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

Abstract

The present disclosure provides a method, apparatus, device, and storage medium for passing through an intersection. According to the present disclosure, after a sanitation vehicle passes through a traffic light stop line at an intersection, if it detects that the traffic light has switched from green to a state other than the green light state, a first virtual stop line is redefined based on the left through lane parallel to the traffic light stop line. If the sanitation vehicle has not crossed the first virtual stop line, the sanitation vehicle is controlled to stop along the first virtual stop line. If the sanitation vehicle has crossed the first virtual stop line, the sanitation vehicle is controlled to accelerate through the intersection based on the driving conditions of other vehicles sensed by the sanitation vehicle.

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] Currently, autonomous vehicles typically travel at relatively high speeds. For example, a 40km / h speed, which translates to 11m / s, would allow them to cross a 60m-long intersection in just 6 seconds. Meanwhile, a typical traffic light typically flashes green for 3 seconds, followed by a solid yellow light for 3 seconds. This means that as long as the autonomous vehicle passes the stop line during the solid green phase, it can successfully pass through the intersection. However, autonomous sanitation vehicles typically travel at slower speeds, typically maintaining a speed of 3m / s while cleaning alongside the edge. Even at a slightly longer intersection, such as 30m, they still require 10 seconds to pass without cross-traffic interference. It's common to encounter situations where the green light flashes and turns red shortly after crossing the stop line. In these situations, the sanitation vehicle remains in the middle of the road, making it vulnerable to vehicles starting in the direction of the green light, forcing it to stop in the middle of the road, potentially causing danger. This issue is more common at intersections with longer distances and shorter green light durations. Summary of the Invention

[0003] 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.

[0004] 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, and the method comprises:

[0005] After passing the traffic light stop line at the intersection, in response to detecting that the traffic light switches from a green light state to a state other than the green light state, determining a left through lane parallel to the traffic light stop line;

[0006] Determining a first virtual stop line according to the left through lane and the driving direction of the sanitation vehicle;

[0007] If the sanitation vehicle does not cross the first virtual stop line, controlling the sanitation vehicle to stop along the first virtual stop line;

[0008] If the sanitation vehicle crosses the first virtual stop line, the sanitation vehicle is controlled to accelerate through the intersection based on the driving conditions of other vehicles sensed by the sanitation vehicle.

[0009] In some embodiments, if the sanitation vehicle crosses the first virtual stop line, controlling the sanitation vehicle to accelerate through the intersection based on the driving conditions of other vehicles sensed by the sanitation vehicle includes:

[0010] If the sanitation vehicle crosses the first virtual stop line and detects that a median strip is provided at the intersection, a second virtual stop line is determined based on the median strip and the driving direction;

[0011] If the sanitation vehicle does not cross the second virtual stop line, controlling the sanitation vehicle to stop along the second virtual stop line;

[0012] If the sanitation vehicle crosses the first virtual stop line and no isolation zone is set at the intersection, or if the sanitation vehicle crosses the second virtual stop line, the sanitation vehicle is controlled to accelerate through the intersection based on the driving conditions of other vehicles sensed by the sanitation vehicle.

[0013] In some embodiments, the direction of travel includes going straight;

[0014] The determining of the first virtual stop line according to the left through lane and the driving direction of the sanitation vehicle includes:

[0015] Obtaining a first extension line of the edge of the left through lane that is parallel to the traffic light stop line and closest to the traffic light stop line;

[0016] The position of the first extended line intersecting the straight track is determined as the first virtual stop line.

[0017] In some embodiments, the direction of travel includes going straight;

[0018] The determining of the second virtual stop line according to the isolation zone and the driving direction includes:

[0019] A second extension line of the edge of the isolation belt that intersects the straight track of the sanitation vehicle is determined as a second virtual stop line.

[0020] In some embodiments, the driving direction includes a left turn or a U-turn;

[0021] The determining of the first virtual stop line according to the left through lane and the driving direction of the sanitation vehicle includes:

[0022] Obtaining a first extension line of the edge of the left through lane that is parallel to the traffic light stop line and closest to the traffic light stop line;

[0023] Obtaining a first intersection point of the first extension line and the left-turn trajectory or the U-turn trajectory of the sanitation vehicle;

[0024] A position passing through the first intersection and forming a set angle with the first extension line is determined as a first virtual stop line.

[0025] In some embodiments, the driving direction includes a left turn or a U-turn;

[0026] The determining of the second virtual stop line according to the isolation zone and the driving direction includes:

[0027] Obtaining a second intersection point between a second extension line of the edge of the isolation strip and the left-turn trajectory or the U-turn trajectory of the sanitation vehicle;

[0028] A position passing through the second intersection point and forming a set angle with the second extension line is determined as a second virtual stop line.

[0029] In some embodiments, when it is detected that the traffic light switches from a green light state to a state other than the green light state, the method further includes:

[0030] Obtaining the target time required for the sanitation vehicle to pass through the intersection from the current position, as well as the maintenance time of the other states;

[0031] If the difference between the maintenance time and the target time is greater than the time threshold and there is no conflict with the driving trajectory of other vehicles passing through the intersection, the sanitation vehicle is controlled to pass through the intersection; otherwise, the left straight lane parallel to the traffic light stop line is determined.

