A method and system for planning a vehicle driving trajectory through an intersection

Abstract

The application discloses a method and system for planning a driving track of a vehicle through a crossing. The method comprises: acquiring a lane line curvature before the vehicle passes through the crossing; if the lane line curvature is less than or equal to a preset curvature, simulating and generating a guide track through the crossing according to the lane line curvature, and adjusting a steering wheel turning angle of the vehicle; if an opposite lane line is recognized, selecting a lane with the minimum steering wheel horizontal turning angle as a target lane for continuous driving; if the opposite lane line is not recognized and a guide vehicle is detected in front, acquiring a driving track turning angle of the guide vehicle; and according to an interval range to which the driving track turning angle belongs, controlling the vehicle to follow the driving track of the guide vehicle to the opposite lane line or prompting a driver to take over the vehicle. The application effectively guarantees the continuity of an intelligent driving assistance system when used on a road with many crossings, effectively reduces the takeover rate when passing through the crossing, improves the safety of passing through the crossing, and improves the driving experience of the driver.

Description

Technical Field

[0001] This application relates to the field of intelligent driving assistance technology, and in particular to a method, system, vehicle, and computer-readable storage medium for planning the trajectory of a vehicle when passing through an intersection. Background Technology

[0002] As automobiles become increasingly intelligent and technologically advanced, people have higher and higher requirements for the functionality of intelligent driving assistance systems. To meet users' needs for assisted driving functions, vehicles equipped with L1-L2 driving assistance systems are now in mass production. L1 driving assistance systems can assist vehicles in completing longitudinal control functions, while L2 driving assistance systems include low-level longitudinal assistance control functions and high-level lateral and longitudinal assistance control functions.

[0003] Currently, the lateral control of intelligent driving assistance functions is based on cameras to identify clear lane lines and plan the driving route to achieve stable lateral control of the vehicle. Most industry solutions involve issuing an alarm to remind the driver to take over control of the vehicle when the lane lines disappear at an intersection if no oncoming lane line is detected. If an oncoming lane line is detected, the vehicle will enter the lane with the smallest lateral steering wheel angle.

[0004] Intersections in urban roads often lack lane markings. Due to the limited distance that high-definition cameras can detect lane markings, intelligent driving assistance systems (ADAS) may fail to recognize lane markings ahead of the intersection in time. Consequently, the system may be unable to plan the driving trajectory through the intersection in a timely manner or correctly control the steering wheel angle, resulting in deviations in the vehicle's driving trajectory and affecting driving safety. Furthermore, on urban roads with numerous intersections, the disengagement of ADAS functions or the alert prompting the driver to take over can disrupt the continuity of ADAS usage and negatively impact the user's driving experience.

[0005] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0006] The main objective of this application is to provide a method, system, vehicle, and computer-readable storage medium for planning vehicle trajectory when passing through intersections. This aims to solve the problems in the prior art where vehicles equipped with intelligent driving assistance functions experience unstable steering wheel control, increasing the risk factor, frequent function exits affecting the continuity of intelligent driving assistance function use, and frequent alarm reminders for driver takeover affecting the driver's driving experience.

[0007] The first aspect of this application provides a method for planning the trajectory of a vehicle when passing through an intersection, comprising the following steps: obtaining the curvature of the lane line before the vehicle passes through the intersection; if the curvature of the lane line is less than or equal to a preset curvature, simulating and generating a guide trajectory for passing through the intersection according to the lane line curvature; adjusting the steering wheel angle of the vehicle according to the guide trajectory; if an oncoming lane line is detected during the vehicle's journey along the guide trajectory, selecting the lane with the smallest lateral steering wheel angle as the target lane for continued driving; if no oncoming lane line is detected and a guiding vehicle is detected ahead of the vehicle, obtaining the driving trajectory angle of the guiding vehicle; and controlling the vehicle to follow the driving trajectory of the guiding vehicle until an oncoming lane line is detected or the driver is prompted to take over the vehicle, based on the range of the driving trajectory angle.

