A method, device and equipment for matching with a vehicle changing lanes

Abstract

Embodiments of the present specification disclose a matching method, device and equipment for cooperative lane-changing vehicles. The scheme can include: obtaining vehicle information of a plurality of vehicles in a preset range; arranging the plurality of vehicles based on the vehicle information to obtain a plurality of arrangement results; respectively segmenting each arrangement result in the plurality of arrangement results to obtain segmentation results of the plurality of arrangement results; each segmentation result includes a plurality of vehicle combinations; one vehicle combination represents a group of vehicles having lane-changing conflicts; obtaining a plurality of vehicle combination sets based on the segmentation results; one vehicle combination set includes at least one vehicle combination and does not include repeated vehicles in the vehicle combination set; determining vehicle coverage rates of each vehicle combination set; the vehicle coverage rate is used to represent a ratio of vehicles included in the vehicle combination set to the plurality of vehicles; and determining each vehicle combination in the vehicle combination set with the highest vehicle coverage rate as a cooperative lane-changing vehicle.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to a matching method, device and equipment for cooperative lane-changing vehicles. Background Technology

[0002] Control systems for autonomous driving can eliminate information silos between traffic management and vehicle management, improve the utilization rate of road infrastructure, enhance traffic management optimization, increase road efficiency, reduce traffic accidents, and reduce energy consumption. Simultaneously, their development will promote cross-sectoral integration and collaborative development among industries such as automobiles, transportation, communications, and cloud computing, forming a comprehensive high-tech industrial cluster effect.

[0003] In the future, unified planning and coordination of vehicles will be needed to alleviate road congestion, improve fuel efficiency, and enhance driving safety. Highways, characterized by their network and intelligence, simple road structure, and high traffic capacity, are suitable for the early implementation of multi-vehicle collaboration. Transportation and logistics are the driving force of economic development and are well-suited as service targets for highway technological upgrades.

[0004] In the existing framework of multi-vehicle cooperative lane changing based on the Internet of Vehicles (V2V) on highways, most studies focus on cooperative lane changing strategies for single vehicles. However, in real highway scenarios, there are situations where multiple connected vehicles need to change lanes simultaneously, requiring coordinated lane changing for multiple vehicles, which can easily lead to inaccurate matching of cooperative vehicles. Summary of the Invention

[0005] This specification provides a method, apparatus, and device for matching coordinated lane-changing vehicles, in order to solve the problem of inaccurate matching of coordinated vehicles in existing coordinated lane-changing vehicle matching methods.

[0006] To solve the above-mentioned technical problems, the embodiments in this specification are implemented as follows:

[0007] The matching method for cooperative lane-changing vehicles provided in the embodiments of this specification may include:

[0008] Obtain vehicle information for multiple vehicles within a preset range;

[0009] Based on the vehicle information, the multiple vehicles are arranged to obtain multiple arrangement results;

[0010] Each of the multiple permutation results is segmented to obtain a segmentation result of the multiple permutation results; each segmentation result includes several vehicle combinations; a vehicle combination represents a group of vehicles with lane-changing conflicts;

[0011] Based on the segmentation results, several vehicle combination sets are obtained; each vehicle combination set includes at least one vehicle combination and does not contain duplicate vehicles.

[0012] Determine the vehicle coverage ratio for each of the vehicle combination sets; the vehicle coverage ratio is used to represent the ratio of the vehicles included in the vehicle combination set to the plurality of vehicles;

[0013] Each vehicle combination in the set of vehicle combinations with the highest vehicle coverage is identified as a cooperative lane-changing vehicle.

[0014] The matching device for coordinated lane-changing vehicles provided in the embodiments of this specification may include:

[0015] The vehicle information acquisition module is used to acquire vehicle information of multiple vehicles within a preset range;

[0016] The arrangement module is used to arrange the multiple vehicles based on the vehicle information to obtain multiple arrangement results;

[0017] The segmentation module is used to segment each of the multiple permutation results to obtain segmentation results of the multiple permutation results; each segmentation result includes several vehicle combinations; a vehicle combination represents a group of vehicles with lane-changing conflicts;

[0018] The vehicle combination set acquisition module is used to obtain several vehicle combination sets based on the segmentation results; each vehicle combination set includes at least one vehicle combination and the vehicle combination set does not contain duplicate vehicles;

[0019] A vehicle coverage determination module is used to determine the vehicle coverage of each of the vehicle combination sets; the vehicle coverage is used to represent the ratio of the vehicles included in the vehicle combination set to the plurality of vehicles.

[0020] The cooperative vehicle determination module is used to determine each vehicle combination in the set of vehicle combinations with the highest vehicle coverage as a cooperative lane-changing vehicle.

[0021] The embodiments of this specification provide a matching device for coordinated lane-changing vehicles, which may include:

[0022] At least one processor; and,

[0023] A memory communicatively connected to the at least one processor; wherein,

[0024] The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to:

[0025] Obtain vehicle information for multiple vehicles within a preset range;

[0026] Based on the vehicle information, the multiple vehicles are arranged to obtain multiple arrangement results;

[0027] Each of the multiple permutation results is segmented to obtain a segmentation result of the multiple permutation results; each segmentation result includes several vehicle combinations; a vehicle combination represents a group of vehicles with lane-changing conflicts;

[0028] Based on the segmentation results, several vehicle combination sets are obtained; each vehicle combination set includes at least one vehicle combination and does not contain duplicate vehicles.