[0032] In some embodiments, controlling the sanitation vehicle to accelerate through the intersection based on the driving conditions of other vehicles sensed by the sanitation vehicle includes:

[0033] Obtaining indication information of the traffic light;

[0034] If the driving direction includes a left turn or a U-turn, and the instruction information indicates going straight and turning left, a semi-protection state strategy is adopted to control the sanitation vehicle to accelerate through the intersection. The semi-protection state strategy includes not processing the collision between the sanitation vehicle and other vehicles after the first time period is predicted, and not processing the collision between the sanitation vehicle and all vehicles other than those in the opposite straight-ahead direction that have not passed the traffic light stop line of the intersection. After the second time period, in the collision between the sanitation vehicle and the vehicle on the right, the interactive avoidance distance between the sanitation vehicle and other vehicles is shortened according to the set distance;

[0035] If the driving direction includes a left turn or a U-turn, and the instruction information indicates a left turn, a full protection state strategy is adopted to control the sanitation vehicle to accelerate through the intersection. The full protection state strategy includes not processing collisions between the sanitation vehicle and other vehicles after a first time period, and not processing collisions between the sanitation vehicle and all vehicles that have not passed the traffic light stop line of the intersection. After a second time period, in the event of a collision between the sanitation vehicle and other vehicles, the interactive avoidance distance between the sanitation vehicle and other vehicles is shortened by a set distance.

[0036] If the driving direction includes going straight, the full protection state strategy is adopted to control the sanitation vehicle to accelerate through the intersection.

[0037] According to a second aspect of the present disclosure, there is provided a road intersection passage device for use in a sanitation vehicle, the device comprising:

[0038] a detection unit configured to, after passing through a traffic light stop line at the intersection, determine a left through lane parallel to the traffic light stop line in response to detecting that the traffic light switches from a green light state to a state other than the green light state;

[0039] a determining unit, configured to determine a first virtual stop line according to the left through lane and the driving direction of the sanitation vehicle;

[0040] A judgment unit is used to control the sanitation vehicle to stop along the first virtual stop line if the sanitation vehicle has not crossed the first virtual stop line; if the sanitation vehicle crosses the first virtual stop line, control the sanitation vehicle to accelerate through the intersection based on the driving conditions of other vehicles sensed by the sanitation vehicle.

[0041] 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.

[0042] 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.

[0043] The technical solution provided by the present disclosure may include the following beneficial effects: through the present disclosure, after the sanitation vehicle passes the traffic light stop line at the intersection, if it detects that the traffic light switches from the green light state to a state other than the green light state, the first virtual stop line is re-determined according to the left straight lane parallel to the traffic light stop line; if the sanitation vehicle does not cross the first virtual stop line, the sanitation vehicle is controlled to stop along the first virtual stop line; if the sanitation vehicle crosses the first virtual stop line, the sanitation vehicle is controlled to accelerate through the intersection according to the driving conditions of other vehicles sensed by the sanitation vehicle. By passing the reconfirmed first virtual stop line, the sanitation vehicle can be stopped in a safe area that does not affect traffic, avoiding dangerous interactive conflicts and traffic obstruction. In the case of crossing the reconfirmed first virtual stop line, the sanitation vehicle can be accelerated through the intersection to reduce the braking behavior of the sanitation vehicle and ensure that the sanitation vehicle passes through the intersection smoothly.

[0044] 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

[0045] The drawings herein are incorporated into the specification and constitute a part of the present disclosure, illustrate embodiments consistent with the present disclosure, and together with the description, are used to explain the technical solutions of the present disclosure.

[0046] Figure 1 It is a flowchart of a method for passing through an intersection according to an exemplary embodiment of the present disclosure.

[0047] Figure 2 It is a schematic diagram showing a method of driving straight through an intersection according to an exemplary embodiment of the present disclosure.

[0048] Figure 3 It is a schematic diagram showing a left turn through an intersection according to an exemplary embodiment of the present disclosure.

[0049] Figure 4 The diagram is a schematic diagram showing a U-turn at an intersection according to an exemplary embodiment of the present disclosure.

[0050] Figure 5 The present invention is a schematic diagram showing a left turn through an intersection with a dividing strip according to an exemplary embodiment of the present invention.

[0051] Figure 6 It is a schematic diagram showing a U-turn at an intersection with a dividing strip according to an exemplary embodiment of the present disclosure.

[0052] Figure 7 is a schematic diagram showing a method of ignoring collision according to an exemplary embodiment of the present disclosure.

[0053] Figure 8 It is a schematic structural diagram of a road intersection passage device according to an exemplary embodiment of the present disclosure.

[0054] Figure 9 A schematic diagram of the structure of an electronic device for passing through an intersection provided in at least one embodiment of the present disclosure. DETAILED DESCRIPTION

[0055] 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.

[0056] 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.

[0057] 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."

[0058] The intersection passage method provided by the present disclosure can be applied to vehicles that are intelligently driven and have a driving speed lower than a set threshold, such as sanitation vehicles that can be intelligently driven (also referred to as unmanned sanitation vehicles), which will be referred to as sanitation vehicles hereinafter. Due to the particularity of sanitation vehicles, when in working mode, their driving speed can be 3m / s, while the driving speed of normal vehicles can be 11m / s. Obviously, the driving speed of sanitation vehicles is much slower than that of normal vehicles, which results in sanitation vehicles encountering insufficient passage time when passing through intersections. At present, there is a lack of a safe and effective intersection passage method that can cope with insufficient green light time under low-speed driving conditions.

[0059] In view of this, the present disclosure provides a method for passing through an intersection to solve the problem that low-speed unmanned sanitation vehicles may have dangerous interactions with vehicles in other directions in the middle of the road due to long intersections and insufficient green light time, causing traffic jams.