[0008] Based on the aforementioned technical means, the embodiments of this application can plan the vehicle guidance trajectory when passing through a laneless intersection based on the curvature of the original lane line before the intersection, whether there is a guiding vehicle in front of the vehicle, and whether the oncoming lane line can be identified, and adjust the steering wheel angle of the vehicle accordingly. This can effectively ensure the continuity of the intelligent driving assistance system in urban roads with many traffic intersections, effectively reduce the reporting rate of the system when passing through intersections, improve the safety of the system in intersection conditions, improve the driver's driving experience, and at the same time ensure the safety and reliability of autonomous driving, and enhance the comfort of the user's driving experience.

[0009] Optionally, in one embodiment of this application, the step of obtaining the lane line curvature before the vehicle passes through the intersection, and if the lane line curvature is less than or equal to a preset curvature, simulating and generating a guide trajectory for passing through the intersection according to the lane line curvature, and adjusting the steering wheel angle of the vehicle accordingly based on the guide trajectory, specifically includes: when the vehicle's intelligent driving assistance system is activated and it passes through an intersection without lane lines, obtaining the lane line curvature before the vehicle passes through the intersection; determining whether the lane line curvature is less than or equal to a preset curvature; if the lane line curvature is less than or equal to the preset curvature, simulating and generating a guide trajectory for passing through the intersection according to the lane line curvature, and adjusting the steering wheel angle of the vehicle accordingly based on the guide trajectory and continuing to drive according to the guide trajectory.

[0010] Based on the above technical means, the embodiments of this application can perform assisted driving when the intelligent driving assistance system is activated. When the vehicle passes through an intersection without lane lines, the curvature of the lane lines before the vehicle passes through the intersection is automatically obtained. Then, the curvature is compared with a preset curvature. Under the condition of meeting the preset requirements, a guide trajectory for passing through the intersection is simulated according to the lane line curvature, thereby guiding and adjusting the steering wheel angle of the vehicle to drive safely, improving the safety and reliability of autonomous driving.

[0011] Optionally, in one embodiment of this application, after determining whether the lane line curvature is less than or equal to a preset curvature, the method further includes: if the lane line curvature is greater than the preset curvature, then prompting the driver to take over the vehicle via an alarm.

[0012] Based on the above technical means, the embodiments of this application can directly remind the driver to take over the vehicle in time when it is determined that the curvature of the lane line is greater than the preset curvature. Since the user's driving path is uncertain at this time, it is necessary to remind the driver to take over the vehicle in time in order to avoid vehicle accidents, thereby reducing the occurrence of traffic accidents.

[0013] Optionally, in one embodiment of this application, the step of selecting the lane with the smallest lateral steering angle as the target lane when the vehicle is traveling along the guidance trajectory and if an oncoming lane line is detected, to continue driving, specifically includes: determining whether an oncoming lane line is detected based on the collected road information in front of the vehicle while the vehicle is traveling along the guidance trajectory; if the oncoming lane line is detected, selecting the lane with the smallest lateral steering angle as the target lane, and controlling the vehicle to enter the target lane and continue driving.

[0014] Based on the above-mentioned technical means, the embodiments of this application can identify the oncoming lane line when driving through an intersection and control the vehicle to select the lane with the smallest lateral steering angle as the target lane to enter. In this way, the distance to enter the target lane is the shortest and the steering rotation is the smallest, which is relatively the safest and ensures the safety of the vehicle changing lanes.

[0015] Optionally, in one embodiment of this application, the determination of whether an oncoming lane line is identified further includes: if the oncoming lane line cannot be identified, determining whether there is a guiding vehicle in front of the vehicle.

