A method, device, equipment and storage medium for passing through an intersection

Abstract

The present disclosure provides a method, device, equipment and storage medium for passing through an intersection. When a sanitation vehicle arrives at the entrance of the first passage along the rightmost lane, the status information of the target traffic light can be obtained according to the model and driving direction of the sanitation vehicle, and different driving strategies can be selected according to the model of the sanitation vehicle, that is, if the sanitation vehicle belongs to the first model, the sanitation vehicle is controlled to drive along the sidewalk to the driving direction indication to turn left or make a U-turn according to the status information; if the sanitation vehicle belongs to the second model, a virtual stop line is determined, and when the status information indicates that passage is allowed and the driving trajectory of the sanitation vehicle conflicts with the driving trajectory of other traffic participants, the sanitation vehicle is controlled to stop along the virtual stop line. By planning different driving strategies for sanitation vehicles of different models, the impact on other traffic participants can be reduced when the sanitation vehicle turns left and makes a U-turn in the rightmost lane.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent driving technology, and in particular to a method, device, equipment, and storage medium for passing through an intersection. Background Art

[0002] Smart-driving sanitation vehicles usually drive continuously along the right side of the road due to cleaning needs. When they need to turn left or make a U-turn at an intersection, they can first change lanes to the left-turn lane and then turn left or make a U-turn. However, due to the low speed of sanitation vehicles, changing lanes to the left-turn lane is not only dangerous, but also will cause a section of the roadside at the intersection to not be cleaned.

[0003] Since sanitation vehicles are special vehicles that are allowed to drive in a direction other than that of the road, they can adopt the strategy of turning left or making a U-turn in the rightmost lane. However, this strategy violates the driving rules of other traffic participants and may cause serious conflicts between sanitation vehicles and other traffic participants. For example, when a sanitation vehicle turns left in the rightmost lane, it may conflict with traffic participants going straight on the left. Summary of the Invention

[0004] In order to overcome the problems existing in the related art, the present disclosure provides a method, device, equipment and storage medium for passing through an intersection.

[0005] According to a first aspect of the present disclosure, a method for passing through an intersection is provided, which is applied to a sanitation vehicle. The intersection includes four passages, a first passage is arranged opposite to a second passage, and a third passage is arranged opposite to a fourth passage. The method includes:

[0006] In response to detecting that the sanitation vehicle arrives at the entrance of the first traffic entrance along the rightmost lane, obtaining state information of a target traffic light according to the type and travel direction of the sanitation vehicle;

[0007] If the sanitation vehicle belongs to the first type of vehicle and the status information indicates that passage is allowed, the sanitation vehicle is controlled to travel along the sidewalk to the exit of the third passage indicated by the travel direction or the exit of the first passage;

[0008] If the sanitation vehicle belongs to the second type of vehicle, a virtual stop line is determined based on the intersection of the lane boundary between the exit of the first entrance and the entrance of the second entrance and the driving direction, and when the status information indicates that passage is allowed and the driving trajectory of the sanitation vehicle conflicts with the driving trajectory of other traffic participants, the sanitation vehicle is controlled to stop along the virtual stop line. When the status information indicates that passage is allowed and the driving trajectory of the sanitation vehicle does not conflict with the driving trajectory of other traffic participants, the sanitation vehicle is controlled to travel to the exit of the third entrance indicated by the driving direction or the exit of the first entrance;

[0009] The size of the first vehicle type is less than or equal to a size threshold, and the size of the second vehicle type is greater than the size threshold.

[0010] In some embodiments, the driving direction includes a left turn, and the target traffic light includes a traffic light at the second intersection and a traffic light at the third intersection;

[0011] The controlling the sanitation vehicle to travel along the sidewalk to the exit of the third passage indicated by the travel direction includes:

[0012] In response to detecting that the traffic light at the second passage indicates that straight travel is permitted, controlling the sanitation vehicle to travel straight along the sidewalk to an exit of the second passage;

[0013] Controlling the sanitation vehicle to turn left;

[0014] In response to detecting that the traffic light at the third passage indicates that straight travel is allowed, the sanitation vehicle is controlled to travel straight along the sidewalk to the exit of the third passage.

[0015] In some embodiments, the driving direction includes a U-turn, and the target traffic light includes a traffic light at the third intersection;

[0016] The step of controlling the sanitation vehicle to reach an exit of the first passage indicated by the driving direction along the sidewalk according to the state information includes:

[0017] After the sanitation vehicle passes the stop line of the traffic light at the first passage, controlling the sanitation vehicle to turn left;

[0018] In response to detecting that the traffic light at the third passage indicates that straight travel is allowed, the sanitation vehicle is controlled to travel straight along the sidewalk to the exit of the first passage.

[0019] In some embodiments, the direction of travel includes a left turn;

[0020] Determining a virtual stop line based on an intersection of a lane boundary between an exit of the first entrance and an entrance of the second entrance and the driving direction includes:

[0021] Determine the midpoint of the intersection based on the leftmost lane boundary between the exit of the first entrance and the entrance of the second entrance, and the leftmost lane boundary between the exit of the third entrance and the entrance of the fourth entrance, and determine a position passing through the midpoint and forming a preset angle with the left turn trajectory as a first virtual stop line;

[0022] Between the dividing line between the exit and entrance of the third entrance and the second entrance, the position where the rightmost lane boundary of the entrance of the first entrance forms a preset angle with the left-turn trajectory is determined as the second virtual stop line, and the position where the leftmost lane boundary between the exit of the first entrance and the entrance of the second entrance forms a preset angle with the left-turn trajectory is determined as the third virtual stop line.

[0023] In some embodiments, the driving direction includes a left turn, and the target traffic light includes a traffic light at the second intersection;

[0024] When the status information indicates that passage is allowed and the driving trajectory of the sanitation vehicle conflicts with the driving trajectory of other traffic participants, controlling the sanitation vehicle to stop along the virtual stop line includes:

[0025] In response to detecting that the number of traffic participants traveling straight in the same direction is less than or equal to a threshold value, and the traffic light at the second intersection indicates that left turns and straight travel are permitted, controlling the sanitation vehicle to travel to the first virtual stop line and stop;

[0026] In response to detecting that the number of straight-moving traffic participants in the same direction is greater than a threshold value, and the traffic light at the second passage indicates that left turns and straight-moving are allowed, the sanitation vehicle is controlled to stop along the second virtual stop line after passing the dividing line. When it is detected that there is no conflict with the driving trajectory of the straight-moving traffic participants in the same direction, but conflicts with the driving trajectory of the straight-moving traffic participants at the entrance of the second passage, the sanitation vehicle is controlled to stop along the third virtual stop line.