[0029] Determine the vehicle coverage ratio for each of the vehicle combination sets; the vehicle coverage ratio is used to represent the ratio of the vehicles included in the vehicle combination set to the plurality of vehicles;

[0030] Each vehicle combination in the set of vehicle combinations with the highest vehicle coverage is identified as a cooperative lane-changing vehicle.

[0031] At least one embodiment in this specification can achieve the following beneficial effects: By acquiring vehicle information of multiple vehicles within a preset range; arranging the multiple vehicles based on the vehicle information to obtain multiple arrangement results; segmenting each arrangement result to obtain segmentation results; obtaining several vehicle combination sets based on the segmentation results; each vehicle combination set includes at least one vehicle combination and does not contain duplicate vehicles; determining the vehicle coverage rate of each vehicle combination set; and identifying the vehicle combinations in the vehicle combination set with the highest vehicle coverage rate as cooperative lane-changing vehicles. Thus, multiple vehicle combinations can be obtained based on the vehicle coverage rate, enabling the matching of cooperative lane-changing vehicles for multiple vehicles within a preset range, improving the accuracy and effectiveness of matching cooperative lane-changing vehicles. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a flowchart illustrating a method for matching vehicles in a coordinated lane-changing scenario provided in an embodiment of this specification.

[0034] Figure 2 This is a schematic diagram of vehicle distribution provided in the embodiments of the instruction manual;

[0035] Figure 3 This is a schematic diagram of a multi-vehicle matching result provided in an embodiment of this specification;

[0036] Figure 4 This is a schematic diagram of the structure of a matching device for coordinated lane-changing vehicles provided in the embodiments of this specification;

[0037] Figure 5 This is a schematic diagram of the structure of a matching device for coordinated lane-changing vehicles provided in the embodiments of this specification. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of one or more embodiments of this specification clearer, the technical solutions of one or more embodiments of this specification will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of them. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of one or more embodiments of this specification.

[0039] The technical solutions provided in the various embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0040] In existing technologies, most collaborative vehicle matching is performed on a single vehicle. When multiple vehicles are required, each vehicle is matched individually, which requires a large amount of environmental information to calculate the vehicle's trajectory and establish a collaborative matching relationship. When the penetration rate of intelligent driving vehicles on highways is high, the decision-making difficulty will be greatly increased, resulting in lower accuracy of the collaborative matching relationship.

[0041] To address the shortcomings of existing technologies, this solution provides the following embodiments:

[0042] Figure 1 This is a flowchart illustrating a method for matching vehicles in a coordinated lane-changing scenario provided in this specification. From a programming perspective, the entity executing the process can be a program mounted on an application server, an application client, or a cloud control platform.

[0043] like Figure 1 As shown, the process may include the following steps:

[0044] Step 102: Obtain vehicle information for multiple vehicles within a preset range.

[0045] The vehicle information in the embodiments of this specification may include vehicle identification information, current lane information, target lane information to be entered, and vehicle location information. The vehicle may be an autonomous driving vehicle, a passenger car, a freight vehicle, etc. The vehicle information may be collected by roadside sensing devices or uploaded by the vehicle itself; the specific method is not limited here.

[0046] The vehicles in the embodiments of this specification can be vehicles that can be controlled by a cloud control platform. The cloud control platform can monitor the driving status of the vehicles and coordinate vehicles in accordance with the methods described in the embodiments of this specification to ensure that the vehicles can safely change lanes before they need to. In practical applications, vehicles can also actively send lane-changing requests to the cloud control platform, and the cloud control platform can also coordinate vehicles based on the request information sent by the vehicles. The preset range can be the range near the vehicle with lane-changing requests, such as 500 meters, 800 meters, etc. Vehicles within the preset range can be filtered according to the vehicle's location information to determine the vehicle information of vehicles within the preset range.

[0047] Step 104: Based on the vehicle information, arrange the multiple vehicles to obtain multiple arrangement results.

[0048] In the embodiments of this specification, vehicles can be numbered according to vehicle information. This number can represent information such as the vehicle's code, the target lane the vehicle is about to enter, and the vehicle's current lane. It can also be a unique number generated at any time or according to preset rules. The codes for each vehicle can be different. For example, if the first vehicle within the road area needs to change lanes from lane one to lane two, a corresponding number A1 can be generated. 2 A can represent a randomly generated code for a vehicle, subscript 1 can represent the current driving lane, and superscript 2 can represent the target lane to be entered. Alternatively, the vehicle numbers can be determined according to the order in which the vehicles travel, and so on. The specific numbering format is not limited here.

[0049] In the embodiments described in this specification, the numbering can be arranged and combined more conveniently, and then the arrangement result of each vehicle can be obtained based on the arrangement result of each number. This also serves to facilitate viewing the arrangement result.