[0060] The following embodiments will illustrate the intersection passage method provided by the present disclosure in conjunction with the accompanying drawings.

[0061] Figure 1 This is a flow chart of a method for passing through an intersection according to an exemplary embodiment of the present disclosure. Figure 1 As shown, the intersection passage method provided by the present disclosure may include the following steps 101 to 103.

[0062] In step 101, after passing the traffic light stop line at the intersection, in response to detecting that the traffic light switches from a green light state to a state other than the green light state, a left through lane parallel to the traffic light stop line is determined.

[0063] Among them, other states may include a flashing green light state, a yellow light state and / or a red light state. The green light state in this embodiment can be understood as a green light always-on state. It should be noted that the green light always-on state here is relative to the flashing green light state under normal circumstances, and is not a green light always-on state caused by a fault.

[0064] According to traffic regulations, if the vehicle detects that the traffic light has switched from green to flashing green or yellow before passing the intersection, indicating insufficient time to pass through the intersection, the vehicle will be treated as if it were red, meaning it will stop at the stop line. If the vehicle detects that the traffic light has switched from green to another state after passing the stop line, it will identify a through lane parallel to the stop line to determine a safe area that does not obstruct the passage of other vehicles, and then stop and wait in the safe area.

[0065] In step 102, a first virtual stop line is determined according to the left through lane and the driving direction of the sanitation vehicle.

[0066] Based on the left straight lane parallel to the traffic light stop line and the driving direction of the sanitation vehicle, a virtual stop line is determined that does not affect other vehicles driving on the left straight lane. The sanitation vehicle is stopped in front of the virtual stop line, thereby avoiding affecting the normal driving of other vehicles in the direction parallel to the traffic light stop line.

[0067] In order to distinguish it from the virtual stop line mentioned later, the virtual stop line determined based on the left straight lane and the driving direction of the sanitation vehicle is called the first virtual stop line.

[0068] In step 103a, if the sanitation vehicle has not crossed the first virtual stop line, the sanitation vehicle is controlled to stop along the first virtual stop line.

[0069] In step 103b, if the sanitation vehicle crosses the first virtual stop line, the sanitation vehicle is controlled to accelerate through the intersection based on the driving conditions of other vehicles sensed by the sanitation vehicle.

[0070] It should be noted that, in order to clean the intersection, the sanitation vehicle remains in working mode (e.g., cleaning along the edge, where the edge can be a virtual edge) while passing through the intersection. That is, the sanitation vehicle travels at a relatively slow speed. When the sanitation vehicle crosses the first virtual stop line, in order to maintain traffic order at the intersection, the sanitation vehicle can be controlled to accelerate through the intersection based on the driving status of other vehicles sensed by the sanitation vehicle. In this embodiment, the other vehicles sensed by the sanitation vehicle include vehicles in the right straight lane perpendicular to the straight direction of the sanitation vehicle, vehicles in the left straight lane perpendicular to the straight direction of the sanitation vehicle, and vehicles turning left in the opposite direction.

[0071] Through the present disclosure, after the sanitation vehicle passes the traffic light stop line at the intersection, if it detects that the traffic light switches from the green light state to a state other than the green light state, the first virtual stop line is re-determined according to the left straight lane parallel to the traffic light stop line; if the sanitation vehicle does not cross the first virtual stop line, the sanitation vehicle is controlled to stop along the first virtual stop line; if the sanitation vehicle crosses the first virtual stop line, the sanitation vehicle is controlled to accelerate through the intersection according to the driving conditions of other vehicles sensed by the sanitation vehicle. By passing the reconfirmed first virtual stop line, the sanitation vehicle can be stopped in a safe area that does not affect traffic, avoiding dangerous interactive conflicts and traffic obstruction. In the case of crossing the reconfirmed first virtual stop line, the sanitation vehicle can be accelerated to pass through the intersection, reducing the braking behavior of the sanitation vehicle and ensuring that the sanitation vehicle passes through the intersection smoothly.

[0072] In some embodiments, when it is detected that the traffic light switches from the green light state to a state other than the green light state, the method further includes: obtaining the target time required for the sanitation vehicle to pass through the intersection from the current position, and the maintenance time of the other state; if the difference between the maintenance time and the target time is greater than the time threshold, and there is no conflict with the driving trajectory of other vehicles passing through the intersection, the sanitation vehicle is controlled to pass through the intersection, otherwise the left straight lane parallel to the traffic light stop line is determined.

[0073] The other states include three states: green light flashing state, yellow light state, and green light flashing state and yellow light state. Under normal circumstances, the traffic lights at the intersection can be set to green light state, green light flashing state, yellow light state and red light state; for some special intersections, the traffic light states can be set to green light state, green light flashing state and red light state, or can be set to green light state, yellow light state and red light state. In this embodiment, the maintenance time of other states refers to the maintenance time of other states between the green light state and the red light state. The status information of the traffic lights at the intersection can be obtained by pre-acquisition.

[0074] If the difference between the maintenance time and the target time is greater than the time threshold, it means that the sanitation vehicle can pass through the intersection within the maintenance time. For example, based on the green light flashing time of 3s and the yellow light state maintenance time of 3s, it can be estimated that the maintenance time is 6s. Assuming that the target time required for the sanitation vehicle to pass through the intersection from the current position is 7s, in this case, the difference between the maintenance time and the target time is -1s. It can be assumed that the time threshold is -2s, and the sanitation vehicle can pass through the intersection within the maintenance time. Those skilled in the art should understand that the above-mentioned time threshold can be specifically set according to actual needs, and this disclosure does not limit this.

