ramp merging area after passing through the ramp driving area, and then merges into the main road in the ramp merging area. As Figure 4 shown, Figure 4 This is a schematic diagram of the overall process of the vehicle ramp merging in this embodiment. When the target vehicle travels in the ramp driving area, the ramp obstacle vehicle in front of the vehicle is sensed by the vehicle sensor of the target vehicle, and the traffic flow information on the main road and the information of the ramp merging area are detected by the roadside unit and sent to the on-vehicle unit of the target vehicle. The vehicle controller of the target vehicle performs the first-level path planning for the target vehicle according to the information sent by the roadside unit and executes it through the by-wire module of the target vehicle. When the target vehicle approaches the ramp merging area, the vehicle sensor detects the traffic flow information and the information of the ramp merging area, fuses the information detected by the vehicle sensor and the information detected by the roadside unit, corrects the delay error, and obtains the corrected information, so as to perform the second-level path planning according to the corrected information and execute it through the by-wire module of the target vehicle, so that the target vehicle merges into the main road in the ramp merging area.

[0080] When the target vehicle enters the ramp driving area in this embodiment, the first traffic flow information and the first lane line information detected by the roadside unit are obtained; the first path planning for the target vehicle is performed according to the first traffic flow information and the first lane line information; when the target vehicle enters the ramp merging area, the second traffic flow information and the second lane line information detected by the target vehicle sensor are obtained; the first traffic flow information is compared and corrected with the second traffic flow information, and the first lane line information is compared and corrected with the second lane line information to obtain the target traffic flow information and the target lane line information; the second path planning for the target vehicle is performed according to the target traffic flow information and the target lane line information, so that the target vehicle changes lanes and merges into the main road in the ramp merging area. By obtaining vehicle and lane line information in advance through the roadside unit, the first-level path planning for the target vehicle can be carried out in advance. By performing the first-level path planning for the target vehicle, the safety problem of the target vehicle stopping and waiting for congestion and causing collisions in the ramp merging area is avoided, and the first traffic flow information and the first lane line information obtained by the roadside unit and the second traffic flow information and the second lane line information detected by the target vehicle sensor are respectively subjected to information fusion and correction, so as to obtain more accurate traffic flow information and lane line information, and more accurate path planning can be carried out according to the target traffic flow information and the target lane line information, improving the safety of the vehicle merging into the main road.

[0081] Reference Figure 5 , Figure 5 is a schematic flowchart of the second embodiment of the vehicle ramp merging method of the present invention.

[0082] Based on the above first embodiment, step S50 of the vehicle ramp merging method in this embodiment specifically includes:

[0083] Step S501: Calculate the first target time for the target vehicle to reach the end of the ramp merging area and the second target time for the obstacle vehicle on the main road to reach the end of the ramp merging area according to the target traffic flow information and the target lane information.

[0084] It should be noted that after obtaining the target traffic flow information and the target lane information, the target traffic flow information includes the length of the ramp merging area and the end of the ramp merging area, and the target lane information includes the driving speed of the obstacle vehicle on the main road after correction and the position of the obstacle vehicle on the main road after correction. The average speed of the obstacle vehicle on the main road after correction can be calculated through the driving speed of the obstacle vehicle on the main road after correction. And calculate the distance between the obstacle vehicle on the main road and the ramp merging area according to the position of the obstacle vehicle on the main road after correction. Thus, the second target time for the obstacle vehicle on the main road to reach the end of the ramp merging area is calculated according to the average speed of the obstacle vehicle on the main road after correction and the distance between the obstacle vehicle on the main road and the ramp merging area. The end of the ramp merging area refers to the latest lane change point.

[0085] In a specific implementation, the target traffic flow information further includes the speed of the target vehicle, and the target lane information further includes the current position of the target vehicle. The average speed of the target vehicle can be calculated based on the speed of the target vehicle, and the distance between the target vehicle and the end point of the ramp merging area can be calculated based on the current position of the target vehicle and the end point of the ramp merging area. Then, the first target time for the target vehicle to reach the end point of the ramp merging area is calculated based on the average speed of the target vehicle and the distance between the target vehicle and the end point of the ramp merging area.