[0016] Based on the above-mentioned technical means, the embodiments of this application can continue to identify whether there is a guiding vehicle in front of the vehicle when the oncoming lane line cannot be identified when driving through an intersection. Then, the vehicle can be controlled to respond differently depending on whether there is a guiding vehicle. This can achieve more reasonable vehicle control, improve the user's driving experience, and meet the user's needs.

[0017] Optionally, in one embodiment of this application, the determination of whether there is a guide vehicle ahead of the vehicle further includes: if there is no guide vehicle, then controlling the direction and turning angle to drive a preset distance according to the original lane line before the intersection, and determining whether the oncoming lane line is identified; if the oncoming lane line is identified, then selecting the lane with the smallest steering wheel lateral turning angle as the target lane to continue driving; if the oncoming lane line cannot be identified, then prompting the driver to take over the vehicle through an alarm.

[0018] Based on the above technical means, the embodiments of this application can identify that when there is no guiding vehicle in front of the vehicle, the vehicle continues to drive a certain distance by controlling the direction and turning angle according to the original lane line before the intersection. If the oncoming lane line is still not identified, the driver is directly reminded to take over the vehicle in time. This is because there is no oncoming lane line at this time, and the user's driving path is uncertain. In order to avoid vehicle accidents, it is necessary to remind the driver to take over the vehicle in time, thereby reducing the occurrence of traffic accidents.

[0019] Optionally, in one embodiment of this application, controlling the vehicle to follow the guide vehicle's trajectory until an oncoming lane line is detected or prompting the driver to take over the vehicle, based on the range of the driving trajectory turning angle, specifically includes: determining the range of the driving trajectory turning angle; if the driving trajectory turning angle belongs to a first preset range, controlling the vehicle to follow the guide vehicle's trajectory until an oncoming lane line is detected, and selecting the lane with the smallest steering wheel lateral turning angle as the target lane to continue driving; if the driving trajectory turning angle belongs to a second preset range, prompting the driver to take over the vehicle through visual prompts; if the driving trajectory turning angle belongs to a third preset range, prompting the driver to take over the vehicle through an alarm; wherein, the third preset range is larger than the second preset range, and the second preset range is larger than the first preset range.

[0020] Based on the above-mentioned technical means, the embodiments of this application can, when a guide vehicle is detected in front of the vehicle, control the vehicle to make corresponding actions according to the different ranges of the guide vehicle's driving trajectory turning angle, continue to control the vehicle to drive autonomously, or directly remind the driver to take over the vehicle in time when autonomous driving cannot continue, thereby improving the feasibility of driverless driving, ensuring the smoothness and stability of autonomous driving, and thus improving the user's driving comfort.

[0021] A second aspect of this application provides a vehicle trajectory planning system for passing through an intersection. The system includes: a lane curvature detection and processing module, used to acquire the lane curvature before the vehicle passes through the intersection; if the lane curvature is less than or equal to a preset curvature, it simulates and generates a guide trajectory for passing through the intersection according to the lane curvature, and adjusts the steering wheel angle of the vehicle accordingly based on the guide trajectory; an oncoming lane line detection and processing module, used to select the lane with the smallest lateral steering wheel angle as the target lane if an oncoming lane line is detected while the vehicle is traveling along the guide trajectory; a guide vehicle detection and processing module, used to acquire the trajectory angle of the guide vehicle if no oncoming lane line is detected and a guide vehicle is detected ahead of the vehicle; and a vehicle driving control module, used to control the vehicle to follow the guide vehicle's trajectory until an oncoming lane line is detected or the driver is prompted to take over the vehicle, based on the range of the trajectory angle.

[0022] Optionally, in one embodiment of this application, the lane curvature detection and processing module includes: a lane curvature acquisition unit, used to acquire the lane curvature of the vehicle before passing through the intersection when the vehicle's intelligent driving assistance system is activated and the vehicle passes through an intersection without lane lines; a first judgment unit, used to determine whether the lane curvature is less than or equal to a preset curvature; and a guidance trajectory generation unit, used to simulate and generate a guidance trajectory for passing through the intersection according to the lane curvature if the lane curvature is less than or equal to the preset curvature, and adjust the steering wheel angle of the vehicle accordingly based on the guidance trajectory and continue driving according to the guidance trajectory.