[0075] If the difference between the maintenance time and the target time is greater than the time threshold, the vehicle (sanitation vehicle) can also be used to determine whether its driving trajectory conflicts with the driving trajectory of other vehicles passing through the intersection based on its speed. If there is no conflict, the sanitation vehicle is controlled to continue passing through the intersection. If the conflict cannot be avoided, a first virtual stop line is calculated based on the left through lane that does not affect the passage of vehicles on the left. At the same time, it is determined whether the vehicle has crossed the first virtual stop line. If not, the vehicle stops before the first virtual stop line. If the vehicle has crossed the first virtual stop line or there is no left through lane and the first virtual stop line cannot be calculated, the sanitation vehicle is controlled to accelerate through the intersection based on the driving conditions of other vehicles sensed by the sanitation vehicle.

[0076] An isolation belt can be set in the middle of some intersections. For intersections with isolation belts, when a sanitation vehicle crosses the first virtual stop line, a second virtual stop line can be determined based on the isolation belt. Specifically, it may include: if the sanitation vehicle crosses the first virtual stop line and detects that an isolation belt is set at the intersection, the second virtual stop line is determined based on the isolation belt and the driving direction; if the sanitation vehicle does not cross the second virtual stop line, the sanitation vehicle is controlled to stop along the second virtual stop line; if the sanitation vehicle crosses the first virtual stop line and there is no isolation belt at the intersection, or the sanitation vehicle crosses the second virtual stop line, the sanitation vehicle is controlled to accelerate through the intersection based on the driving conditions of other vehicles sensed by the sanitation vehicle.

[0077] In one embodiment, if the sanitation vehicle's trajectory is detected to be consistent with that of vehicles traveling in other directions at the intersection, indicating that there are few vehicles at the intersection, the sanitation vehicle can be controlled to continue through the intersection, regardless of whether it has crossed the first or second virtual stop line, thereby improving the vehicle's cleaning efficiency. For example, in the early morning hours, when there are few vehicles at the intersection, the sanitation vehicle can be controlled to continue driving, reducing waiting time.

[0078] Since there is no situation of being stuck in the middle of the road when turning right, no special consideration is given. The following embodiments will illustrate, with reference to the accompanying drawings, how to determine the first virtual stop line and the second virtual stop line when the sanitation vehicle is going straight, turning left, or making a U-turn at the intersection.

[0079] In the case where the driving direction includes straight driving, determining the first virtual stop line based on the straight driving lane and the driving direction of the sanitation vehicle includes: obtaining a first extension line of the edge of the straight driving lane that is parallel to the traffic light stop line and closest to the traffic light stop line; and determining the position of the first extension line that intersects the straight driving trajectory as the first virtual stop line.

[0080] Figure 2is a schematic diagram of a straight-through intersection according to an exemplary embodiment of the present disclosure, such as Figure 2 As shown, for vehicles traveling on the right side of the road, when passing through an intersection, they must first yield to vehicles traveling straight on the left, and then to vehicles traveling straight on the right. Based on this yielding principle, after the sanitation vehicle crosses the stop line of the traffic light and the traffic light switches from green to another state, in order to avoid disrupting traffic order, a first virtual stop line can be determined based on the extension line of the left straight lane. To distinguish it from the extension line that determines the second virtual stop line, the extension line that determines the first virtual stop line is referred to as the first extension line, and the extension line that determines the second virtual stop line is referred to as the second extension line.

[0081] exist Figure 2 In the embodiment, the first virtual stop line 202 can be determined according to the first extension line of the edge 201 of the left straight lane. When the sanitation vehicle 20 crosses the traffic light stop line 21, the sanitation vehicle 20 can be controlled to stop before the first virtual stop line 202.

[0082] When the driving direction includes straight travel, determining the second virtual stop line based on the isolation belt and the driving direction includes: determining a second extension line of the edge of the isolation belt that intersects the straight travel trajectory of the sanitation vehicle as the second virtual stop line.

[0083] See also Figure 2 , the intersection shown is provided with an isolation belt 203 , and the second virtual stop line 204 can be determined according to the extension line of the isolation belt 203 and the straight track 22 of the sanitation vehicle 20 .

[0084] pass Figure 2 As can be seen, the length of the intersection can be called the conflict zone length. The longer the conflict zone, and given the special characteristics of sanitation vehicles, the more likely it is that the sanitation vehicle will be in the middle of the road shortly after reaching the stop line of the traffic light, when the green light starts to flash and turns red. In this case, it is easy for other vehicles starting in the direction of the green light to trigger interactive avoidance, causing it to stop in the middle of the road, causing danger. Therefore, the method of determining two virtual stop lines provided in this embodiment allows sanitation vehicles to stop in a safe area, reducing the probability of causing danger.

[0085] In one embodiment, when driving straight through an intersection with a median strip, a second virtual stop line can be calculated based on the median strip, and at the same time, it is determined whether there is an interaction conflict with the vehicle going straight on the right. If there is an interaction conflict, the vehicle stops before the second virtual stop line. If there is no interaction conflict, it means there are fewer vehicles or the green light in the other direction is on, then the vehicle continues to drive.