[0050] Step 106: Segment each of the multiple permutation results to obtain the segmentation results of the multiple permutation results; each segmentation result includes several vehicle combinations; a vehicle combination represents a group of vehicles with lane-changing conflicts.

[0051] The existence of lane-changing conflicts in the embodiments of this specification refers to an event where there is a risk of collision during a lane change, making it impossible to complete the lane change safely and smoothly. The resulting vehicle combinations can be represented by vehicle numbers corresponding to the vehicles involved in the lane-changing conflict.

[0052] Step 108: Based on the segmentation results, several vehicle combination sets are obtained; each vehicle combination set includes at least one vehicle combination and the vehicle combination set does not contain duplicate vehicles.

[0053] In the embodiments of this specification, several vehicle combinations can be obtained from the segmentation results. These vehicle combinations can be statistically analyzed to obtain multiple different vehicle combinations. The vehicle combination set can contain at least one vehicle combination. If it contains multiple vehicle combinations, each vehicle combination must not contain duplicate vehicles. This can also be understood as the vehicle number of each vehicle combination in the vehicle combination set being different from the vehicle numbers of other vehicle combinations.

[0054] Step 110: Determine the vehicle coverage rate of each of the vehicle combination sets; the vehicle coverage rate is used to represent the ratio of the vehicles included in the vehicle combination set to the plurality of vehicles.

[0055] In the embodiments of this specification, different vehicle combination sets contain different vehicle combinations, so the vehicles contained in different vehicle combination sets may not be completely the same. The vehicle coverage rate of each vehicle combination set can be determined based on the vehicle information contained in each vehicle combination set and the information of all vehicles within the aforementioned preset range. The ratio of the number of vehicles in a vehicle combination set to the number of all vehicles within the aforementioned preset range can be used as the vehicle coverage rate of the vehicle combination set. For example, if the vehicle numbers collected within a certain range are A, B, C, D, E, F, G, and H, and a certain vehicle combination set contains the combinations (A, C), (B, E), and (D, F), then the coverage rate of this vehicle combination set is 6:8 = 75%.

[0056] Step 112: Identify each vehicle combination in the set of vehicle combinations with the highest vehicle coverage as a cooperative lane-changing vehicle.

[0057] In the embodiments of this specification, the various vehicle combination sets can be arranged from high to low coverage, and the vehicle combination set at the top of the list is selected as the target set. If the coverage is the same, they can be arranged in parallel. Each vehicle combination contained in the target set can be identified as a cooperative lane-changing vehicle; this can also be understood as the vehicles corresponding to the vehicle numbers in any vehicle combination within the vehicle combination set being cooperative lane-changing vehicles. This allows for accurate matching of cooperative lane-changing vehicles when multiple vehicles have lane-changing needs, and also allows for matching multiple vehicles at once, eliminating the need for individual vehicle matching and improving the efficiency of matching cooperative lane-changing vehicles.

[0058] It should be understood that the order of some steps in the methods described in one or more embodiments of this specification may be interchanged according to actual needs, or some steps may be omitted or deleted.

[0059] Figure 1 The method described above involves: acquiring vehicle information for multiple vehicles within a preset range; arranging the vehicles based on this information to obtain multiple arrangement results; segmenting each arrangement result to obtain segmentation results; and generating several vehicle combination sets based on the segmentation results. Each vehicle combination set includes at least one vehicle combination and contains no duplicate vehicles. The method then determines the vehicle coverage rate of each vehicle combination set and identifies the vehicle combinations with the highest coverage rate as the cooperative lane-changing vehicles. This allows for the generation of multiple vehicle combinations based on vehicle coverage rates, enabling the matching of cooperative lane-changing vehicles for multiple vehicles within a preset range and improving the accuracy of cooperative lane-changing vehicle matching.

[0060] based on Figure 1 In addition to the method described herein, this specification also provides some specific implementation methods of this method, which will be described below.

[0061] Optionally, after obtaining multiple permutation results as described in the embodiments of this specification, the process may further include:

[0062] Obtain the driving order of vehicles belonging to the same lane among the multiple vehicles;

[0063] Determine the order of vehicles belonging to the same lane in any of the multiple arrangement results;

[0064] Determine whether the arrangement order is consistent with the driving order;

[0065] If the arrangement order is inconsistent with the driving order, then any of the arrangement results will be discarded;

[0066] If the arrangement order is consistent with the driving order, then any of the arrangement results shall be regarded as a valid arrangement result;

[0067] The step of segmenting each of the multiple permutation results specifically includes:

[0068] Each of the valid permutation results is then segmented.

[0069] In the embodiments of this specification, vehicles belonging to the same lane can be determined based on the vehicle's current driving lane information, and the driving order information of vehicles belonging to the same lane can be determined based on the vehicle's position information. Alternatively, the arrangement order of vehicles belonging to the same lane can be obtained from the arrangement results. Then, the arrangement order of vehicles belonging to the same lane can be compared with the driving order to determine if they match. If they match, the arrangement results corresponding to the matching order are considered valid, and the arrangement results corresponding to the mismatched order are considered invalid. Invalid arrangement results can be discarded or deleted, while valid arrangement results can be segmented.