[0027] In some embodiments, the direction of travel includes a U-turn;

[0028] Determining a virtual stop line based on an intersection of a lane boundary between an exit of the first entrance and an entrance of the second entrance and the driving direction includes:

[0029] Acquire all lane boundaries between the exit of the first entrance and the entrance of the second entrance;

[0030] For each lane boundary, a position where the lane boundary and the U-turn trajectory form a preset angle is determined as a fourth virtual stop line.

[0031] In some embodiments, the driving direction includes a U-turn, the target traffic light includes a traffic light at the second intersection, and the fourth virtual stop line includes a straight virtual stop line, a left-turn virtual stop line, and / or an opposite straight virtual stop line;

[0032] When the status information indicates that passage is allowed and the driving trajectory of the sanitation vehicle conflicts with the driving trajectory of other traffic participants, controlling the sanitation vehicle to stop along the virtual stop line includes:

[0033] In response to detecting that the traffic light at the second intersection indicates that straight travel is permitted, and the U-turn trajectory of the sanitation vehicle conflicts with the driving trajectory of a traffic participant traveling straight in the same direction, controlling the sanitation vehicle to stop along the straight virtual stop line;

[0034] In response to detecting that the U-turn trajectory of the sanitation vehicle conflicts with the driving trajectory of a left-turning traffic participant, controlling the sanitation vehicle to stop along the left-turn virtual stop line;

[0035] In response to detecting that the U-turn trajectory of the sanitation vehicle conflicts with the driving trajectory of a traffic participant entering the first channel exit through the entrance of the second passage, the sanitation vehicle is controlled to stop along the opposite straight virtual stop line.

[0036] According to a second aspect of the present disclosure, a road intersection passage device is provided, which is applied to a sanitation vehicle. The road intersection includes four passages, a first passage is arranged opposite to a second passage, and a third passage is arranged opposite to a fourth passage. The device includes:

[0037] a detection unit, configured to, upon detecting that the sanitation vehicle has arrived at the entrance of the first passage along the rightmost lane, obtain state information of a target traffic light according to the type and driving direction of the sanitation vehicle;

[0038] A control unit, configured to, if the sanitation vehicle belongs to the first type of vehicle and the status information indicates that passage is allowed, control the sanitation vehicle to travel along the sidewalk to the exit of the third entrance or the exit of the first entrance indicated by the driving direction; if the sanitation vehicle belongs to the second type of vehicle, determine a virtual stop line based on the intersection of the lane boundary between the exit of the first entrance and the entrance of the second entrance and the driving direction, and control the sanitation vehicle to stop along the virtual stop line if the status information indicates that passage is allowed and the driving trajectory of the sanitation vehicle conflicts with the driving trajectory of other traffic participants; and control the sanitation vehicle to travel to the exit of the third entrance or the exit of the first entrance indicated by the driving direction if the status information indicates that passage is allowed and the driving trajectory of the sanitation vehicle does not conflict with the driving trajectory of other traffic participants; wherein the size of the first type of vehicle is less than or equal to the size threshold, and the size of the second type of vehicle is greater than the size threshold.

[0039] According to a third aspect of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing instructions executable by the processor to execute the method described in any embodiment of the present disclosure.

[0040] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the method described in any embodiment of the present disclosure is implemented.

[0041] The technical solution provided by the present disclosure may have the following beneficial effects: when a sanitation vehicle arrives at the entrance of the first entrance along the rightmost lane, the status information of the target traffic light can be obtained according to the vehicle model and driving direction of the sanitation vehicle, and different driving strategies can be selected according to the vehicle model of the sanitation vehicle. That is, if the sanitation vehicle belongs to the first type of vehicle and the status information indicates that passage is allowed, the sanitation vehicle is controlled to travel along the sidewalk to the exit of the third entrance or the exit of the first entrance indicated by the driving direction; if the sanitation vehicle belongs to the second type of vehicle, a virtual stop line is determined based on the intersection of the lane boundary between the exit of the first entrance and the entrance of the second entrance and the driving direction; if the status information indicates that passage is allowed and the driving trajectory of the sanitation vehicle conflicts with the driving trajectory of other traffic participants, the sanitation vehicle is controlled to stop along the virtual stop line; if the status information indicates that passage is allowed and the driving trajectory of the sanitation vehicle does not conflict with the driving trajectory of other traffic participants, the sanitation vehicle is controlled to travel to the exit of the third entrance or the exit of the first entrance indicated by the driving direction. By planning different driving strategies for different types of sanitation vehicles, the impact on other traffic participants can be reduced when the sanitation vehicles make left turns and U-turns in the rightmost lane.

[0042] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description, are used to explain the technical solutions of the present disclosure.

[0044] Figure 1 1 is a schematic diagram of an intersection according to an exemplary embodiment of the present disclosure.

[0045] Figure 2 It is a flowchart of a method for passing through an intersection according to an exemplary embodiment of the present disclosure.

[0046] Figure 3Schematic diagram of a first type of sanitation vehicle turning left at an intersection according to an exemplary embodiment of the present disclosure.

[0047] Figure 4 It is a schematic diagram showing a first type of sanitation vehicle making a U-turn at an intersection according to an exemplary embodiment of the present disclosure.

[0048] Figure 5 Schematic diagram of a second type of sanitation vehicle turning left at an intersection according to an exemplary embodiment of the present disclosure.

[0049] Figure 6 Schematic diagram of a second type of sanitation vehicle turning around at an intersection according to an exemplary embodiment of the present disclosure.

[0050] Figure 7 A schematic diagram of an intersection traffic device provided in at least one embodiment of the present disclosure.

[0051] Figure 8 A schematic diagram of the structure of an electronic device for executing a method for passing through an intersection according to at least one embodiment of the present disclosure. DETAILED DESCRIPTION

[0052] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0053] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0054] It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining."