[0086] In the case where the driving direction includes a left turn or a U-turn, the first virtual stop line is determined based on the straight lane and the driving direction of the sanitation vehicle, including: obtaining a first extension line of the edge of the straight lane that is parallel to the traffic light stop line and closest to the traffic light stop line; obtaining a first intersection point of the first extension line with the left turn trajectory or U-turn trajectory of the sanitation vehicle; and determining a position that passes through the first intersection point and forms a set angle with the first extension line as the first virtual stop line.

[0087] Figure 3 is a schematic diagram of a left turn through an intersection according to an exemplary embodiment of the present disclosure, such as Figure 3 As shown, a first extension line of the side of the through lane 302, which is parallel to the traffic light stop line 33 and closest to the traffic light stop line, can be obtained, i.e., the first extension line of the left through lane. A first intersection point 303 of the first extension line and the left turn trajectory 31 of the sanitation vehicle is obtained, and a position passing through the first intersection point 303 and forming a set angle with the first extension line is determined as the first virtual stop line 301.

[0088] like Figure 3 As shown, when passing through an intersection without a dividing strip, if the sanitation vehicle 30 has not crossed the first virtual stop line 33, the sanitation vehicle 30 is controlled to stop before the first virtual stop line 33; if the sanitation vehicle 30 has crossed the first virtual stop line, it can accelerate to pass through the intersection according to the driving status of the straight-moving vehicle on the opposite straight lane 32.

[0089] Figure 4 is a schematic diagram showing a U-turn at an intersection according to an exemplary embodiment of the present disclosure, such as Figure 4 As shown, a first extension line of the side of the through lane 402, which is parallel to the traffic light stop line 43 and closest to the traffic light stop line, can be obtained, i.e., the first extension line of the left through lane. A first intersection point 403 of the first extension line and the sanitation vehicle's U-turn trajectory 41 is obtained, and a position passing through the first intersection point 403 and forming a set angle with the first extension line is determined as the first virtual stop line 401.

[0090] like Figure 4 As shown, when passing through an intersection without a dividing strip, if the sanitation vehicle 40 has not crossed the first virtual stop line 43, the sanitation vehicle 40 is controlled to stop before the first virtual stop line 43; if the sanitation vehicle 40 has crossed the first virtual stop line 43, it can accelerate to pass through the intersection according to the driving status of the straight-moving vehicle on the opposite straight lane 42.

[0091] In the case where the driving direction includes a left turn or a U-turn, determining the second virtual stop line based on the isolation belt and the driving direction includes: obtaining a second intersection of a second extension line of the edge of the isolation belt and the left turn trajectory or U-turn trajectory of the sanitation vehicle; and determining a position passing through the second intersection and forming a set angle with the second extension line as the second virtual stop line.

[0092] Figure 5 is a schematic diagram of a left turn through an intersection with a separation strip according to an exemplary embodiment of the present disclosure, such as Figure 5 As shown, the second intersection 503 of the second extension line of the edge of the isolation belt 502 and the left turn trajectory 51 of the sanitation vehicle 50 can be obtained, and the position passing through the second intersection 503 and forming a set angle with the second extension line is determined as the second virtual stop line 501.

[0093] like Figure 5 As shown, when passing through an intersection with a separation strip, if the sanitation vehicle 30 has not crossed the second virtual stop line 501, the sanitation vehicle 50 is controlled to stop before the second virtual stop line 501; if the sanitation vehicle 50 has crossed the second virtual stop line, it accelerates to pass through the intersection based on the driving conditions of other vehicles sensed by the sanitation vehicle.

[0094] Figure 6 is a schematic diagram showing a U-turn at an intersection with a dividing strip according to an exemplary embodiment of the present disclosure, such as Figure 6 As shown, the second intersection 603 of the second extension line of the edge of the isolation belt 602 and the U-turn trajectory 61 of the sanitation vehicle 60 can be obtained, and the position passing through the second intersection 603 and forming a set angle with the second extension line is determined as the second virtual stop line 601.

[0095] It can be seen from the above drawings that the intersection in the embodiment of the present disclosure can be a crossroads or a T-junction.

[0096] If the first virtual stop line is not determined, the vehicle crosses the first virtual stop line, and there is no second virtual stop line, and the vehicle crosses the second virtual stop line (i.e., neither virtual stop line is effective), the sanitation vehicle can be controlled to speed up and pass through according to an aggressive interaction strategy to seize the right of way, which refers to the right of priority. The purpose of setting an aggressive interaction strategy is to avoid braking and deceleration caused by incorrect interactions due to incorrect predictions, which may cause the sanitation vehicle to miss the intersection. This embodiment sets two aggressive interaction strategies based on the right of way, namely the completed protection state strategy and the semi-protection state strategy, according to the indication information of the traffic light and the direction of travel of the sanitation vehicle.

[0097] The fully protected state strategy includes:

[0098] 1. No processing is performed on the collision between the sanitation vehicle and other vehicles after the first predicted duration.

[0099] That is, collisions after a first time period are ignored, wherein the first time period may be an empirical value, for example, the first time period is 4 seconds.

[0100] 2. No action will be taken on any collision between the sanitation vehicle and any vehicle that has not passed the traffic light stop line at the intersection.