[0023] Optionally, in one embodiment of this application, the oncoming lane line detection processing module includes: a second judgment unit, used to determine whether an oncoming lane line is detected based on the collected road information in front of the vehicle while the vehicle is traveling according to the guidance trajectory; and a lane switching unit, used to select the lane with the smallest steering wheel lateral angle as the target lane if the oncoming lane line is detected, and control the vehicle to enter the target lane and continue driving.

[0024] Optionally, in one embodiment of this application, the vehicle driving control module includes: a third judgment unit, used to determine the range of the driving trajectory turning angle; a first vehicle control unit, used to control the vehicle to follow the driving trajectory of the guide vehicle until the oncoming lane line is identified, and select the lane with the smallest steering wheel lateral turning angle as the target lane to continue driving if the driving trajectory turning angle belongs to a first preset range; a second vehicle control unit, used to prompt the driver to take over the vehicle through visual prompts if the driving trajectory turning angle belongs to a second preset range; and a third vehicle control unit, used to prompt the driver to take over the vehicle through an alarm if the driving trajectory turning angle belongs to a third preset range; wherein, the third preset range is larger than the second preset range, and the second preset range is larger than the first preset range.

[0025] Optionally, in one embodiment of this application, the system of this application embodiment further includes: a first alarm unit, used to prompt the driver to take over the vehicle by means of an alarm if the curvature of the lane line is greater than the preset curvature.

[0026] Optionally, in one embodiment of this application, the system of this application embodiment further includes: a fourth determination unit, used to determine whether there is a guide vehicle in front of the vehicle if the opposite lane line cannot be identified.

[0027] Optionally, in one embodiment of this application, the system further includes: a control identification unit, used to control the direction angle to drive a preset distance according to the original lane line before the intersection if there is no guide vehicle, and to determine whether the oncoming lane line is identified; a fourth vehicle control unit, used to select the lane with the smallest steering wheel lateral angle as the target lane to continue driving if the oncoming lane line is identified; and a second alarm unit, used to prompt the driver to take over the vehicle by means of an alarm if the oncoming lane line cannot be identified.

[0028] A third aspect of this application provides a vehicle, the vehicle including: a memory, a processor, and a vehicle trajectory planning program stored in the memory and executable on the processor, wherein when the vehicle trajectory planning program is executed by the processor, it implements the steps of the vehicle trajectory planning method for passing through an intersection as described in the above embodiments.

[0029] A fourth aspect of this application provides a computer-readable storage medium storing a vehicle trajectory planning program for passing through an intersection. When executed by a processor, the vehicle trajectory planning program for passing through an intersection implements the steps of the vehicle trajectory planning method for passing through an intersection as described in the above embodiments.

[0030] The beneficial effects of this application are:

[0031] (1) In this embodiment of the application, when the intelligent driving assistance system is activated, if the curvature of the lane line meets the preset conditions when passing through an intersection without lane lines, the system can simulate and generate a guide trajectory for passing through the intersection according to the curvature of the lane line, and adjust the steering wheel angle of the vehicle according to the guide trajectory, thereby improving the reliability of the unmanned driving of the vehicle.

[0032] (2) In this embodiment of the application, the vehicle can identify the opposite lane line when driving through an intersection and select the lane with the smallest lateral steering angle as the target lane to enter. This results in the shortest distance to enter the target lane, the smallest steering rotation, and the highest safety, thus ensuring the safety of the vehicle changing lanes.

[0033] (3) The embodiments of this application can continue to identify whether there is a guiding vehicle in front of the vehicle when the opposite lane line cannot be identified when driving through the intersection. Then, the vehicle can be controlled to respond differently depending on whether there is a guiding vehicle. This can achieve more reasonable vehicle control, improve the user's driving experience, and meet the user's needs.