[0055] The intersection passage method provided by the present disclosure can be applied to sanitation vehicles to solve the problem that the sanitation vehicles turn left or make a U-turn in the rightmost lane, causing dangerous interactions between the vehicle and traffic participants on the left. Figure 1 is a schematic diagram of an intersection according to an exemplary embodiment of the present disclosure, such as Figure 1 As shown, the intersection in the present disclosure includes four passages, the first passage is arranged opposite to the second passage, and the third passage is arranged opposite to the fourth passage, that is, the direction of the first passage and the second passage is perpendicular to the direction of the third passage and the fourth passage. In one embodiment, the intersection can be as follows Figure 1 At the intersection shown, each intersection is provided with an entrance and an exit. In another embodiment, the intersection may be a T-junction, with the first, third, and fourth intersections of the T-junction each provided with an entrance and an exit. Those skilled in the art will appreciate that the intersections may also have entrances or exits, such as on one-way streets, and this disclosure does not specifically limit this.

[0056] In this embodiment, the sanitation vehicle arrives along the rightmost lane. Figure 1 Taking the entrance of the first passage as an example, it is explained how the sanitation vehicle turns left to reach the exit of the third passage, and how the sanitation vehicle makes a U-turn to reach the exit of the first passage.

[0057] Figure 2 is a flow chart of a method for passing through an intersection according to an exemplary embodiment of the present disclosure, as shown in FIG. Figure 2 As shown, the intersection passage method includes the following steps.

[0058] In step 201, in response to detecting that the sanitation vehicle arrives at the entrance of the first passage along the rightmost lane, the status information of the target traffic light is obtained according to the type and driving direction of the sanitation vehicle.

[0059] This disclosure categorizes sanitation vehicles into a first type and a second type based on their size information. The first type has a size less than or equal to a size threshold, while the second type has a size greater than the size threshold. Assuming the size threshold is 4 meters, sanitation vehicles under 4 meters in length are defined as the first type (also known as small sweepers), and vehicles greater than 4 meters in length are defined as the second type (also known as large sweepers).

[0060] The target traffic lights are determined based on the type and travel direction of the sanitation vehicle. For example, if the sanitation vehicle is of the first type and is turning left, the target traffic lights may include the traffic lights at the second intersection and the traffic lights at the third intersection. If the sanitation vehicle is of the second type and is turning left, the target traffic lights may include the traffic lights at the second intersection.

[0061] In step 202a, if the sanitation vehicle belongs to the first type of vehicle and the status information indicates that passage is allowed, the sanitation vehicle is controlled to travel along the sidewalk to the exit of the third passage indicated by the travel direction or the exit of the first passage.

[0062] Taking into account the smaller body size of the first type of sanitation vehicle, in order to reduce the interference caused to other traffic participants by the sanitation vehicle turning left or making a U-turn in the rightmost lane in violation of the driving rules of other traffic participants, the present disclosure proposes that the first type of sanitation vehicle can make a left turn or a U-turn with the help of the sidewalk, that is, drive along the sidewalk to the exit of the third entrance indicated by the driving direction or the exit of the first entrance.

[0063] In step 202b, if the sanitation vehicle belongs to the second type of vehicle, a virtual stop line is determined based on the intersection of the lane boundary between the exit of the first entrance and the entrance of the second entrance and the driving direction, and when the status information indicates that passage is allowed and the driving trajectory of the sanitation vehicle conflicts with the driving trajectory of other traffic participants, the sanitation vehicle is controlled to stop along the virtual stop line. When the status information indicates that passage is allowed and the driving trajectory of the sanitation vehicle does not conflict with the driving trajectory of other traffic participants, the sanitation vehicle is controlled to travel to the exit of the third entrance indicated by the driving direction or the exit of the first entrance.

[0064] For the second type of sanitation vehicle, when turning left or making a U-turn in the rightmost lane, it is necessary to consider avoiding other traffic participants traveling in the same direction, as well as oncoming traffic participants entering from the entrance of the second entrance and exiting from the exit of the second entrance. Therefore, the present disclosure determines a virtual stop line based on the intersection of the lane boundary between the exit of the first entrance and the entrance of the second entrance and the driving direction of the sanitation vehicle. If the status information of the traffic light at the second entrance indicates that passage is allowed, but the driving trajectory of the sanitation vehicle conflicts with the driving trajectory of other traffic participants, the sanitation vehicle can be controlled to stop along the virtual stop line. With the virtual stop line determined by the present disclosure, if the driving trajectory of the sanitation vehicle intersects with the driving trajectory of other traffic participants, that is, a conflict occurs, the sanitation vehicle can be controlled to stop along the virtual stop line to avoid other traffic participants, so that the sanitation vehicle can safely reach the exit of the third entrance or the exit of the first entrance indicated by the driving direction while reducing interference to other traffic participants.

[0065] In summary, when the sanitation vehicle arrives at the entrance of the first traffic entrance along the rightmost lane, the status information of the target traffic light can be obtained according to the model and driving direction of the sanitation vehicle, and different driving strategies can be selected according to the model of the sanitation vehicle. That is, if the sanitation vehicle belongs to the first model, the sanitation vehicle is controlled to drive along the sidewalk to the driving direction indication to turn left or make a U-turn according to the status information; if the sanitation vehicle belongs to the second model, a virtual stop line is determined, and when the status information indicates that passage is allowed and the driving trajectory of the sanitation vehicle conflicts with the driving trajectory of other traffic participants, the sanitation vehicle is controlled to stop along the virtual stop line. By planning different driving strategies for sanitation vehicles of different models, the impact on other traffic participants can be reduced when the sanitation vehicle turns left and makes a U-turn in the rightmost lane.

[0066] If the sanitation vehicle is of the first type and is traveling in a left turn, the target traffic lights include the traffic lights at the second intersection and the traffic lights at the third intersection. In this case, controlling the sanitation vehicle to travel along the sidewalk to the exit of the third intersection indicated by the traveling direction may include: in response to detecting that the traffic light at the second intersection indicates that straight travel is permitted, controlling the sanitation vehicle to travel straight along the sidewalk to the exit of the second intersection; controlling the sanitation vehicle to turn left; and in response to detecting that the traffic light at the third intersection indicates that straight travel is permitted, controlling the sanitation vehicle to travel straight along the sidewalk to the exit of the third intersection.