[0086] Step S502: Compare the first target time with the second target time.

[0087] It should be noted that in order to control the target vehicle to successfully merge into the main road, it is necessary to compare the first target time and the second target time, so that the second path planning can be performed on the target vehicle according to the comparison result, so that the target vehicle can successfully merge into the main road before reaching the latest lane-changing point of the ramp merging area.

[0088] Step S503: When the first target time is less than the second target time, control the target vehicle to change lanes and merge into the main road.

[0089] It should be understood that when the first target time is less than the second target time, the first target time is t obj' , and the second target time includes the time t bar1' of the obstacle vehicle on the main road reaching the latest lane-changing point of the ramp merging area bar2' , t bar3' ,...,, t barN' . If t obj' is less than the time t barN' of any obstacle vehicle reaching the latest lane-changing point of the ramp merging area in the second target time, since the first path planning has been carried out, the target vehicle can be controlled to change lanes and merge into the main road after entering the ramp merging area.

[0090] Step S504: When the first target time is greater than or equal to the second target time, control the target vehicle to decelerate.

[0091] In a specific implementation, when the first target time t obj' is greater than or equal to the time t bar1' of the first obstacle vehicle on the main road reaching the end point of the ramp merging area in the second target time, control the target vehicle to execute a deceleration strategy to avoid the first obstacle vehicle closest to the target vehicle on the main road, and regard the second obstacle vehicle on the main road as the new first obstacle vehicle, and compare the time of the second obstacle vehicle and the target vehicle reaching the latest lane-changing point. If t obj' is less than t bar2' , then control the target vehicle to change lanes and merge into the main road. If tobj' Greater than or equal to t bar2' , then control the target vehicle to decelerate so that t obj' is less than t bar2' , thereby controlling the target vehicle to change lanes. By controlling the target vehicle to decelerate, t obj' is less than t barN' , so that the target vehicle can successfully complete the merging operation through deceleration.

[0092] In this embodiment, the first target time for the target vehicle to reach the end of the ramp merging area and the second target time for the main road obstacle vehicle to reach the end of the ramp merging area are calculated according to the target traffic flow information and the target lane information; the first target time is compared with the second target time; when the first target time is less than the second target time, control the target vehicle to change lanes and merge into the main road; when the first target time is greater than or equal to the second target time, control the target vehicle to decelerate, and calculate the first target time and the second target time through the corrected information, so as to accurately obtain the relationship between the target vehicle and the main road obstacle vehicle, and perform the second path planning for the target vehicle, thereby ensuring that the target vehicle merges into the main road safely and without collision, and improving the safety of the vehicle.

[0093] Reference Figure 6 , Figure 6 is a schematic flowchart of the third embodiment of the vehicle ramp merging method of the present invention.

[0094] Based on the above first embodiment, step S40 of the vehicle ramp merging method in this embodiment specifically includes:

[0095] Step S401: Obtain the sending time of the first traffic flow information and the first lane line information sent by the roadside unit and the detection time of the second traffic flow information and the second lane line information detected by the target vehicle sensor.

[0096] It should be noted that since there will be information delay when the roadside unit detects the first traffic flow information and the first lane information and then sends the first traffic flow information and the first lane line information to the in-vehicle unit of the target vehicle, it is necessary to correct the first traffic flow information and the first lane line information sent by the roadside unit. Then, the sending time of the first traffic flow information and the first lane line information sent by the roadside unit and the detection time of the second traffic flow information and the second lane line information detected by the target vehicle sensor can be obtained.

[0097] Step S402: Compare and correct the sending time and the detection time to obtain the delay time.

[0098] In a specific implementation, after obtaining the sending time and the detection time, the sending time and the detection time can be analyzed, compared, and corrected to determine the delay time.

[0099] Step S403: Correct the first traffic flow information detected by the roadside unit and the first lane line information by using the delay time to obtain first corrected traffic flow information and first corrected lane line information.