[0070] Figure 2 This is a schematic diagram of vehicle distribution provided in the embodiments of the instruction manual. For example... Figure 2 As shown in the diagram, assuming there are three lanes (1, 2, and 3) with multiple vehicles, the letters on the vehicles' names represent their codes, the numbers next to the letters indicate the target lane the vehicle is about to enter, and the arrows indicate the vehicle's direction of travel. Based on this vehicle distribution diagram, the numbers of each vehicle can be obtained as follows: and F1 2 Vehicle number, etc. If the order of multiple permutation results is... because If the order of arrangement is inconsistent with the order of travel, then it will... The sorted results are discarded. If the sorting order is... Since the order of vehicles in each lane matches the driving order, they can be retained.

[0071] To make the segmentation results of each valid permutation result more accurate and effective, the embodiments of this specification describe segmenting each of the multiple permutation results separately, which may specifically include:

[0072] For any of the multiple arrangement results, the vehicles in each arrangement result are traversed sequentially according to their order.

[0073] Determine whether the target traversed vehicle and the second vehicle meet the preset segmentation condition; the second vehicle refers to the vehicle arranged after the target traversed vehicle; the target traversed vehicle is any traversed vehicle in any arrangement result; the preset segmentation condition is used to indicate that there is a lane-changing conflict between the vehicles;

[0074] If the target traversal vehicle and the second vehicle meet the preset segmentation conditions, then the target traversal vehicle and the second vehicle are combined as a single vehicle.

[0075] In the embodiments of this specification, each vehicle in any arrangement result can be traversed sequentially according to the arrangement order. Before determining whether the target traversed vehicle and the second vehicle meet the preset separation conditions, it can also be determined whether the target traversed vehicle has a lane-changing requirement based on the target lane to be entered and the current driving lane. If the target traversed vehicle does not have a lane-changing requirement, the traversal of the target traversed vehicle ends, and the vehicles arranged after the target traversed vehicle are traversed as target traversed vehicles. If the target traversed vehicle has a lane-changing requirement, it is determined whether the target traversed vehicle and the second vehicle meet the preset separation conditions. The target traversed vehicle and the second vehicle that meet the preset separation conditions are grouped into a vehicle group. For example, suppose... Figure 2 One possible arrangement of the vehicles is as follows: It can then be divided into Vehicles coded A and B, D and F meet the preset segmentation conditions and can be grouped as a single vehicle; vehicle C has no lane-changing requirement; when vehicle E is traversed, all other vehicles have been segmented and there is no vehicle matching vehicle E, so the traversal can be ended, resulting in the above segmentation result.

[0076] The distance between vehicles can be used to determine whether two vehicles meet the preset segmentation conditions. Specifically, the determination of whether the target traversed vehicle and the second vehicle meet the preset segmentation conditions in the embodiments of this specification may include:

[0077] Determine whether the distance between the target traversed vehicle and the second vehicle is less than or equal to a preset threshold;

[0078] If the target traversed vehicle and the second vehicle meet the preset segmentation conditions, then the target traversed vehicle and the second vehicle are segmented as a single vehicle group, which may specifically include:

[0079] If the distance between the target traversal vehicle and the second vehicle is less than or equal to a preset threshold, then the target traversal vehicle and the second vehicle are divided into a single vehicle group.

[0080] In the embodiments described in this specification, the target traversal vehicle and the second vehicle are currently traveling in different lanes. The cloud control platform can calculate the distance between the vehicles based on their location information. This distance calculation can be done by directly calculating the distance between the two locations, or by calculating the distance between the vehicles in their travel direction. Specifically, if the two vehicles are currently traveling in different lanes, the distance between them in their travel direction can be calculated by projecting the second vehicle onto the lane where the target traversal vehicle is located, obtaining the projected position, and calculating the distance between the projected position and the position of the target traversal vehicle. Then, it can be determined whether the calculated distance is less than or equal to a preset threshold. If it is less than or equal to the preset threshold, the target traversal vehicle and the second vehicle can be grouped as one vehicle so that they can coordinate when changing lanes and avoid collisions. If it is greater than the preset threshold, the target traversal vehicle and the second vehicle do not meet the preset separation conditions, meaning that when the target traversal vehicle and the second vehicle change lanes, they do not affect each other and there is no lane-changing conflict. This avoids matching two non-conflicting vehicles as coordinating lane-changing vehicles, improving the matching accuracy of coordinating lane-changing vehicles, and reducing the computational load and resource consumption during lane changes.

[0081] Vehicle combinations can also be determined based on the target lane a vehicle is about to enter, improving the matching accuracy of vehicles coordinating lane changes. The determination of whether the target traversed vehicle and the second vehicle meet the preset segmentation conditions, as described in the embodiments of this specification, can specifically include:

[0082] Determine whether the target traversal vehicle and the second vehicle belong to different lanes but are in the same target lane to be entered;

[0083] If the target traversed vehicle and the second vehicle meet the preset segmentation conditions, then the target traversed vehicle and the second vehicle are segmented as a single vehicle group, which may specifically include:

[0084] If the target traversal vehicle and the second vehicle belong to different lanes but are in the same target lane, then the target traversal vehicle and the second vehicle are combined as a single vehicle group.