[0067] Figure 3 FIG. 1 is a schematic diagram of a first type of sanitation vehicle turning left at an intersection according to an exemplary embodiment of the present disclosure. Figure 3As shown, when the traffic light at the second entrance indicates that it is allowed to go straight, the sanitation vehicle passes through the fourth entrance along the sidewalk, and turns left at the sidewalk opposite to the first entrance. When it is detected that the traffic light at the third entrance indicates that it is allowed to go straight, the sanitation vehicle passes through the second entrance along the sidewalk of the second entrance and reaches the exit of the third entrance.

[0068] This embodiment achieves the effect of a left turn by taking a right-angle route, which neither causes interaction with traffic participants on the left nor blocks traffic participants behind in the same lane. In actual driving, a route that follows the edge of the sidewalk can be used to minimize interaction with oncoming pedestrians and non-motorized vehicles.

[0069] When the sanitation vehicle is of the first type and its driving direction includes a U-turn, the target traffic light includes the traffic light at the third intersection, and controlling the sanitation vehicle to reach the exit of the first intersection indicated by the driving direction along the sidewalk according to the status information may include: after the sanitation vehicle passes the stop line of the traffic light at the first intersection, controlling the sanitation vehicle to turn left; in response to detecting that the traffic light at the third intersection indicates that straight travel is allowed, controlling the sanitation vehicle to travel straight along the sidewalk to the exit of the first intersection.

[0070] Figure 4 FIG. 1 is a schematic diagram of a first type of sanitation vehicle turning around at an intersection according to an exemplary embodiment of the present disclosure. Figure 4 As shown, the sanitation vehicle controls the vehicle body to turn left after passing the stop line of the traffic light at the first entrance. When it detects that the traffic light at the third entrance indicates that straight travel is allowed, the sanitation vehicle passes through the first entrance along the sidewalk. After the sanitation vehicle passes through the first entrance, the vehicle body turns left and reaches the exit of the first entrance, thereby completing the U-turn.

[0071] In the case where the sanitation vehicle belongs to the second type of vehicle and the driving direction of the sanitation vehicle includes a left turn, determining the virtual stop line based on the intersection of the lane boundary between the exit of the first entrance and the entrance of the second entrance and the driving direction may include:

[0072] Determine the midpoint of the intersection based on the leftmost lane boundary between the exit of the first entrance and the entrance of the second entrance, and the leftmost lane boundary between the exit of the third entrance and the entrance of the fourth entrance, and determine a position passing through the midpoint and forming a preset angle with the left turn trajectory as a first virtual stop line;

[0073] Between the dividing line between the exit and entrance of the third entrance and the second entrance, the position where the rightmost lane boundary of the entrance of the first entrance forms a preset angle with the left-turn trajectory is determined as the second virtual stop line, and the position where the leftmost lane boundary between the exit of the first entrance and the entrance of the second entrance forms a preset angle with the left-turn trajectory is determined as the third virtual stop line.

[0074] If the sanitation vehicle belongs to the second type of vehicle and its travel direction includes a left turn, two traffic flow strategies can be formulated. The first traffic flow strategy can be applied when the number of straight-moving traffic participants in the same direction is less than or equal to a threshold, and the second traffic flow strategy can be applied when the number of straight-moving traffic participants in the same direction is greater than the threshold. This embodiment provides methods for determining virtual stop lines for each of the two traffic flow strategies. In actual operation, the method for determining the virtual stop line is selected based on the relationship between the number of straight-moving traffic participants in the same direction and the threshold.

[0075] Figure 5 FIG. 1 is a schematic diagram of a second type of sanitation vehicle turning left at an intersection according to an exemplary embodiment of the present disclosure. Figure 5 As shown, the midpoint of the intersection, i.e., the midpoint of the intersection, is determined based on the leftmost lane boundary between the exit of the first entrance and the entrance of the second entrance, and the leftmost lane boundary between the exit of the third entrance and the entrance of the fourth entrance. A position passing through the midpoint and forming a preset angle with the left-turn trajectory is determined as the first virtual stop line 501.

[0076] Between the dividing line between the exit and entrance of the third entrance and the second entrance, the position where the rightmost lane boundary of the entrance of the first entrance forms a preset angle with the left-turn trajectory is determined as the second virtual stop line 502.

[0077] A position where the leftmost lane boundary between the exit of the first entrance and the entrance of the second entrance and the left-turn trajectory forms a preset angle is determined as the third virtual stop line 503 .

[0078] When the sanitation vehicle belongs to the second type of vehicle and the driving direction of the sanitation vehicle includes a left turn, the target traffic light includes the traffic light at the second intersection; when the status information indicates that passage is allowed and the driving trajectory of the sanitation vehicle conflicts with the driving trajectory of other traffic participants, controlling the sanitation vehicle to stop along the virtual stop line may include:

[0079] In response to detecting that the number of traffic participants traveling straight in the same direction is less than or equal to a threshold value, and the traffic light at the second intersection indicates that left turns and straight travel are permitted, controlling the sanitation vehicle to travel to the first virtual stop line and stop;

[0080] In response to detecting that the number of straight-moving traffic participants in the same direction is greater than a threshold value, and the traffic light at the second passage indicates that left turns and straight-moving are allowed, the sanitation vehicle is controlled to stop along the second virtual stop line after passing the dividing line. When it is detected that there is no conflict with the driving trajectory of the straight-moving traffic participants in the same direction, but conflicts with the driving trajectory of the straight-moving traffic participants at the entrance of the second passage, the sanitation vehicle is controlled to stop along the third virtual stop line.

[0081] That is to say, when the number of traffic participants going straight in the same direction is less than or equal to the threshold, the first traffic strategy can be adopted to control the sanitation vehicle to stop along the first virtual stop line. When the number of traffic participants going straight in the same direction is greater than the threshold, the second traffic strategy can be adopted to control the sanitation vehicle to stop along the second virtual stop line and the third virtual stop line respectively.

[0082] See also Figure 5 When the traffic light at the second entrance indicates that left turns and straight driving are allowed, the point cloud and the surrounding environment information perceived by the camera are obtained, and the straight-moving traffic participants in the same direction that conflict with the driving trajectory of the sanitation vehicle are predicted based on the environmental information. If the number of straight-moving traffic participants in the same direction that conflict with the driving trajectory of the sanitation vehicle is less than or equal to the threshold, the first traffic strategy is adopted. In the first traffic strategy, the curvature of the left-turn trajectory is greater than the curvature threshold. The first traffic strategy can make the sanitation vehicle stop at the first virtual stop line 501. The first virtual stop line is located in a safe zone in the middle of the road, which can avoid interfering with other traffic participants. When it is perceived that the driving trajectory of the sanitation vehicle does not conflict with the driving trajectory of the straight-moving traffic participants entering from the entrance of the second entrance, the sanitation vehicle is controlled to cross the first virtual stop line and enter the exit of the third entrance, thereby completing the left turn.