[0100] It should be noted that after determining the delay time, the first traffic flow information and the first lane line information detected by the roadside unit can be corrected by using the delay time to obtain first corrected traffic flow information and first corrected lane line information.

[0101] Step S404: Fuse the first corrected traffic flow information and the second traffic flow information to obtain target traffic flow information.

[0102] Step S405: Fuse the first corrected lane line information and the second lane line information to obtain target lane line information.

[0103] In this embodiment, after obtaining the first corrected traffic flow information and the first lane line information, the first traffic flow information can be fused and compared with the second traffic flow information detected by the target vehicle sensor to obtain the finally corrected traffic flow information, that is, the target traffic flow information. And the first lane line information is fused and compared with the second lane line information detected by the target vehicle sensor to obtain the finally corrected lane line information, that is, the target lane line information.

[0104] In this embodiment, by obtaining the sending time when receiving the first traffic flow information and the first lane line information sent by the roadside unit and the detection time when the target vehicle sensor detects the second traffic flow information and the second lane line information; comparing and correcting the sending time and the detection time to obtain the delay time; correcting the first traffic flow information and the first lane line information detected by the roadside unit by using the delay time to obtain first corrected traffic flow information and first corrected lane line information; fusing the first corrected traffic flow information and the second traffic flow information to obtain target traffic flow information; fusing the first corrected lane line information and the second lane line information to obtain target lane line information, by comparing and fusing the traffic flow information and the lane line information detected by the roadside unit with the traffic flow information and the lane line information detected by the target vehicle sensor, the information is corrected to obtain the corrected traffic flow information and the corrected lane line information, which solves the defect of information delay caused by relying solely on roadside unit devices and improves the accuracy of traffic flow information and lane line information.

[0105] Reference Figure 7 , Figure 7Schematic flowchart of the fourth embodiment of the vehicle ramp merging method of the present invention.

[0106] Based on the above first embodiment, step S20 of the vehicle ramp merging method in this embodiment specifically includes:

[0107] Step S201: Obtain the length of the ramp merging area and the end point of the ramp merging area through the first lane line information.

[0108] It should be noted that the first lane information includes the length of the ramp merging area, the starting point of the ramp merging area, the end point of the ramp merging area, etc. The length of the ramp merging area and the end position of the ramp merging area can be obtained through the first lane line information. For example, the length of the ramp merging area is 15m, 20m, etc. This embodiment does not limit this, and the length of the ramp merging area can be detected by the roadside unit.

[0109] Step S202: Obtain the driving speed and position of the main road obstacle vehicle through the first lane line information and the first traffic flow information.

[0110] In specific implementation, the roadside unit detects the first lane line information and the first traffic flow information within the detection range, including the initial main road obstacle vehicle. However, some of the initial main road obstacle vehicles have already left the ramp merging area. Therefore, it is necessary to screen the initial main road obstacle vehicles, and then the driving speed and position of the main road obstacle vehicle can be obtained according to the first lane line information and the first traffic flow information.

[0111] Specifically, the steps of obtaining the driving speed and position of the main road obstacle vehicle through the first lane line information and the first traffic flow information specifically include: obtaining the position of the initial obstacle vehicle within the detection range through the first traffic flow information; screening the initial obstacle vehicle based on the end point of the ramp merging area and the position of the initial obstacle vehicle to obtain the initial obstacle vehicle that has not reached the end point of the ramp merging area, and taking the initial obstacle vehicle that has not reached the end point of the ramp merging area as the main road obstacle vehicle; obtaining the driving speed and position of the main road obstacle vehicle based on the first lane line information.

[0112] It should be understood that when receiving the first traffic flow information sent by the roadside unit, the position of the initial obstacle vehicle within the detection range can be obtained, and the initial obstacle vehicle can be screened according to the end point of the ramp merging area and the position of the initial obstacle vehicle, eliminating the obstacle vehicle that has left the end point of the ramp merging area of the ramp, obtaining the initial obstacle vehicle that has not reached the end point of the ramp merging area, taking the initial obstacle vehicle that has not reached the end point of the ramp merging area as the main road obstacle vehicle, and obtaining the driving speed and position of the main road obstacle vehicle of the main road vehicle through the first lane line information.