[0085] In the embodiments of this specification, if the relationship between the target traversing vehicle and the second vehicle is such that their current driving lanes are in the same lane and the target lane they are about to enter is also in the same lane, or if their current driving lanes are in the same lane and the target lane they are about to enter is in different lanes, then the target traversing vehicle and the second vehicle can be determined as not meeting the preset separation conditions. Therefore, they cannot be considered as candidate vehicles for coordinated lane changing, nor can they be identified as a vehicle combination. In other words, the target traversing vehicle and the second vehicle's current driving lanes being in the same lane does not meet the preset separation conditions.

[0086] To make the matching of vehicles in coordinated lane changing more accurate, the method described in this embodiment for determining whether the target traversing vehicle and the second vehicle meet the preset segmentation conditions may specifically include:

[0087] Determine whether the current driving lane of the target traversing vehicle is the target lane that the second vehicle is to enter, and the target lane that the target traversing vehicle is to enter is the current driving lane of the second vehicle.

[0088] If the target traversed vehicle and the second vehicle meet the preset segmentation conditions, then the target traversed vehicle and the second vehicle are segmented as a single vehicle group, which may specifically include:

[0089] If the current driving lane of the target traversing vehicle is the target lane that the second vehicle is to enter, and the target lane that the target traversing vehicle is to enter is the current driving lane of the second vehicle, then the target traversing vehicle and the second vehicle are divided into a single vehicle group.

[0090] In the embodiments of this specification, the target traversing vehicle and the second vehicle in a cross-lane change can be identified as candidate cooperative lane-changing vehicles, forming a vehicle combination. That is, the current driving lane of the target traversing vehicle is the target lane that the second vehicle is about to enter, and the target lane that the target traversing vehicle is about to enter is the current driving lane of the second vehicle. This is to facilitate coordination between the two vehicles in the event of a cross-lane change and both vehicles changing lanes simultaneously, thereby preventing a collision.

[0091] The determination based on preset segmentation conditions in this embodiment may further include: determining whether there is at least two lanes separating the current lanes of the target vehicle and the second vehicle; if so, the two vehicles are identified as not meeting the preset segmentation conditions. Alternatively, it may be determined whether the second vehicle has already formed a vehicle group with other vehicles positioned in front of the target vehicle; if so, the target vehicle and the second vehicle do not meet the preset segmentation conditions. Furthermore, it may be determined whether the target vehicle and the second vehicle in the adjacent lane both have lane-changing needs and whether the longitudinal distance between the vehicles is less than or equal to a preset distance; if so, the two vehicles are identified as meeting the preset segmentation conditions. The longitudinal distance can be represented as the distance difference between the two vehicles on the S-axis with the direction of travel as the S-axis. In practical applications, vehicles cooperating in lane-changing can be determined based on one or more of the above preset segmentation conditions.

[0092] It can also be matched sequentially with the next vehicle to improve accuracy. The method described in the embodiments of this specification may further include:

[0093] If the target traversed vehicle and the second vehicle do not meet the preset segmentation condition, then it is determined whether the target traversed vehicle and the third vehicle meet the preset segmentation condition; the third vehicle refers to the vehicle arranged after the second vehicle.

[0094] If the target traversed vehicle and the third vehicle meet the preset segmentation conditions, then the target traversed vehicle and the third vehicle are segmented as a vehicle group.

[0095] In this embodiment of the specification, if the second vehicle and the target traversed vehicle do not meet the preset segmentation conditions, and there is a third vehicle arranged after the second vehicle in the arrangement result, then the target traversed vehicle and the third vehicle are compared to determine the vehicle combination that meets the preset segmentation conditions, thereby improving matching accuracy. If the second vehicle and the target traversed vehicle do not meet the preset segmentation conditions, and there is no third vehicle arranged after the second vehicle in the arrangement result, then the segmentation of the arrangement result can be terminated, and the segmentation of the next arrangement result can begin.

[0096] Vehicle combinations can be determined based on the number of times they are combined, making the matched lane-changing vehicles more accurate and the vehicle combinations more effective and reasonable when matching multiple vehicles. The method described in the embodiments of this specification may further include:

[0097] If there are multiple sets of vehicle combinations with the highest vehicle coverage, then the sum of the vehicle combination counts corresponding to each set of vehicle combinations with the highest vehicle coverage is obtained; the vehicle combination count represents the number of times the vehicle combination appears in the segmentation result.

[0098] The vehicle combinations with the highest sum of vehicle combination counts among the vehicle combinations with the highest vehicle coverage are identified as the coordinated lane-changing vehicles.