[0101] Sanitation vehicles use the instantaneous speed of other vehicles they perceive to predict their trajectories. However, for vehicles that have not yet passed the stop line at a traffic light, they may slow down and stop at the stop line in the future due to the red light status. In this case, the sanitation vehicle's trajectory prediction cannot take into account the vehicle's future deceleration behavior. The predicted trajectory provided based on the instantaneous speed may be incorrect, causing the sanitation vehicle to brake and slow down, thereby affecting traffic order at the intersection. Therefore, in an aggressive interaction strategy, collisions with all vehicles that have not yet passed the stop line at a traffic light and entered the intersection can be ignored.

[0102] Figure 7 is a schematic diagram of ignoring collision according to an exemplary embodiment of the present disclosure, such as Figure 7 As shown, taking the vehicle on the right as an example, the driving trajectory predicted by the sanitation vehicle 70 based on the perceived instantaneous speed of the vehicle 73 will intersect with the straight trajectory 71 of the vehicle itself, that is, the sanitation vehicle 70 perceives that there is a risk of collision between the vehicle itself and vehicle 73, but the vehicle 73 is entering the traffic light stop line 74 and has not yet passed the traffic light stop line 74. In the future, the vehicle 73 may slow down and stop before the traffic light stop line 74 due to the red light state. In this case, when the sanitation vehicle 70 predicts the trajectory, it cannot take into account the future deceleration behavior of the vehicle 73. The predicted trajectory provided according to the instantaneous speed may be wrong, causing the sanitation vehicle to brake and slow down. Therefore, the collision between the vehicle 73 and the sanitation vehicle 70 can be ignored, and the sanitation vehicle 70 can be controlled to accelerate through the intersection.

[0103] 3. After the second time period, when the sanitation vehicle collides with other vehicles, the interactive avoidance distance between the sanitation vehicle and other vehicles is shortened according to the set distance.

[0104] The first time duration is greater than the second time duration. When a collision between the vehicle and other vehicles is predicted after the second time duration, the interactive avoidance distance is shortened according to the set distance, so that the sanitation vehicle can be in a high road right state to allow other vehicles to avoid the vehicle.

[0105] The second time length may be 1.5 seconds, and the set distance may be half of the interactive avoidance distance. For example, if the interactive avoidance distance is L, L / 2 is used as the set distance, and the interactive avoidance distance shortened by the set distance is L / 2.

[0106] The semi-protected state strategy includes:

[0107] 1. No processing is performed on the collision between the sanitation vehicle and other vehicles after the first predicted duration.

[0108] 2. No action will be taken on the collision between the sanitation vehicle and any other vehicle that has not passed the traffic light stop line at the intersection except for the vehicle going straight in the opposite direction.

[0109] Considering that traffic regulations require vehicles turning left or making a U-turn to yield to vehicles traveling straight ahead, if the sanitation vehicle's left-turn or U-turn trajectory is detected to conflict with the trajectory of a vehicle traveling straight ahead in the opposite direction, the sanitation vehicle is controlled to yield to the vehicle traveling straight ahead in the opposite direction. It should be noted that the opposite direction in this embodiment refers to the direction opposite to the sanitation vehicle's straight ahead direction.

[0110] 3. After the second time period, when the sanitation vehicle collides with other vehicles, the interactive avoidance distance between the sanitation vehicle and other vehicles is shortened according to the set distance.

[0111] Sanitation vehicles are usually set to a low right-of-way state, that is, they stop and wait when a collision risk is predicted. In the two aggressive interaction strategies set in this embodiment, sanitation vehicles can be set to a high right-of-way state to pass through the intersection as quickly as possible to reduce the impact on other traffic participants.

[0112] See also Figure 3 For the sanitation vehicle 30 turning left, when the sanitation vehicle crosses the first virtual stop line 301, the sanitation vehicle 30 needs to avoid the straight-moving vehicle on the opposite straight lane 32 when accelerating through the intersection.

[0113] See also Figure 4 For the sanitation vehicle 40 that makes a U-turn, when the sanitation vehicle crosses the first virtual stop line 401 , the sanitation vehicle 40 needs to avoid the straight-moving vehicle on the opposite straight lane 42 when accelerating through the intersection.

[0114] In some embodiments, controlling the sanitation vehicle to accelerate through the intersection based on the driving conditions of other vehicles sensed by the sanitation vehicle may include:

[0115] Obtaining indication information of the traffic light;

[0116] If the driving direction includes a left turn or a U-turn, and the instruction information indicates going straight and turning left, a semi-protection state strategy is adopted to control the sanitation vehicle to accelerate through the intersection;

[0117] If the driving direction includes a left turn or a U-turn, and the instruction information indicates a left turn, a full protection state strategy is adopted to control the sanitation vehicle to accelerate through the intersection;

[0118] If the driving direction includes going straight, the full protection state strategy is adopted to control the sanitation vehicle to accelerate through the intersection.

[0119] If the left-turn traffic light is a round light, vehicles in that lane can either turn left or go straight. In this case, a semi-protected strategy can be used to avoid vehicles going straight in the oncoming straight lane. If the left-turn traffic light is a left-turn arrow, left-turning vehicles and vehicles going straight at the intersection must travel separately, so a fully protected strategy can be used.

[0120] Those skilled in the art should understand that in addition to controlling the sanitation vehicle to accelerate through the intersection, it can also travel at a normal speed, which can be set according to actual needs.

[0121] This embodiment uses a method of calculating a virtual stop line based on road conditions, which allows sanitation vehicles to automatically stop in a safe area that does not affect traffic when encountering a red light at an intersection, avoiding dangerous interactions and traffic blockages. At the same time, a more radical interaction strategy is adopted within the intersection to reduce the braking behavior of the vehicle itself and ensure smoother traffic at the intersection.