[0083] If the number of straight-moving vehicles conflicting with the sanitation vehicle's trajectory exceeds a threshold, the second traffic strategy is adopted. In this second strategy, the curvature of the left-turn trajectory is less than the curvature threshold. This strategy allows the sanitation vehicle to travel straight before turning left, following the straight-moving traffic flow to the middle of the road. Once there are no conflicts with straight-moving vehicles, the vehicle begins its left turn. That is, after controlling the sanitation vehicle to go straight through the dividing line, if it is detected that the driving trajectory of the sanitation vehicle conflicts with the driving trajectory of the straight traffic participants in the same direction, the sanitation vehicle is controlled to stop along the second virtual stop line 502; if it is detected that the driving trajectory of the sanitation vehicle does not conflict with the driving trajectory of the straight traffic participants in the same direction, the sanitation vehicle is controlled to stop along the second virtual stop line 502; if it is detected that the driving trajectory of the sanitation vehicle does not conflict with the driving trajectory of the straight traffic participants entering from the entrance of the second passage, the sanitation vehicle is controlled to stop along the third virtual stop line 503; if it is detected that the driving trajectory of the sanitation vehicle does not conflict with the driving trajectory of the straight traffic participants entering from the entrance of the second passage, the sanitation vehicle is controlled to cross the third virtual stop line 503 and enter the exit of the third passage, thereby completing the left turn.

[0084] In the second traffic strategy, you should go straight to the middle of the road first. On the one hand, this can avoid blocking the traffic participants going straight behind you in the same lane. On the other hand, in extreme situations, such as when the traffic light at the second intersection is green and the traffic participants going straight on the left in the same direction continue to exist until the light turns red, you can seize the right of way as soon as possible to avoid being forced to stop by the traffic participants on the right who are about to drive.

[0085] When the sanitation vehicle belongs to the second type of vehicle and its driving direction is to turn left, but the traffic light at the second entrance is a left turn protection light, the sanitation vehicle can turn left to the exit of the third entrance if it detects that the left turn protection light indicates that the left turn is allowed.

[0086] In the case that the sanitation vehicle belongs to the second type of vehicle and the driving direction of the sanitation vehicle is a U-turn, determining the virtual stop line based on the intersection of the lane boundary between the exit of the first entrance and the entrance of the second entrance and the driving direction may include: obtaining all lane boundaries between the exit of the first entrance and the entrance of the second entrance; for each lane boundary, determining the position where the lane boundary forms a preset angle with the U-turn trajectory as the fourth virtual stop line.

[0087] When the second type of sanitation vehicle makes a U-turn in the rightmost lane, it needs to avoid traffic participants in all lanes between the exit of the first entrance and the entrance of the second entrance. Therefore, for each lane boundary, the position at a preset angle between the lane boundary and the U-turn trajectory can be determined as a fourth virtual stop line. The number of the fourth virtual stop lines is determined according to the number of lanes between the exit of the first entrance and the entrance of the second entrance. If there are two through lanes and one left-turn lane between the exit of the first entrance and the entrance of the second entrance, three fourth virtual stop lines can be determined. If there is one through lane and one left-turn lane between the exit of the first entrance and the entrance of the second entrance, two fourth virtual stop lines can be determined.

[0088] Figure 6 FIG. 1 is a schematic diagram of a second type of sanitation vehicle turning around at an intersection according to an exemplary embodiment of the present disclosure. Figure 6 As shown, there are two straight lanes and one left-turn lane between the exit of the first entrance and the entrance of the second entrance of the intersection, and the fourth virtual stop line includes a straight virtual stop line 601, a left-turn virtual stop line 602 and an opposite straight virtual stop line 603.

[0089] The position where the rightmost lane boundary of the first entrance forms a preset angle with the left-turn trajectory is determined as the straight-ahead virtual stop line 601 .

[0090] A position where the boundary of the middle straight lane between the exit of the first entrance and the entrance of the second entrance and the left-turn trajectory form a preset angle is determined as the left-turn virtual stop line 602 .

[0091] A position where the leftmost lane boundary between the exit of the first entrance and the entrance of the second entrance and the left-turn trajectory form a preset angle is determined as the opposite straight virtual stop line 603 .

[0092] exist Figure 6 In the U-turn trajectory of the sanitation vehicle, three virtual stop lines can be set. The straight virtual stop line 601 is set at the intersection of the lane and the left straight lane. The vehicle stops here and waits for the straight traffic participants to go first. The left turn virtual stop line 602 is set at the boundary of the left turn lane. The vehicle stops here and waits for the left turn or U-turn traffic participants to go first. The opposite straight virtual stop line 603 is set at the boundary of the opposite straight lane. The vehicle stops here and waits for the opposite straight traffic participants to go first.

[0093] When the sanitation vehicle belongs to the second type of vehicle and the driving direction of the sanitation vehicle is a U-turn, the target traffic light includes the traffic light at the second intersection. When the status information indicates that passage is allowed and the driving trajectory of the sanitation vehicle conflicts with the driving trajectory of other traffic participants, controlling the sanitation vehicle to stop along the virtual stop line may include:

[0094] In response to detecting that the traffic light at the second intersection indicates that straight travel is permitted, and the U-turn trajectory of the sanitation vehicle conflicts with the driving trajectory of a traffic participant traveling straight in the same direction, controlling the sanitation vehicle to stop along the straight virtual stop line;

[0095] In response to detecting that the U-turn trajectory of the sanitation vehicle conflicts with the driving trajectory of a left-turning traffic participant, controlling the sanitation vehicle to stop along the left-turn virtual stop line;

[0096] In response to detecting that the U-turn trajectory of the sanitation vehicle conflicts with the driving trajectory of a traffic participant entering the first channel exit through the entrance of the second passage, the sanitation vehicle is controlled to stop along the opposite straight virtual stop line.