[0034] (4) The embodiments of this application can directly remind the driver to take over the vehicle in time when the autonomous driving cannot continue, so as to avoid vehicle accidents and reduce the occurrence of traffic accidents.

[0035] (5) The embodiments of this application can plan the vehicle guidance trajectory when passing through a laneless intersection based on the curvature of the original lane line before the intersection, whether there is a guiding vehicle in front of the vehicle, and whether the opposite lane line can be identified, and adjust the steering wheel angle of the vehicle accordingly. This can effectively ensure the continuity of the intelligent driving assistance system in urban roads with many traffic intersections, effectively reduce the reporting rate of the system when passing through intersections, improve the safety of the system under intersection conditions, and improve the driver's driving experience.

[0036] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a flowchart of a preferred embodiment of the method for planning the vehicle's trajectory when passing through an intersection according to this application;

[0039] Figure 2 This is a flowchart illustrating the specific implementation steps of the entire execution process in a preferred embodiment of the vehicle trajectory planning method when passing through an intersection in this application.

[0040] Figure 3 This is a schematic diagram of a preferred embodiment of the vehicle trajectory planning system for passing through an intersection according to this application;

[0041] Figure 4 This is a structural schematic diagram of a preferred embodiment of the vehicle described in this application.

[0042] Among them, 10-a planning system for vehicle trajectory when passing through intersections; 100-lane line curvature detection and processing module, 200-opposing lane line detection and processing module, 300-guide vehicle detection and processing module and 400-vehicle driving control module; 501-memory, 502-processor and 503-communication interface. Detailed Implementation

[0043] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0044] The following description, with reference to the accompanying drawings, describes a method and related equipment for planning vehicle trajectories when passing through intersections according to embodiments of this application. Addressing the issues mentioned in the background art, such as unstable steering wheel control increasing the risk factor when vehicles equipped with intelligent driving assistance functions pass through laneless intersections, frequent function exits affecting the continuity of intelligent driving assistance function use, and frequent alarm prompts for driver takeover affecting the driver's driving experience, this application provides a method for planning vehicle trajectories when passing through intersections. In this method, the vehicle's guiding trajectory when passing through laneless intersections can be planned based on the curvature of the original lane line before passing through the intersection, whether there is a guiding vehicle ahead, and whether the oncoming lane line can be identified. The steering wheel angle of the controlled vehicle is adjusted accordingly. This effectively ensures the continuity of intelligent driving assistance system use on urban roads with many intersections, effectively reduces the system's takeover rate when passing through intersections, improves system safety in intersection conditions, enhances the driver's driving experience, and simultaneously ensures the safety and reliability of autonomous driving, improving user comfort. This solves the technical problems in related technologies, such as unstable steering wheel control when vehicles equipped with intelligent driving assistance functions pass through laneless intersections, which increases the risk of accidents; frequent function exits affecting the continuity of intelligent driving assistance function use; and frequent alarm reminders for driver takeover affecting the driver's driving experience.

[0045] Specifically, Figure 1 This is a flowchart illustrating a method for planning the trajectory of a vehicle when passing through an intersection, as provided in an embodiment of this application.

[0046] like Figure 1 As shown, the method for planning the vehicle trajectory when passing through an intersection includes the following steps:

[0047] In step S101, the lane curvature before the vehicle passes through the intersection is obtained. If the lane curvature is less than or equal to a preset curvature, a guide trajectory for passing through the intersection is simulated and generated according to the lane curvature. The steering wheel angle of the vehicle is adjusted accordingly based on the guide trajectory.