[0122] Figure 8 FIG. 1 is a schematic structural diagram of a road intersection passage device according to an exemplary embodiment of the present disclosure, as shown in FIG. Figure 8 As shown, a road intersection passage device may include:

[0123] a detection unit 801 configured to, after passing a stop line of a traffic light at the intersection, determine a left through lane parallel to the stop line of the traffic light in response to detecting that the traffic light switches from a green state to a state other than the green state;

[0124] a determining unit 802, configured to determine a first virtual stop line according to the left through lane and the driving direction of the sanitation vehicle;

[0125] The judgment unit 803 is used to control the sanitation vehicle to stop along the first virtual stop line if the sanitation vehicle has not crossed the first virtual stop line; if the sanitation vehicle crosses the first virtual stop line, control the sanitation vehicle to accelerate through the intersection based on the driving conditions of other vehicles sensed by the sanitation vehicle.

[0126] In some implementations, the determining unit 803 is specifically configured to:

[0127] If the sanitation vehicle crosses the first virtual stop line and detects that a median strip is provided at the intersection, a second virtual stop line is determined based on the median strip and the driving direction;

[0128] If the sanitation vehicle does not cross the second virtual stop line, controlling the sanitation vehicle to stop along the second virtual stop line;

[0129] If the sanitation vehicle crosses the first virtual stop line and no isolation zone is set at the intersection, or if the sanitation vehicle crosses the second virtual stop line, the sanitation vehicle is controlled to accelerate through the intersection based on the driving conditions of other vehicles sensed by the sanitation vehicle.

[0130] In some embodiments, when the driving direction includes straight driving, the determination unit 802 obtains a first extension line of the edge of the straight lane that is parallel to the traffic light stop line and closest to the traffic light stop line; and determines the position of the first extension line that intersects the straight trajectory as the first virtual stop line.

[0131] In some embodiments, when the driving direction includes straight travel, the determining unit 802 determines a second extension line of the edge of the isolation belt that intersects with the straight travel track of the sanitation vehicle as the second virtual stop line.

[0132] In some embodiments, the determination unit 802, when the driving direction includes a left turn or a U-turn, obtains a first extension line of the edge of the straight lane that is parallel to the traffic light stop line and closest to the traffic light stop line; obtains a first intersection point of the first extension line and the left turn trajectory or U-turn trajectory of the sanitation vehicle; and determines a position passing through the first intersection point and forming a set angle with the first extension line as the first virtual stop line.

[0133] In some implementations, the determining unit 803 is specifically configured to:

[0134] Obtaining indication information of the traffic light;

[0135] If the driving direction includes a left turn or a U-turn, and the instruction information indicates going straight and turning left, a semi-protection state strategy is adopted to control the sanitation vehicle to accelerate through the intersection. The semi-protection state strategy includes not processing the collision between the sanitation vehicle and other vehicles after the first time period is predicted, and not processing the collision between the sanitation vehicle and all vehicles other than those in the opposite straight direction that have not passed the traffic light stop line of the intersection. After the second time period, in the collision between the sanitation vehicle and other vehicles, the interactive avoidance distance between the sanitation vehicle and other vehicles is shortened according to the set distance;

[0136] If the driving direction includes a left turn or a U-turn, and the instruction information indicates a left turn, a full protection state strategy is adopted to control the sanitation vehicle to accelerate through the intersection. The full protection state strategy includes not processing collisions between the sanitation vehicle and other vehicles after a first time period, and not processing collisions between the sanitation vehicle and all vehicles that have not passed the traffic light stop line of the intersection. After a second time period, in the event of a collision between the sanitation vehicle and other vehicles, the interactive avoidance distance between the sanitation vehicle and other vehicles is shortened by a set distance.

[0137] If the driving direction includes going straight, the full protection state strategy is adopted to control the sanitation vehicle to accelerate through the intersection.

[0138] Figure 9 This is a schematic diagram of the electronic device structure for crossing an intersection provided by at least one embodiment of the present disclosure. Figure 9 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.

[0139] 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.

[0140] 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.

[0141] 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”.

[0142] 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.

[0143] 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.

[0144] 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.

[0145] 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).

[0146] 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 large-capacity storage devices for storing data, such as magnetic disks, magneto-optical disks, or optical disks, or the computer will be operably coupled to such large-capacity storage devices to receive data from them or to transmit data to them, or both. However, a computer does not necessarily have such a device. In addition, a computer can be embedded in another device, such as a global positioning system (GPS) receiver or a portable storage device such as a universal serial bus (USB) flash drive, to name a few.

[0147] 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.

[0148] 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.

[0149] 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.

[0150] 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.

[0151] 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 method includes: After passing the traffic light stop line at the intersection, in response to detecting that the traffic light switches from a green light state to a state other than the green light state, determining a left through lane parallel to the traffic light stop line; Determining a first virtual stop line according to the left through lane and the driving direction of the sanitation vehicle; If the sanitation vehicle does not cross the first virtual stop line, controlling the sanitation vehicle to stop along the first virtual stop line; If the sanitation vehicle crosses the first virtual stop line, controlling the sanitation vehicle to accelerate through the intersection according to the driving conditions of other vehicles sensed by the sanitation vehicle includes: If the sanitation vehicle crosses the first virtual stop line and detects that a median strip is provided at the intersection, a second virtual stop line is determined based on the median strip and the driving direction; If the sanitation vehicle does not cross the second virtual stop line, controlling the sanitation vehicle to stop along the second virtual stop line; If the sanitation vehicle crosses the first virtual stop line and there is no isolation strip at the intersection, or if the sanitation vehicle crosses the second virtual stop line, the sanitation vehicle is controlled to accelerate through the intersection based on the driving conditions of other vehicles sensed by the sanitation vehicle; Wherein, when the driving direction includes straight ahead, The determining of the first virtual stop line according to the left through lane and the driving direction of the sanitation vehicle includes: Obtaining a first extension line of the edge of the left through lane that is parallel to the traffic light stop line and closest to the traffic light stop line; The position of the first extended line intersecting the straight track is determined as the first virtual stop line.