[0113] Step S203: Calculate the first arrival time for the target vehicle to reach the end of the ramp merging area and the second arrival time for the main road obstacle vehicle to reach the end of the ramp merging area according to the length of the ramp merging area, the end of the ramp merging area, the driving speed of the main road obstacle vehicle, and the position of the main road obstacle vehicle.

[0114] It should be noted that after obtaining the length of the ramp merging area and the position of the end of the ramp merging area, the distance between the main road obstacle vehicle and the end of the ramp merging area can be calculated through the position of the main road obstacle vehicle and the position of the end of the ramp merging area, so as to calculate the distance between the main road obstacle vehicle and the end of the ramp merging area, calculate the second arrival time, and calculate the distance between the target vehicle and the end of the ramp merging area according to the length of the ramp merging area and the position of the end of the ramp merging area, so as to calculate the first arrival time.

[0115] Further, the step S203 specifically includes: obtaining the current position and average speed of the target vehicle; calculating a first distance between the target vehicle and the end of the ramp merging area according to the current position of the target vehicle and the end of the ramp merging area; calculating the first arrival time for the target vehicle to reach the end of the ramp merging area through the first distance and the average speed of the target vehicle; calculating the average speed of the main road obstacle vehicle through the driving speed of the main road obstacle vehicle; calculating a second distance between the main road obstacle vehicle and the ramp merging area according to the position of the main road obstacle vehicle; calculating the second arrival time for the main road obstacle vehicle to reach the end of the ramp merging area through the second distance and the average speed of the main road obstacle vehicle.

[0116] In a specific implementation, the current position, driving speed, and acceleration of the target vehicle are sensed by the target vehicle sensor, so as to calculate the average speed of the target vehicle. When the target vehicle controller obtains the current position and average speed of the target vehicle, the first distance between the target vehicle and the end of the ramp merging area can be calculated through the current position of the target vehicle and the end position of the ramp merging area, so as to calculate the first arrival time for the target vehicle to reach the end of the ramp merging area through the first distance and the average speed of the target vehicle. The calculation process is as follows in Equation 1:

[0117]

[0118] In Equation 1, t obj is the first arrival time of the target vehicle, S1 is the first distance, V obj is the average speed of the target vehicle. Through the above Equation 1, the first arrival time for the target vehicle to reach the end of the ramp merging area is calculated.

[0119] It should be understood that after obtaining the driving speed of the main road obstacle vehicle, the driving speed and driving distance of the main road vehicles within a certain time period can be counted, so as to calculate the average speed of the main road obstacle vehicle, and calculate the second distance between the main road obstacle vehicle and the end of the ramp merging area according to the position of the main road obstacle vehicle, so as to calculate the second arrival time. The calculation process is as follows in Equation 2:

[0120]

[0121] In the above Equation 2, t barN is the second arrival time for any obstacle vehicle in the main road obstacle vehicle to reach the end of the ramp merging area, S N is the second distance for any obstacle vehicle in the main road obstacle vehicle to reach the end of the ramp merging area, V barN is the average speed of any obstacle vehicle in the main road obstacle vehicle. For example, t bar1 is the second arrival time for the first main road obstacle vehicle to reach the end of the ramp merging area. The first main road obstacle vehicle is the main road obstacle vehicle closest to the end of the ramp merging area, and the Nth obstacle vehicle is the main road obstacle vehicle farthest from the end of the ramp merging area.

[0122] Step S204: Perform a first path planning for the target vehicle based on the first arrival time and the second arrival time.

[0123] It should be understood that after calculating the first arrival time and the second arrival time, a preliminary first path planning can be performed for the target vehicle according to the first arrival time and the second arrival time. The specific steps include: comparing the first arrival time with the second arrival time; controlling the target vehicle to decelerate when driving in the ramp driving area according to the comparison result, so as to perform a first path planning for the target vehicle.