[0048] It is understood that, in this embodiment of the application, when the vehicle's intelligent driving assistance system (e.g., L2 driving assistance system) is activated and the vehicle passes through an intersection without lane lines (e.g., a straight intersection or a small-angle turn within 30°), the vehicle obtains the lane line curvature before passing through the intersection (e.g., using M to represent the lane line curvature, where M can be equal to 0), and then determines whether the lane line curvature M is less than or equal to a preset curvature (e.g., using X to represent the preset curvature, the specific value is not limited to the actual calibration experience based on different vehicle models); if the lane line curvature is less than or equal to the preset curvature (i.e., 0≤M≤X), then the vehicle simulates and generates a guide trajectory for passing through the intersection according to the lane line curvature M, and adjusts the steering wheel angle of the vehicle accordingly based on the guide trajectory and continues to drive according to the guide trajectory.

[0049] In other words, this application can assist driving when the intelligent driving assistance system is activated. When the vehicle passes through an intersection without lane lines, it automatically obtains the curvature of the lane lines before the vehicle passes through the intersection, compares it with the preset curvature, and simulates and generates a guide trajectory for passing through the intersection according to the lane line curvature under the conditions that meet the preset requirements (e.g., the lane line curvature is less than or equal to the preset curvature). This guides and adjusts the steering wheel angle of the vehicle to drive safely, improves the safety and reliability of autonomous driving, and reduces the risk of vehicle collisions.

[0050] Furthermore, if the lane curvature is greater than the preset curvature (i.e., M > X), the intelligent driving assistance system will alert the driver to take over the vehicle. This is because if there is no navigation at this time, the user's driving path is uncertain, so it is necessary to remind the driver to take over the vehicle in a timely manner when there is a certain safe distance, thereby reducing the occurrence of traffic accidents.

[0051] In step S102, if an oncoming lane line is detected while the vehicle is traveling along the guided trajectory, the lane with the smallest lateral steering angle is selected as the target lane for continued driving.

[0052] Understandably, during the vehicle's journey along the guided trajectory, the intelligent driving assistance system determines whether an oncoming lane line is detected based on the collected road information ahead. If the oncoming lane line is detected, the system selects the lane with the smallest lateral steering angle as the target lane and controls the vehicle to enter the target lane before continuing to drive. In other words, this application can detect oncoming lane lines at intersections and control the vehicle to select the lane with the smallest lateral steering angle as the target lane, thereby executing the corresponding lane-changing action. This minimizes the distance to the target lane and the steering rotation, resulting in the highest level of safety. It allows the vehicle to quickly and safely switch lanes, ensuring lane-changing safety, and this automatic lane-changing operation also improves the user's driving comfort.

[0053] Furthermore, if the oncoming lane line cannot be identified, the intelligent driving assistance system determines whether there is a guiding vehicle in front of the vehicle. This application can continue to identify whether there is a guiding vehicle in front of the vehicle when the oncoming lane line cannot be identified after passing through the intersection, and then control the vehicle to respond differently depending on whether there is a guiding vehicle. This can achieve more reasonable vehicle control, improve the user's driving experience, and meet the user's needs.

[0054] In step S103, if no oncoming lane line is detected and a guide vehicle is detected in front of the vehicle, the turning angle of the guide vehicle's driving trajectory is obtained.

[0055] Understandably, when the intelligent driving assistance system fails to recognize the oncoming lane line and also fails to recognize a guiding vehicle in front of the vehicle, it is necessary to obtain the driving trajectory angle of the guiding vehicle (for example, by recognizing, tracking, and predicting the driving trajectory of the guiding vehicle through sensors), and then perform different vehicle controls based on the range of the driving trajectory angle, which is more targeted and safer.

[0056] In step S104, based on the range of the turning angle of the driving trajectory, the vehicle is controlled to follow the driving trajectory of the guide vehicle until the opposite lane line is detected or the driver is prompted to take over the vehicle.