[0097] Still Figure 6 For example, in response to detecting that there are no straight-moving traffic participants in the same direction, the sanitation vehicle is controlled to cross the straight virtual stop line 601 and travel along a U-turn trajectory to the left-turn virtual stop line 602. If there is a straight lane and a left-turn lane between the exit of the first entrance and the entrance of the second entrance, the sanitation vehicle can be controlled to cross the straight virtual stop line 601 and travel along a U-turn trajectory to the opposite straight virtual stop line 603.

[0098] In response to detecting that there is no traffic participant turning left or making a U-turn, the sanitation vehicle is controlled to cross the left-turn virtual stop line 602 and travel along the U-turn trajectory to the opposite straight-ahead virtual stop line 603.

[0099] In response to detecting that there is no straight-moving traffic participant at the entrance of the second passage, the sanitation vehicle is controlled to cross the opposite straight-moving virtual stop line 603 and move to the exit of the first passage.

[0100] For the first type of sanitation vehicle, it can turn left and make U-turns along the sidewalk, avoiding interactions and conflicts with straight-moving traffic participants; for the second type of sanitation vehicle, by adopting a segmented virtual stop line strategy, interactions and conflicts with straight-moving traffic participants can be minimized to the greatest extent, ensuring the safety of sanitation vehicles turning left and making U-turns in the rightmost lane.

[0101] Corresponding to the above-mentioned method embodiment, the present disclosure also provides an embodiment of a road intersection passage device. The road intersection passage device is applied to a sanitation vehicle, and the road intersection includes four passages, the first passage is arranged opposite to the second passage, and the third passage is arranged opposite to the fourth passage.

[0102] Figure 7 A schematic diagram of a road crossing device provided by at least one embodiment of the present disclosure, such as Figure 7 As shown, the intersection traffic device includes:

[0103] The detection unit 701 is configured to obtain the state information of the target traffic light according to the type and driving direction of the sanitation vehicle when detecting that the sanitation vehicle has arrived at the entrance of the first passage along the rightmost lane;

[0104] a control unit 702 for controlling the sanitation vehicle to travel along the sidewalk to the exit of the third entrance or the exit of the first entrance indicated by the driving direction, if the sanitation vehicle is of the first type and the status information indicates that passage is permitted; and for controlling the sanitation vehicle to travel along the sidewalk to the exit of the third entrance or the exit of the first entrance indicated by the driving direction, if the sanitation vehicle is of the second type, based on the intersection of the lane boundary between the exit of the first entrance and the entrance of the second entrance and the driving direction, and controlling the sanitation vehicle to stop along the virtual stop line if the status information indicates that passage is permitted and the driving trajectory of the sanitation vehicle conflicts with the driving trajectory of other traffic participants; and controlling the sanitation vehicle to travel to the exit of the third entrance or the exit of the first entrance indicated by the driving direction, if the status information indicates that passage is permitted and the driving trajectory of the sanitation vehicle does not conflict with the driving trajectory of other traffic participants;

[0105] The size of the first vehicle type is less than or equal to a size threshold, and the size of the second vehicle type is greater than the size threshold.

[0106] In some embodiments, the driving direction includes a left turn, and the target traffic lights include the traffic lights at the second intersection and the traffic lights at the third intersection; the control unit 702 is specifically configured to:

[0107] In response to detecting that the traffic light at the second passage indicates that straight travel is permitted, controlling the sanitation vehicle to travel straight along the sidewalk to an exit of the second passage;

[0108] Controlling the sanitation vehicle to turn left;

[0109] In response to detecting that the traffic light at the third passage indicates that straight travel is allowed, the sanitation vehicle is controlled to travel straight along the sidewalk to the exit of the third passage.

[0110] In some embodiments, the driving direction includes a U-turn, and the target traffic light includes the traffic light at the third intersection; the control unit 702 is specifically configured to:

[0111] After the sanitation vehicle passes the stop line of the traffic light at the first passage, controlling the sanitation vehicle to turn left;

[0112] In response to detecting that the traffic light at the third passage indicates that straight travel is allowed, the sanitation vehicle is controlled to travel straight along the sidewalk to the exit of the first passage.

[0113] In some embodiments, the driving direction includes turning left; the control unit 702 is specifically configured to:

[0114] Determine the midpoint of the intersection based on the leftmost lane boundary between the exit of the first entrance and the entrance of the second entrance, and the leftmost lane boundary between the exit of the third entrance and the entrance of the fourth entrance, and determine a position passing through the midpoint and forming a preset angle with the left turn trajectory as a first virtual stop line;

[0115] Between the dividing line between the exit and entrance of the third entrance and the second entrance, the position where the rightmost lane boundary of the entrance of the first entrance forms a preset angle with the left-turn trajectory is determined as the second virtual stop line, and the position where the leftmost lane boundary between the exit of the first entrance and the entrance of the second entrance forms a preset angle with the left-turn trajectory is determined as the third virtual stop line.

[0116] In some embodiments, the driving direction includes a left turn, and the target traffic light includes a traffic light at the second intersection; the control unit 702 is specifically configured to:

[0117] In response to detecting that the number of traffic participants traveling straight in the same direction is less than or equal to a threshold value, and the traffic light at the second intersection indicates that left turns and straight travel are permitted, controlling the sanitation vehicle to travel to the first virtual stop line and stop;

[0118] In response to detecting that the number of straight-moving traffic participants in the same direction is greater than a threshold value, and the traffic light at the second passage indicates that left turns and straight-moving are allowed, the sanitation vehicle is controlled to stop along the second virtual stop line after passing the dividing line. When it is detected that there is no conflict with the driving trajectory of the straight-moving traffic participants in the same direction, but conflicts with the driving trajectory of the straight-moving traffic participants at the entrance of the second passage, the sanitation vehicle is controlled to stop along the third virtual stop line.

[0119] In some embodiments, the driving direction includes a U-turn; the control unit 702 is specifically configured to:

[0120] Acquire all lane boundaries between the exit of the first entrance and the entrance of the second entrance;

[0121] For each lane boundary, a position where the lane boundary and the U-turn trajectory form a preset angle is determined as a fourth virtual stop line.