[0124] It should be understood that when comparing the first arrival time and the second arrival time, first compare the t obj in the first arrival time t barN and the second arrival time t bar1 . If t obj is greater than or equal to t bar1 , and if the target vehicle accelerates at the maximum allowable acceleration, the first arrival time t obj can be made less than or equal to t bar1 . However, considering that when the vehicle approaches the ramp merging area, the first target time and the second target time obtained by fusing the information obtained by the vehicle sensor and the information obtained by the roadside unit may cause the first target time t obj' to be greater than or equal to the t in the second target time bar1', it is necessary to decelerate after reaching the ramp merging area. Therefore, if the target vehicle is controlled to accelerate to the ramp merging area and then decelerate, it may not be possible to ensure that the target vehicle completes the lane change and merges into the main road in the ramp merging area. Therefore, the target vehicle is controlled to decelerate when driving in the ramp area to complete the first path planning of the target vehicle.

[0125] In a specific implementation, if t obj is less than t bar1 , the target vehicle is controlled to decelerate until it reaches the ramp merging area. Since the first path planning is performed on the target vehicle and there is a deceleration strategy in the ramp driving area, the target vehicle can smoothly and directly change lanes or decelerate and change lanes to complete the merging operation when entering the ramp merging area and merging into the main road. At the same time, the target vehicle decelerating in the ramp driving area can also avoid the obstacle vehicle in front of the target vehicle and increase the distance from the obstacle vehicle in front, avoiding interference from the obstacle vehicle in front to the target vehicle when changing lanes.

[0126] In this embodiment, the length of the ramp merging area and the end point of the ramp merging area are obtained through the first lane line information; the driving speed and position of the obstacle vehicle on the main road are obtained through the first lane line information and the first traffic flow information; the first arrival time of the target vehicle at the end point of the ramp merging area and the second arrival time of the obstacle vehicle on the main road at the end point of the ramp merging area are calculated according to the length of the ramp merging area, the end point of the ramp merging area, the driving speed of the obstacle vehicle on the main road, and the position of the obstacle vehicle on the main road; the first path planning of the target vehicle is performed through the first arrival time and the second arrival time. The remote information of the target vehicle can be obtained in advance by the roadside unit, and the path planning can be made in advance, so that the target vehicle can make a deceleration operation in advance, avoiding the target vehicle from stopping and waiting to merge into the main road in the ramp merging area, and solving the problem of collision safety caused by congestion when the target vehicle stops and waits in the ramp merging area.

[0127] Referring to Figure 8 , Figure 8 is the structural block diagram of the first embodiment of the vehicle ramp merging device of the present invention.

[0128] As Figure 8 shown, the vehicle ramp merging device proposed in the embodiment of the present invention includes:

[0129] An acquisition module 10, configured to acquire the first traffic flow information and the first lane line information detected by the roadside unit when the target vehicle enters the ramp driving area.

[0130] A planning module 20, configured to perform the first path planning on the target vehicle according to the first traffic flow information and the first lane line information.

[0131] The obtaining module 10 is further configured to obtain second traffic flow information and second lane line information detected by the target vehicle sensor when the target vehicle enters the ramp merging area.

[0132] The correction module 30 is configured to compare and correct the first traffic flow information with the second traffic flow information, and compare and correct the first lane line information with the second lane line information to obtain target traffic flow information and target lane line information.

[0133] The planning module 20 is further configured to perform a second path planning for the target vehicle according to the target traffic flow information and the target lane line information, so that the target vehicle changes lanes and merges into the main road in the ramp merging area.