[0057] It is understandable that the intelligent driving assistance system determines the range of the driving trajectory turning angle (for example, using A to represent the driving trajectory turning angle, where A can be equal to 0); three ranges are preset, namely the first preset range (for example, 0≤A≤P), the second preset range (for example, P<A≤Q), and the third preset range (for example, A>Q). The specific values ​​of the different ranges are not limited, depending on the actual calibration experience of different vehicle models. The third preset range is larger than the second preset range, and the second preset range is larger than the first preset range.

[0058] If the driving trajectory turning angle A belongs to the first preset range (0≤A≤P), the intelligent driving assistance system controls the vehicle to follow the guide vehicle's driving trajectory until the oncoming lane line is detected, and continues to select the lane with the smallest steering wheel lateral turning angle as the target lane. If the driving trajectory turning angle A belongs to the second preset range (P<A≤Q), the intelligent driving assistance system prompts the driver to take over the vehicle through visual prompts (such as instrument panel text display). If the driving trajectory turning angle A belongs to the third preset range (A>Q), the system prompts the driver to take over the vehicle through alarms (such as visual, auditory, and tactile prompts). This application can, when a guide vehicle is detected ahead, control the vehicle to take corresponding actions based on the range of the guide vehicle's driving trajectory turning angle, continuing to control the vehicle's autonomous driving or directly reminding the driver to take over the vehicle in time when autonomous driving cannot continue, thereby improving the feasibility of driverless driving, ensuring the smoothness and stability of autonomous driving, improving the user's driving comfort, and reducing the risk of collision.

[0059] Furthermore, after determining whether there is a guiding vehicle ahead, if the determination is that there is no guiding vehicle, the intelligent driving assistance system will control the steering angle to travel a preset distance (e.g., using D to represent the preset distance, the specific distance value can be set according to the actual road conditions, and the specific value is not limited) by fitting the driving trajectory according to the original lane line before the intersection. It will then determine whether it has identified the oncoming lane line. If the oncoming lane line is identified, the system will select the lane with the smallest lateral steering angle as the target lane to continue driving. If the oncoming lane line cannot be identified, the intelligent driving assistance system will prompt the driver to take over the vehicle through an alarm. This application can identify that when there is no guiding vehicle ahead, control the vehicle to continue driving a distance by fitting the driving trajectory according to the original lane line before the intersection and controlling the steering angle. If the oncoming lane line still cannot be identified, it will directly remind the driver to take over the vehicle in time. This is because at this time, the absence of an oncoming lane line makes the user's driving path uncertain. To avoid vehicle accidents, it is necessary to promptly remind the driver to take over the vehicle, thus reducing the occurrence of traffic accidents.

[0060] The following section further describes the entire implementation process according to the steps of the vehicle trajectory planning method when passing through an intersection, as described in this application. Figure 2 As shown:

[0061] Step S1: When the vehicle's intelligent driving assistance system is activated, the subsequent process is triggered when the vehicle passes through an intersection without lane lines. First, the curvature of the lane lines before the vehicle passes through the intersection is obtained.

[0062] Step S2: The vehicle intelligent driving assistance system determines the magnitude of the lane curvature M before passing the intersection. If the lane curvature M is within the interval 0≤M≤X, then proceed to step S3; if the lane curvature M is within the interval M>X, then proceed to step S11.

[0063] Step S3: Simulate the guiding trajectory through the intersection according to the curvature M of the lane line before the intersection, and adjust the steering wheel angle of the vehicle according to the guiding trajectory and continue driving according to the guiding trajectory, then continue to execute step S4;

[0064] Step S4: The vehicle intelligent driving assistance system determines whether it can identify the oncoming lane line based on the collected road information in front of the vehicle. If the oncoming lane line can be identified, proceed to step S7; if the oncoming lane line cannot be identified, proceed to step S5.

[0065] Step S5: The vehicle's intelligent driving assistance system determines whether there is a lead vehicle ahead. If there is a lead vehicle, proceed to step S8; otherwise, proceed to step S6.

[0066] Step S6: Follow the original lane lines before the intersection to fit the driving trajectory and control the direction angle to drive a preset distance D, then continue to execute step S12;

[0067] Step S7: Select the lane with the smallest lateral steering angle as the target lane and continue driving.