[0122] In some embodiments, the driving direction includes a U-turn, the target traffic light includes a traffic light at the second intersection, and the fourth virtual stop line includes a straight virtual stop line, a left turn virtual stop line, and / or an opposite straight virtual stop line; the control unit 702 is specifically configured to:

[0123] In response to detecting that the traffic light at the second intersection indicates that straight travel is permitted, and the U-turn trajectory of the sanitation vehicle conflicts with the driving trajectory of a traffic participant traveling straight in the same direction, controlling the sanitation vehicle to stop along the straight virtual stop line;

[0124] In response to detecting that the U-turn trajectory of the sanitation vehicle conflicts with the driving trajectory of a left-turning traffic participant, controlling the sanitation vehicle to stop along the left-turn virtual stop line;

[0125] In response to detecting that the U-turn trajectory of the sanitation vehicle conflicts with the driving trajectory of a traffic participant entering the first channel exit through the entrance of the second passage, the sanitation vehicle is controlled to stop along the opposite straight virtual stop line.

[0126] Figure 8 This is a schematic diagram of the electronic device structure for executing the intersection passage method provided by at least one embodiment of the present disclosure. Figure 8 As shown, the electronic device includes a memory and a processor, the memory is used to store computer instructions that can be executed on the processor, and the processor is used to implement the intersection passage method described in any embodiment of the present disclosure when executing the computer instructions.

[0127] At least one embodiment of the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the intersection passage methods described in the present disclosure.

[0128] It will be understood by those skilled in the art that one or more embodiments of the present disclosure may be provided as a method, system, or computer program product. Therefore, one or more embodiments of the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Furthermore, one or more embodiments of the present disclosure may take the form of a computer program product implemented 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.

[0129] In the present disclosure, “and / or” means at least one of the two. For example, “A and / or B” includes three solutions: A, B, and “A and B”.

[0130] The various embodiments of this disclosure are described in a progressive manner. Similar portions between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the data processing device embodiment is generally similar to the method embodiment, so its description is relatively simple. For relevant portions, refer to the description of the method embodiment.

[0131] The foregoing description describes specific embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0132] Embodiments of the subject matter and functional operations described in this disclosure may be implemented in the following: digital electronic circuits, tangibly embodied computer software or firmware, computer hardware including the structures disclosed in this disclosure and their structural equivalents, or a combination of one or more thereof. Embodiments of the subject matter described in this disclosure may be implemented as one or more computer programs, i.e., one or more modules of computer program instructions encoded on a tangible, non-transitory program carrier to be executed by a data processing device or to control the operation of a data processing device. Alternatively or additionally, the program instructions may be encoded on an artificially generated propagation signal, such as a machine-generated electrical, optical, or electromagnetic signal, which is generated to encode information and transmit it to a suitable receiver device for execution by a data processing device. The computer storage medium may be a machine-readable storage device, a machine-readable storage substrate, a random or serial access memory device, or a combination of one or more thereof.

[0133] The processes and logic flows described in this disclosure can be performed by one or more programmable computers executing one or more computer programs to perform the corresponding functions by operating on input data and generating output. The processes and logic flows can also be performed by, and apparatus can be implemented as, special purpose logic circuitry, such as an FPGA (field programmable gate array) or an ASIC (application-specific integrated circuit).

[0134] Computers suitable for executing computer programs include, for example, general-purpose and / or special-purpose microprocessors, or any other type of central processing unit. Typically, the central processing unit will receive instructions and data from a read-only memory and / or random access memory. The basic components of a computer include a central processing unit for implementing or executing instructions and one or more memory devices for storing instructions and data. Typically, a computer will also include one or more mass storage devices for storing data, such as magnetic disks, magneto-optical disks, or optical disks, or the computer will be operably coupled to such mass storage devices to receive data from them or to transmit data to them, or both. However, a computer does not necessarily have such devices. In addition, a computer can be embedded in another device, such as a mobile phone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a global positioning system (GPS) receiver, or a portable storage device such as a universal serial bus (USB) flash drive, to name a few.

[0135] Computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media, and storage devices, including, for example, semiconductor memory devices (e.g., EPROM, EEPROM, and flash memory devices), magnetic disks (e.g., internal hard disks or removable disks), magneto-optical disks, and CD ROM and DVD-ROM disks. The processor and memory can be supplemented by, or incorporated in, special purpose logic circuitry.

[0136] Although the present disclosure includes many specific implementation details, these should not be interpreted as limiting the scope of any invention or the scope of the claimed protection, but are primarily used to describe the features of the specific embodiments of a particular invention. Certain features described in multiple embodiments within the present disclosure may also be implemented in combination in a single embodiment. On the other hand, the various features described in a single embodiment may also be implemented separately in multiple embodiments or in any suitable sub-combination. In addition, although features may function in certain combinations as described above and even initially claimed as such, one or more features from the claimed combination may be removed from the combination in some cases, and the claimed combination may point to a sub-combination or a variation of the sub-combination.

[0137] Similarly, although operations are depicted in a particular order in the accompanying drawings, this should not be understood as requiring that these operations be performed in the particular order shown or performed sequentially, or that all illustrated operations be performed to achieve the desired results. In some cases, multitasking and parallel processing may be advantageous. In addition, the separation of various system modules and components in the above-described embodiments should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product, or packaged into multiple software products.

[0138] Thus, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the particular order shown or sequential sequence to achieve the desired results. In some implementations, multitasking and parallel processing may be advantageous.

[0139] The above description is merely a preferred embodiment of one or more embodiments of the present disclosure and is not intended to limit one or more embodiments of the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present disclosure shall be included in the scope of protection of one or more embodiments of the present disclosure.

Claims

1. A method for passing through an intersection, characterized in that: Applied to sanitation vehicles, the intersection includes four passages, the first passage is arranged opposite to the second passage, and the third passage is arranged opposite to the fourth passage. The method includes: In response to detecting that the sanitation vehicle arrives at the entrance of the first traffic entrance along the rightmost lane, obtaining state information of a target traffic light according to the type and travel direction of the sanitation vehicle; If the sanitation vehicle belongs to the first type of vehicle and the status information indicates that passage is allowed, the sanitation vehicle is controlled to travel along the sidewalk to the exit of the third passage indicated by the travel direction or the exit of the first passage; If the sanitation vehicle belongs to the second type of vehicle, a virtual stop line is determined based on the intersection of the lane boundary between the exit of the first entrance and the entrance of the second entrance and the driving direction, and when the status information indicates that passage is allowed and the driving trajectory of the sanitation vehicle conflicts with the driving trajectory of other traffic participants, the sanitation vehicle is controlled to stop along the virtual stop line. When the status information indicates that passage is allowed and the driving trajectory of the sanitation vehicle does not conflict with the driving trajectory of other traffic participants, the sanitation vehicle is controlled to travel to the exit of the third entrance indicated by the driving direction or the exit of the first entrance; The size of the first vehicle type is less than or equal to a size threshold, and the size of the second vehicle type is greater than the size threshold.