[0134] In this embodiment, when the target vehicle enters the ramp driving area, the first traffic flow information and the first lane line information detected by the roadside unit are obtained; the first path planning is performed on the target vehicle according to the first traffic flow information and the first lane line information; when the target vehicle enters the ramp merging area, the second traffic flow information and the second lane line information detected by the target vehicle sensor are obtained; the first traffic flow information is compared and corrected with the second traffic flow information, and the first lane line information is compared and corrected with the second lane line information to obtain target traffic flow information and target lane line information; the second path planning is performed on the target vehicle according to the target traffic flow information and the target lane line information, so that the target vehicle changes lanes and merges into the main road in the ramp merging area. By obtaining vehicle and lane line information in advance through the roadside unit, the first-level path planning for the target vehicle is performed in advance. By performing the first-level path planning on the target vehicle, the safety problem of the target vehicle stopping and waiting for congestion and causing collisions in the ramp merging area is avoided, and the first traffic flow information and the first lane line information obtained by the roadside unit and the second traffic flow information and the second lane line information detected by the target vehicle sensor are respectively subjected to information fusion and correction, so as to obtain more accurate traffic flow information and lane line information, and more accurate path planning can be performed according to the target traffic flow information and the target lane line information, thereby improving the safety of the vehicle merging into the main road.

[0135] In one embodiment, the planning module 20 is further configured to calculate a first target time for the target vehicle to reach the end of the ramp merging area and a second target time for the main road obstacle vehicle to reach the end of the ramp merging area according to the target traffic flow information and the target lane information; compare the first target time with the second target time; when the first target time is less than the second target time, control the target vehicle to change lanes and merge into the main road; when the first target time is greater than or equal to the second target time, control the target vehicle to decelerate.

[0136] In one embodiment, the correction module 30 is further configured to obtain the transmission time when the roadside unit sends the first traffic flow information and the first lane line information, and the detection time when the target vehicle sensor detects the second traffic flow information and the second lane line information; compare and correct the transmission time and the detection time to obtain a delay time; correct the first traffic flow information and the first lane line information detected by the roadside unit through the delay time to obtain first corrected traffic flow information and first corrected lane line information; fuse the first corrected traffic flow information and the second traffic flow information to obtain target traffic flow information; and fuse the first corrected lane line information and the second lane line information to obtain target lane line information.

[0137] In one embodiment, the planning module 20 is further configured to obtain the length of the ramp merging area and the end point of the ramp merging area through the first lane line information; obtain the driving speed and position of the main road obstacle vehicle through the first lane line information and the first traffic flow information; calculate the first arrival time of the target vehicle at the end point of the ramp merging area and the second arrival time of the main road obstacle vehicle at the end point of the ramp merging area according to the length of the ramp merging area, the end point of the ramp merging area, the driving speed of the main road obstacle vehicle, and the position of the main road obstacle vehicle; and perform a first path planning for the target vehicle through the first arrival time and the second arrival time.

[0138] In one embodiment, the planning module 20 is further configured to obtain the current position and average speed of the target vehicle; calculate the first distance between the target vehicle and the end point of the ramp merging area according to the current position of the target vehicle and the end point of the ramp merging area; calculate the first arrival time of the target vehicle at the end point of the ramp merging area through the first distance and the average speed of the target vehicle; calculate the average speed of the main road obstacle vehicle through the driving speed of the main road obstacle vehicle; calculate the second distance between the main road obstacle vehicle and the ramp merging area according to the position of the main road obstacle vehicle; and calculate the second arrival time of the main road obstacle vehicle at the end point of the ramp merging area through the second distance and the average speed of the main road obstacle vehicle.

[0139] In one embodiment, the planning module 20 is further configured to compare the first arrival time with the second arrival time; and control the target vehicle to decelerate when driving in the ramp area according to the comparison result to perform a first path planning for the target vehicle.

[0140] In one embodiment, the planning module 20 is further configured to obtain the initial positions of obstacle vehicles within the detection range based on the first vehicle flow information; screen the initial obstacle vehicles based on the end point of the ramp merging area and the initial positions of the obstacle vehicles to obtain the initial obstacle vehicles that have not reached the end point of the ramp merging area, and use the initial obstacles that have not reached the end point of the ramp merging area as the main road obstacle vehicles; obtain the driving speed and positions of the main road obstacle vehicles based on the first lane line information.