[0099] In this embodiment, the sum of the frequency of vehicle combinations corresponding to the highest coverage vehicle combination set can be sorted in descending order. If the sum of the frequency of vehicle combinations is the same, they can be arranged side by side. If there is more than one highest coverage vehicle combination set at the top, these highest coverage vehicle combination sets can be used as candidate sets. Then, vehicles with urgent lane-changing needs can be determined based on their location. From each candidate set, vehicle combinations containing these vehicles with urgent lane-changing needs can be determined, and the candidate set corresponding to the highest frequency vehicle combination can be used as the target set. Each vehicle combination contained in the target set is determined as a cooperative lane-changing vehicle. Vehicles with urgent lane-changing needs can be one of the following: vehicles about to exit an intersection, vehicles about to enter an intersection, vehicles about to turn, or vehicles that have broken down and need to change lanes and stop. This allows for accurate matching of cooperative lane-changing vehicles even when multiple vehicles have lane-changing conflicts, and also improves the effectiveness of cooperative lane-changing vehicle matching.

[0100] Figure 3 This is a schematic diagram illustrating a multi-vehicle matching result provided in an embodiment of this specification. For example... Figure 3 As shown: the horizontal axis represents the lane number; the vertical axis represents the longitudinal road length corresponding to the preset range, which can be in meters; letters represent vehicle codes; the numbers next to the letters represent the target lane the vehicle is about to enter; two letters connected by a line indicate that the two vehicles are coordinating a lane change. This can be based on... Figure 3 5040 permutation results were obtained. Permutations with lane order inconsistent with the permutation order were removed, leaving 630 permutations. These 630 permutations were then divided to obtain multiple combinations and their corresponding frequencies: (a, c) = 630; (b, d) = 162; (b, e) = 282; (d, f) = 30; (d, e) = 175; (d, g) = 53; (f, g) = 547; (e, g) = 11. Other vehicle combinations can be zero. The target set can be determined as (a, c)(b, e)(f, g) with the highest coverage and the largest sum of combination frequencies. a and c are determined as matched coordinated lane-changing vehicles, b and e are determined as matched coordinated lane-changing vehicles, f and g are determined as matched coordinated lane-changing vehicles, and d can be considered as a lane-changing vehicle that does not require coordinated lane changing.

[0101] According to Figure 3 A valid permutation result acbfdeg is obtained. Taking the permutation result acbfdeg as an example, we can first iterate through 'a' and match 'a' with 'c'. 'a' and 'c' belong to a lane change, and the distance between the two vehicles is less than a preset threshold, so 'a' and 'c' can be combined as a vehicle. Since 'c' has already been matched with 'a', we skip 'c'. We can then iterate through 'b' and match 'f'. 'b' and 'f' do not belong to a lane change, and their target lanes are different, so they cannot be matched. We can then match 'b' with 'd'. 'b' and 'd' belong to adjacent lanes and both have lane change requirements. The longitudinal distance between them is also less than a preset distance, so 'b' and 'd' can be combined as a vehicle. We can then iterate through 'f'. Since 'd' has already been matched with 'b', we skip 'd'. We can then match 'f' with 'e'. 'f' and 'e' belong to the same lane and cannot be matched. We can then match 'f' with 'g'. 'f' and 'g' belong to a lane change, so they can be combined as a vehicle. 'd' has already been matched, so we skip it. We can then iterate through 'e'. Since 'g' has already been matched, we skip it, and the matching ends. The resulting combination is (a, c)(b, d)(f, g). Understandably, only vehicles that need to change lanes will be matched. Vehicles that do not need to change lanes will be separated as individual vehicles and will not be combined with other vehicles.

[0102] The above method can accurately match vehicles that can coordinate lane changes when multiple vehicles have lane-changing needs, making the matching results effective, reducing resource consumption, and improving the efficiency of multi-vehicle matching.

[0103] Based on the same idea, embodiments of this specification also provide apparatus corresponding to the above methods. Figure 4 This is a schematic diagram of a matching device for cooperative lane-changing vehicles provided in an embodiment of this specification. Figure 4 As shown, the device may include:

[0104] The vehicle information acquisition module 402 is used to acquire vehicle information of multiple vehicles within a preset range;

[0105] The arrangement module 404 is used to arrange the multiple vehicles based on the vehicle information to obtain multiple arrangement results;

[0106] The segmentation module 406 is used to segment each of the multiple arrangement results to obtain the segmentation results of the multiple arrangement results; each segmentation result includes several vehicle combinations; a vehicle combination represents a group of vehicles with lane-changing conflicts;

[0107] The vehicle combination set acquisition module 408 is used to obtain several vehicle combination sets based on the segmentation result; each vehicle combination set includes at least one vehicle combination and the vehicle combination set does not contain duplicate vehicles;

[0108] The vehicle coverage determination module 410 is used to determine the vehicle coverage of each of the vehicle combination sets; the vehicle coverage is used to represent the ratio of the vehicles included in the vehicle combination set to the plurality of vehicles.

[0109] The cooperative vehicle determination module 412 is used to determine each vehicle combination in the set of vehicle combinations with the highest vehicle coverage as a cooperative lane-changing vehicle.

[0110] Based on the same idea, this specification also provides devices corresponding to the above methods in its embodiments.