2. The method according to claim 1, characterized in that The driving direction includes going straight; The determining of the second virtual stop line according to the isolation zone and the driving direction includes: A second extension line of the edge of the isolation belt that intersects the straight track of the sanitation vehicle is determined as a second virtual stop line.

3. The method according to claim 1, characterized in that The driving direction includes a left turn or a U-turn; The determining of the first virtual stop line according to the left through lane and the driving direction of the sanitation vehicle includes: Obtaining a first extension line of the edge of the left through lane that is parallel to the traffic light stop line and closest to the traffic light stop line; Obtaining a first intersection point of the first extension line and the left-turn trajectory or the U-turn trajectory of the sanitation vehicle; A position passing through the first intersection and forming a set angle with the first extension line is determined as a first virtual stop line.

4. The method according to claim 1, wherein The driving direction includes a left turn or a U-turn; The determining of the second virtual stop line according to the isolation zone and the driving direction includes: Obtaining a second intersection point between a second extension line of the edge of the isolation strip and the left-turn trajectory or the U-turn trajectory of the sanitation vehicle; A position passing through the second intersection point and forming a set angle with the second extension line is determined as a second virtual stop line.

5. The method according to claim 1, wherein In the case where it is detected that the traffic light switches from a green light state to a state other than the green light state, the method further includes: Obtaining the target time required for the sanitation vehicle to pass through the intersection from the current position, as well as the maintenance time of the other states; If the difference between the maintenance time and the target time is greater than the time threshold and there is no conflict with the driving trajectory of other vehicles passing through the intersection, the sanitation vehicle is controlled to pass through the intersection; otherwise, the left straight lane parallel to the traffic light stop line is determined.

6. The method according to claim 1, characterized in that The controlling the sanitation vehicle to accelerate through the intersection according to the driving conditions of other vehicles sensed by the sanitation vehicle includes: Obtaining indication information of the traffic light; If the driving direction includes a left turn or a U-turn, and the instruction information indicates going straight and turning left, a semi-protection state strategy is adopted to control the sanitation vehicle to accelerate through the intersection. The semi-protection state strategy includes not processing the collision between the sanitation vehicle and other vehicles after the first time period is predicted, and not processing the collision between the sanitation vehicle and all vehicles other than those in the opposite straight direction that have not passed the traffic light stop line of the intersection. After the second time period, in the collision between the sanitation vehicle and other vehicles, the interactive avoidance distance between the sanitation vehicle and other vehicles is shortened according to the set distance; If the driving direction includes a left turn or a U-turn, and the instruction information indicates a left turn, a full protection state strategy is adopted to control the sanitation vehicle to accelerate through the intersection. The full protection state strategy includes not processing collisions between the sanitation vehicle and other vehicles after a first time period, and not processing collisions between the sanitation vehicle and all vehicles that have not passed the traffic light stop line of the intersection. After a second time period, in the event of a collision between the sanitation vehicle and other vehicles, the interactive avoidance distance between the sanitation vehicle and other vehicles is shortened by a set distance. If the driving direction includes going straight, the full protection state strategy is adopted to control the sanitation vehicle to accelerate through the intersection.

7. A road crossing device, characterized in that: Applied to sanitation vehicles, the device includes: a detection unit configured to, after passing through a traffic light stop line at the intersection, determine a left through lane parallel to the traffic light stop line in response to detecting that the traffic light switches from a green light state to a state other than the green light state; a determining unit, configured to determine a first virtual stop line according to the left through lane and the driving direction of the sanitation vehicle; a judgment unit, configured to control the sanitation vehicle to stop along the first virtual stop line if the sanitation vehicle has not crossed the first virtual stop line; and control the sanitation vehicle to accelerate through the intersection based on the driving conditions of other vehicles sensed by the sanitation vehicle if the sanitation vehicle has crossed the first virtual stop line; Wherein, when the driving direction includes straight travel, the determining unit is specifically configured to: obtain a first extension line of an edge of a left straight lane that is parallel to the traffic light stop line and closest to the traffic light stop line; and determine a position where the first extension line intersects the straight travel trajectory as a first virtual stop line; The judgment unit is specifically configured to: if the sanitation vehicle crosses the first virtual stop line and detects that a median strip is provided at the intersection, determine a second virtual stop line according to the median strip and the driving direction; if the sanitation vehicle does not cross the second virtual stop line, control the sanitation vehicle to stop along the second virtual stop line; If the sanitation vehicle crosses the first virtual stop line and no isolation zone is set at the intersection, or if the sanitation vehicle crosses the second virtual stop line, the sanitation vehicle is controlled to accelerate through the intersection based on the driving conditions of other vehicles sensed by the sanitation vehicle.

8. 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 6.

9. 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 6 is implemented.

Images