[0141] In addition, to achieve the above object, the present invention also provides a vehicle ramp merging device, which includes: a memory, a processor, and a vehicle ramp merging program stored on the memory and executable on the processor, where the vehicle ramp merging program is configured to implement the steps of the vehicle ramp merging method as described above.

[0142] Since this vehicle ramp merging device adopts all the technical solutions of the above-mentioned all embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, and will not be elaborated here one by one.

[0143] In addition, an embodiment of the present invention also provides a storage medium, on which a vehicle ramp merging program is stored, and when the vehicle ramp merging program is executed by a processor, it implements the steps of the vehicle ramp merging method as described above.

[0144] Since this storage medium adopts all the technical solutions of the above-mentioned all embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, and will not be elaborated here one by one.

[0145] It should be understood that the above is only for illustration and does not constitute any limitation to the technical solutions of the present invention. In specific applications, those skilled in the art can set according to needs, and the present invention does not make any restrictions in this regard.

[0146] It should be noted that the above-described work process is only illustrative and does not limit the protection scope of the present invention. In actual applications, those skilled in the art can select some or all of them according to actual needs to achieve the purpose of the solution of this embodiment, and no restrictions are made here.

[0147] In addition, for the technical details not described in detail in this embodiment, reference can be made to the vehicle ramp merging method provided in any embodiment of the present invention, and details will not be repeated here.

[0148] In addition, it should be noted that in this text, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, article or system. Without further limitations, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or system including such an element.

[0149] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0150] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as a read-only memory (ROM) / RAM, magnetic disk, optical disc), and includes several instructions for causing a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0151] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A vehicle ramp merging method, characterized in that, The vehicle ramp merging method includes: When the target vehicle enters the ramp driving area, obtaining the first traffic flow information and the first lane line information detected by the roadside unit; Obtaining the length of the ramp merging area and the end point of the ramp merging area through the first lane line information; Obtaining the driving speed and position of the main road obstacle vehicle through the first lane line information and the first traffic flow information; Calculating the first arrival time for the target vehicle to reach the end point of the ramp merging area and the second arrival time for the main road obstacle vehicle to reach the end point of the ramp merging area according to the length of the ramp merging area, the end point of the ramp merging area, the driving speed of the main road obstacle vehicle, and the position of the main road obstacle vehicle; Performing a first path planning for the target vehicle based on the first arrival time and the second arrival time; When the target vehicle enters the ramp merging area, obtaining the second traffic flow information and the second lane line information detected by the target vehicle sensor; Comparing and correcting the first traffic flow information with the second traffic flow information, and comparing and correcting the first lane line information with the second lane line information to obtain the target traffic flow information and the target lane line information; Calculating the first target time for the target vehicle to reach the end point of the ramp merging area and the second target time for the main road obstacle vehicle to reach the end point of the ramp merging area according to the target traffic flow information and the target lane line information; Comparing the first target time with the second target time; When the first target time is less than the second target time, controlling the target vehicle to change lanes and merge into the main road; When the first target time is greater than or equal to the second target time, controlling the target vehicle to decelerate so that the target vehicle changes lanes and merges into the main road in the ramp merging area.

2. The vehicle ramp merging method according to claim 1, wherein The comparing and correcting the first traffic flow information with the second traffic flow information, and comparing and correcting the first lane line information with the second lane line information to obtain the target traffic flow information and the target lane line information includes: Obtaining the sending time of the first traffic flow information and the first lane line information sent by the roadside unit received and the detection time of the second traffic flow information and the second lane line information detected by the target vehicle sensor; Comparing and correcting the sending time and the detection time to obtain the delay time; Correcting the first traffic flow information and the first lane line information detected by the roadside unit through the delay time to obtain the first corrected traffic flow information and the first corrected lane line information; Fusing the first corrected traffic flow information and the second traffic flow information to obtain the target traffic flow information; Fusing the first corrected lane line information and the second lane line information to obtain the target lane line information.