2. The method according to claim 1, characterized in that The driving direction includes a left turn, and the target traffic lights include the traffic lights at the second entrance and the traffic lights at the third entrance; The controlling the sanitation vehicle to travel along the sidewalk to the exit of the third passage indicated by the travel direction includes: In response to detecting that the traffic light at the second passage indicates that straight travel is permitted, controlling the sanitation vehicle to travel straight along the sidewalk to an exit of the second passage; Controlling the sanitation vehicle to turn left; In response to detecting that the traffic light at the third passage indicates that straight travel is allowed, the sanitation vehicle is controlled to travel straight along the sidewalk to the exit of the third passage.

3. The method according to claim 1, characterized in that The driving direction includes a U-turn, and the target traffic light includes a traffic light at the third intersection; According to the state information, controlling the sanitation vehicle to reach an exit of the first passage indicated by the driving direction along the sidewalk includes: After the sanitation vehicle passes the stop line of the traffic light at the first passage, controlling the sanitation vehicle to turn left; In response to detecting that the traffic light at the third passage indicates that straight travel is allowed, the sanitation vehicle is controlled to travel straight along the sidewalk to the exit of the first passage.

4. The method according to claim 1, wherein The travel direction includes a left turn; Determining a virtual stop line based on an intersection of a lane boundary between an exit of the first entrance and an entrance of the second entrance and the driving direction includes: Determine the midpoint of the intersection based on the leftmost lane boundary between the exit of the first entrance and the entrance of the second entrance, and the leftmost lane boundary between the exit of the third entrance and the entrance of the fourth entrance, and determine a position passing through the midpoint and forming a preset angle with the left turn trajectory as a first virtual stop line; Between the dividing line between the exit and entrance of the third entrance and the second entrance, the position where the rightmost lane boundary of the entrance of the first entrance forms a preset angle with the left-turn trajectory is determined as the second virtual stop line, and the position where the leftmost lane boundary between the exit of the first entrance and the entrance of the second entrance forms a preset angle with the left-turn trajectory is determined as the third virtual stop line.

5. The method according to claim 4, characterized in that The driving direction includes a left turn, and the target traffic light includes a traffic light at the second intersection; When the status information indicates that passage is allowed and the driving trajectory of the sanitation vehicle conflicts with the driving trajectory of other traffic participants, controlling the sanitation vehicle to stop along the virtual stop line includes: In response to detecting that the number of traffic participants traveling straight in the same direction is less than or equal to a threshold value, and the traffic light at the second intersection indicates that left turns and straight travel are permitted, controlling the sanitation vehicle to travel to the first virtual stop line and stop; In response to detecting that the number of straight-moving traffic participants in the same direction is greater than a threshold value, and the traffic light at the second passage indicates that left turns and straight-moving are allowed, the sanitation vehicle is controlled to stop along the second virtual stop line after passing the dividing line. When it is detected that there is no conflict with the driving trajectory of the straight-moving traffic participants in the same direction, but conflicts with the driving trajectory of the straight-moving traffic participants at the entrance of the second passage, the sanitation vehicle is controlled to stop along the third virtual stop line.

6. The method according to claim 1, characterized in that The said direction of travel includes a U-turn; Determining a virtual stop line based on an intersection of a lane boundary between an exit of the first entrance and an entrance of the second entrance and the driving direction includes: Acquire all lane boundaries between the exit of the first entrance and the entrance of the second entrance; For each lane boundary, a position where the lane boundary and the U-turn trajectory form a preset angle is determined as a fourth virtual stop line.

7. The method according to claim 6, characterized in that The driving direction includes a U-turn, the target traffic light includes a traffic light at the second traffic intersection, and the fourth virtual stop line includes a straight virtual stop line, a left-turn virtual stop line, and / or an opposite straight virtual stop line; When the status information indicates that passage is allowed and the driving trajectory of the sanitation vehicle conflicts with the driving trajectory of other traffic participants, controlling the sanitation vehicle to stop along the virtual stop line includes: In response to detecting that the traffic light at the second intersection indicates that straight travel is permitted, and the U-turn trajectory of the sanitation vehicle conflicts with the driving trajectory of a traffic participant traveling straight in the same direction, controlling the sanitation vehicle to stop along the straight virtual stop line; In response to detecting that the U-turn trajectory of the sanitation vehicle conflicts with the driving trajectory of a left-turning traffic participant, controlling the sanitation vehicle to stop along the left-turn virtual stop line; In response to detecting that the U-turn trajectory of the sanitation vehicle conflicts with the driving trajectory of a traffic participant entering the exit of the first entrance through the entrance of the second entrance, the sanitation vehicle is controlled to stop along the opposite straight virtual stop line.

8. A road crossing device, characterized in that: Applicable to sanitation vehicles, the intersection includes four passages, the first passage is arranged opposite to the second passage, and the third passage is arranged opposite to the fourth passage. The device includes: a detection unit, configured to, upon detecting that the sanitation vehicle has arrived at the entrance of the first passage along the rightmost lane, obtain state information of a target traffic light according to the type and driving direction of the sanitation vehicle; a control unit for controlling the sanitation vehicle to travel along the sidewalk to the exit of the third entrance or the exit of the first entrance indicated by the driving direction, if the sanitation vehicle belongs to the first type of vehicle and the status information indicates that passage is permitted; and for determining a virtual stop line according to the intersection of the lane boundary between the exit of the first entrance and the entrance of the second entrance and the driving direction, if the sanitation vehicle belongs to the second type of vehicle, and controlling the sanitation vehicle to stop along the virtual stop line if the status information indicates that passage is permitted and the driving trajectory of the sanitation vehicle conflicts with the driving trajectory of other traffic participants, and controlling the sanitation vehicle to travel to the exit of the third entrance or the exit of the first entrance indicated by the driving direction, if the status information indicates that passage is permitted and the driving trajectory of the sanitation vehicle does not conflict with the driving trajectory of other traffic participants; The size of the first vehicle type is less than or equal to a size threshold, and the size of the second vehicle type is greater than the size threshold.

9. An electronic device, characterized in that: The device comprises: processor; A memory for storing processor-executable instructions for executing the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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