[0111] Figure 5 This is a schematic diagram of a matching device for coordinated lane-changing vehicles provided in an embodiment of this specification. Figure 5 As shown, device 500 may include:

[0112] At least one processor 510; and,

[0113] Memory 530 communicatively connected to the at least one processor; wherein,

[0114] The memory 530 stores instructions 520 that can be executed by the at least one processor 510, the instructions being executed by the at least one processor 510 to enable the at least one processor 510 to:

[0115] Obtain vehicle information for multiple vehicles within a preset range;

[0116] Based on the vehicle information, the multiple vehicles are arranged to obtain multiple arrangement results;

[0117] Each of the multiple permutation results is segmented to obtain a segmentation result of the multiple permutation results; each segmentation result includes several vehicle combinations; a vehicle combination represents a group of vehicles with lane-changing conflicts;

[0118] Based on the segmentation results, several vehicle combination sets are obtained; each vehicle combination set includes at least one vehicle combination and does not contain duplicate vehicles.

[0119] Determine the vehicle coverage ratio for each of the vehicle combination sets; the vehicle coverage ratio is used to represent the ratio of the vehicles included in the vehicle combination set to the plurality of vehicles;

[0120] Each vehicle combination in the set of vehicle combinations with the highest vehicle coverage is identified as a cooperative lane-changing vehicle.

[0121] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. In particular, for... Figure 5 As the device shown is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0122] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the methodology). However, with technological advancements, many methodological improvements today can be considered direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved methodology into the hardware circuit. Therefore, it cannot be said that a methodological improvement cannot be implemented using hardware physical modules. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user programming the device. Designers can program and "integrate" a digital system onto a PLD themselves, without needing chip manufacturers to design and manufacture dedicated integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly implemented using "logic compiler" software. Similar to the software compiler used in program development, the original code before compilation must be written in a specific programming language, called a Hardware Description Language (HDL). There are many HDLs, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, and RHDL (Ruby Hardware Description Language). Currently, the most commonly used are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should understand that by simply performing some logic programming on the method flow using one of these hardware description languages ​​and programming it into an integrated circuit, the hardware circuit implementing the logical method flow can be easily obtained.

[0123] The controller can be implemented in any suitable manner. For example, it can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. A memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also recognize that, in addition to implementing the controller in purely computer-readable program code form, the same functionality can be achieved by logically programming the method steps to make the controller take the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0124] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0125] For ease of description, the above devices are described separately by function as various units. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware.

[0126] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0127] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0128] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0129] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0130] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0131] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for matching vehicles that coordinate lane changes, characterized in that, include: Obtain vehicle information for multiple vehicles within a preset range; Based on the vehicle information, the multiple vehicles are arranged to obtain multiple arrangement results; Each of the multiple permutation results is segmented to obtain a segmentation result of the multiple permutation results; each segmentation result includes several vehicle combinations; a vehicle combination represents a group of vehicles with lane-changing conflicts; Based on the segmentation results, several vehicle combination sets are obtained; each vehicle combination set includes at least one vehicle combination and does not contain duplicate vehicles. Determine the vehicle coverage ratio for each of the vehicle combination sets; the vehicle coverage ratio is used to represent the ratio of the vehicles included in the vehicle combination set to the plurality of vehicles; Each vehicle combination in the set of vehicle combinations with the highest vehicle coverage is identified as a cooperative lane-changing vehicle. The step of segmenting each of the multiple permutation results specifically includes: For any of the multiple arrangement results, the vehicles in each arrangement result are traversed sequentially according to their order. Determine whether the target traversed vehicle and the second vehicle meet the preset segmentation condition; the second vehicle refers to the vehicle arranged after the target traversed vehicle; the target traversed vehicle is any traversed vehicle in any arrangement result; the preset segmentation condition is used to indicate that there is a lane-changing conflict between the vehicles; If the target traversal vehicle and the second vehicle meet the preset segmentation conditions, then the target traversal vehicle and the second vehicle are combined as a single vehicle.

2. The method according to claim 1, characterized in that, After obtaining multiple permutation results, the process also includes: Obtain the driving order of vehicles belonging to the same lane among the multiple vehicles; Determine the order of vehicles belonging to the same lane in any of the multiple arrangement results; Determine whether the arrangement order is consistent with the driving order; If the arrangement order is inconsistent with the driving order, then any of the arrangement results will be discarded; If the arrangement order is consistent with the driving order, then any of the arrangement results shall be regarded as a valid arrangement result; The step of segmenting each of the multiple permutation results specifically includes: Each of the valid permutation results is then segmented.

3. The method according to claim 1, characterized in that, The determination of whether the target traversed vehicle and the second vehicle meet the preset segmentation conditions specifically includes: Determine whether the distance between the target traversed vehicle and the second vehicle is less than or equal to a preset threshold; If the target traversed vehicle and the second vehicle meet the preset segmentation conditions, then the target traversed vehicle and the second vehicle are segmented as a single vehicle group, specifically including: If the distance between the target traversal vehicle and the second vehicle is less than or equal to a preset threshold, then the target traversal vehicle and the second vehicle are divided into a single vehicle group.