3. The vehicle ramp merging method according to claim 1, wherein, The calculating the first arrival time for the target vehicle to reach the end point of the ramp merging area and the second arrival time for the main road obstacle vehicle to reach the end point of the ramp merging area according to the length of the ramp merging area, the end point of the ramp merging area, the driving speed of the main road obstacle vehicle, and the position of the main road obstacle vehicle includes: Obtain the current position of the target vehicle and the average speed of the target vehicle; Calculate a first distance between the target vehicle and the end point of the ramp merging area according to the current position of the target vehicle and the end point of the ramp merging area; Calculate a first arrival time for the target vehicle to reach the end point of the ramp merging area through the first distance and the average speed of the target vehicle; Calculate the average speed of the main road obstacle vehicle through the driving speed of the main road obstacle vehicle; Calculate a second distance between the main road obstacle vehicle and the ramp merging area according to the position of the main road obstacle vehicle; Calculate a second arrival time for the main road obstacle vehicle to reach the end point of the ramp merging area through the second distance and the average speed of the main road obstacle vehicle.

4. The vehicle ramp merging method according to claim 1, wherein, The first path planning for the target vehicle through the first arrival time and the second arrival time includes: Compare the first arrival time with the second arrival time; Control the target vehicle to decelerate when driving in the ramp area according to the comparison result, so as to perform the first path planning for the target vehicle.

5. The vehicle ramp merging method according to claim 1, characterized in that The obtaining the driving speed and position of the main road obstacle vehicle through the first lane line information and the first traffic flow information includes: Obtain the initial position of the obstacle vehicle within the detection range through the first traffic flow information; Screen the initial obstacle vehicle based on the end point of the ramp merging area and the initial position of the obstacle vehicle to obtain the initial obstacle vehicle that has not reached the end point of the ramp merging area, and use the initial obstacle that has not reached the end point of the ramp merging area as the main road obstacle vehicle; Obtain the driving speed and position of the main road obstacle vehicle based on the first lane line information.

6. A vehicle ramp merging device, characterized in that, The vehicle ramp merging device includes: An acquisition module, configured to acquire the first traffic flow information and the first lane line information detected by the roadside unit when the target vehicle enters the ramp driving area; A planning module, configured to obtain the length of the ramp merging area and the end point of the ramp merging area through the first lane line information; obtain the driving speed and position of the main road obstacle vehicle through the first lane line information and the first traffic flow information; calculate a first arrival time for the target vehicle to reach the end point of the ramp merging area and a second arrival time for the main road obstacle vehicle to reach the end point of the ramp merging area according to the length of the ramp merging area, the end point of the ramp merging area, the driving speed of the main road obstacle vehicle, and the position of the main road obstacle vehicle; perform the first path planning for the target vehicle through the first arrival time and the second arrival time; The acquisition module is further configured to acquire the second traffic flow information and the second lane line information detected by the target vehicle sensor when the target vehicle enters the ramp merging area; A correction module, configured to compare and correct the first traffic flow information with the second traffic flow information, and compare and correct the first lane line information with the second lane line information to obtain the target traffic flow information and the target lane line information; The planning module is further configured to calculate a first target time for the target vehicle to reach the end of the ramp merging area and a second target time for the main road obstacle vehicle to reach the end of the ramp merging area according to the target traffic flow information and the target lane line information; compare the first target time with the second target time; when the first target time is less than the second target time, control the target vehicle to change lanes and merge into the main road; when the first target time is greater than or equal to the second target time, control the target vehicle to decelerate so that the target vehicle changes lanes and merges into the main road in the ramp merging area.

7. A vehicle ramp merging device, characterized in that, The vehicle ramp merging device includes: a memory, a processor, and a vehicle ramp merging program stored on the memory and executable on the processor, and the vehicle ramp merging program is configured to implement the vehicle ramp merging method according to any one of claims 1 to 5.

8. A storage medium, characterized in that, A vehicle ramp merging program is stored on the storage medium, and when the vehicle ramp merging program is executed by a processor, the vehicle ramp merging method according to any one of claims 1 to 5 is implemented.

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