4. The method according to claim 1, characterized in that, The determination of whether the target traversed vehicle and the second vehicle meet the preset segmentation conditions specifically includes: Determine whether the target traversal vehicle and the second vehicle belong to different lanes but are in the same target lane to be entered; If the target traversed vehicle and the second vehicle meet the preset segmentation conditions, then the target traversed vehicle and the second vehicle are segmented as a single vehicle group, specifically including: If the target traversal vehicle and the second vehicle belong to different lanes but are in the same target lane, then the target traversal vehicle and the second vehicle are combined as a single vehicle group.

5. The method according to claim 1, characterized in that, The determination of whether the target traversed vehicle and the second vehicle meet the preset segmentation conditions specifically includes: Determine whether the current driving lane of the target traversing vehicle is the target lane that the second vehicle is to enter, and the target lane that the target traversing vehicle is to enter is the current driving lane of the second vehicle. If the target traversed vehicle and the second vehicle meet the preset segmentation conditions, then the target traversed vehicle and the second vehicle are segmented as a single vehicle group, specifically including: If the current driving lane of the target traversing vehicle is the target lane that the second vehicle is to enter, and the target lane that the target traversing vehicle is to enter is the current driving lane of the second vehicle, then the target traversing vehicle and the second vehicle are divided into a single vehicle group.

6. The method according to claim 1, characterized in that, The method further includes: If the target traversed vehicle and the second vehicle do not meet the preset segmentation condition, then it is determined whether the target traversed vehicle and the third vehicle meet the preset segmentation condition; the third vehicle refers to the vehicle arranged after the second vehicle. If the target traversed vehicle and the third vehicle meet the preset segmentation conditions, then the target traversed vehicle and the third vehicle are segmented as a vehicle group.

7. The method according to claim 1, characterized in that, The method further includes: If there are multiple sets of vehicle combinations with the highest vehicle coverage, then the sum of the vehicle combination counts corresponding to each set of vehicle combinations with the highest vehicle coverage is obtained; the vehicle combination count represents the number of times the vehicle combination appears in the segmentation result. The vehicle combinations with the highest sum of vehicle combination counts among the vehicle combinations with the highest vehicle coverage are identified as the coordinated lane-changing vehicles.

8. A matching device for coordinated lane-changing vehicles, characterized in that, include: The vehicle information acquisition module is used to acquire vehicle information of multiple vehicles within a preset range; The arrangement module is used to arrange the multiple vehicles based on the vehicle information to obtain multiple arrangement results; The segmentation module is used to segment each of the multiple arrangement results to obtain segmentation results of the multiple arrangement results; each segmentation result includes several vehicle combinations; a vehicle combination represents a group of vehicles with lane-changing conflicts; the segmentation of each of the multiple arrangement results specifically includes: For any of the multiple arrangement results, the vehicles in each arrangement result are traversed sequentially according to their order. Determine whether the target traversed vehicle and the second vehicle meet the preset segmentation condition; the second vehicle refers to the vehicle arranged after the target traversed vehicle; the target traversed vehicle is any traversed vehicle in any arrangement result; the preset segmentation condition is used to indicate that there is a lane-changing conflict between the vehicles; If the target traversal vehicle and the second vehicle meet the preset segmentation conditions, then the target traversal vehicle and the second vehicle are combined as a single vehicle. The vehicle combination set acquisition module is used to obtain several vehicle combination sets based on the segmentation results; each vehicle combination set includes at least one vehicle combination and the vehicle combination set does not contain duplicate vehicles; A vehicle coverage determination module is used to determine the vehicle coverage of each of the vehicle combination sets; the vehicle coverage is used to represent the ratio of the vehicles included in the vehicle combination set to the plurality of vehicles. The cooperative vehicle determination module is used to determine each vehicle combination in the set of vehicle combinations with the highest vehicle coverage as a cooperative lane-changing vehicle.

9. A matching device for coordinated lane-changing vehicles, comprising: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to: Obtain vehicle information for multiple vehicles within a preset range; Based on the vehicle information, the multiple vehicles are arranged to obtain multiple arrangement results; Each of the multiple permutation results is segmented to obtain segmentation results of the multiple permutation results; each segmentation result includes several vehicle combinations; a vehicle combination represents a group of vehicles with lane-changing conflicts; the segmentation of each of the multiple permutation results specifically includes: For any of the multiple arrangement results, the vehicles in each arrangement result are traversed sequentially according to their order. Determine whether the target traversed vehicle and the second vehicle meet the preset segmentation condition; the second vehicle refers to the vehicle arranged after the target traversed vehicle; the target traversed vehicle is any traversed vehicle in any arrangement result; the preset segmentation condition is used to indicate that there is a lane-changing conflict between the vehicles; If the target traversal vehicle and the second vehicle meet the preset segmentation conditions, then the target traversal vehicle and the second vehicle are combined as a single vehicle. Based on the segmentation results, several vehicle combination sets are obtained; each vehicle combination set includes at least one vehicle combination and does not contain duplicate vehicles. Determine the vehicle coverage ratio for each of the vehicle combination sets; the vehicle coverage ratio is used to represent the ratio of the vehicles included in the vehicle combination set to the plurality of vehicles; Each vehicle combination in the set of vehicle combinations with the highest vehicle coverage is identified as a cooperative lane-changing vehicle.

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