[0068] Step S8: The vehicle intelligent driving assistance system determines the interval to which the driving trajectory angle A of the leading vehicle belongs. If the driving trajectory angle A is within the interval range 0≤A≤P, then proceed to step S9; if the driving trajectory angle A is within the interval range P<A≤Q, then proceed to step S10; if the driving trajectory angle A is within the interval range A>Q, then proceed to step S11.

[0069] Step S9: The vehicle's intelligent driving assistance system controls the vehicle to follow the guide vehicle's driving trajectory until the oncoming lane line is detected, and then continues to execute step S7;

[0070] In step S10, the vehicle's intelligent driving assistance system prompts the driver to take over the vehicle through visual cues;

[0071] In step S11, the vehicle's intelligent driving assistance system alerts the driver to take over the vehicle via an alarm.

[0072] In step S12, the vehicle's intelligent driving assistance system determines whether it has detected the oncoming lane line. If the oncoming lane line is detected, the system continues to step S7; otherwise, the system continues to step S11.

[0073] In summary, the embodiments of this application can plan the vehicle's guiding trajectory when passing through a laneless intersection based on the curvature of the original lane line before the intersection, whether there is a guiding vehicle in front of the vehicle, and whether the oncoming lane line can be identified, and adjust the steering wheel angle of the vehicle accordingly. The switching of the target lane is closer to the lane change planning of human habits, reducing the occurrence of traffic safety accidents. It can effectively ensure the continuity of the use of the intelligent driving assistance system on urban roads with many traffic intersections, effectively reduce the reporting rate of the system when passing through intersections, improve the safety of the system in intersection conditions, and improve the driver's driving experience.

[0074] Next, referring to the accompanying drawings, a vehicle trajectory planning system for passing through an intersection according to an embodiment of this application is described.

[0075] Figure 3 This is a block diagram of a vehicle trajectory planning system when passing through an intersection, according to an embodiment of this application.

[0076] like Figure 3 As shown, the vehicle trajectory planning system 10 when passing through an intersection includes: a lane curvature detection and processing module 100, an oncoming lane line detection and processing module 200, a guide vehicle detection and processing module 300, and a vehicle driving control module 400.

[0077] Specifically, the lane curvature detection and processing module 100 is used to obtain the lane curvature before the vehicle passes through the intersection. If the lane curvature is less than or equal to a preset curvature, the module simulates and generates a guide trajectory for passing through the intersection according to the lane curvature, and adjusts the steering wheel angle of the vehicle accordingly based on the guide trajectory.

[0078] The oncoming lane detection and processing module 200 is used to select the lane with the smallest lateral steering angle as the target lane when the vehicle is traveling along the guidance trajectory and it detects an oncoming lane line.

[0079] The guide vehicle detection and processing module 300 is used to obtain the driving trajectory and turning angle of the guide vehicle if the oncoming lane line is not detected and a guide vehicle is detected in front of the vehicle.

[0080] The vehicle driving control module 400 is used to control the vehicle to follow the driving trajectory of the guide vehicle until the opposite lane line is detected or the driver is prompted to take over the vehicle, based on the range of the turning angle of the driving trajectory.

[0081] Optionally, in one embodiment of this application, the lane line curvature detection and processing module includes 100: a lane line curvature acquisition unit, a first judgment unit, and a guide trajectory generation unit.

[0082] The lane curvature acquisition unit is used to acquire the lane curvature before the vehicle passes through an intersection when the vehicle's intelligent driving assistance system is activated and the vehicle passes through an intersection without lane lines.

[0083] The first judgment unit is used to determine whether the curvature of the lane line is less than or equal to a preset curvature.

[0084] The guidance trajectory generation unit is used to simulate and generate a guidance trajectory through the intersection according to the lane line curvature if the lane line curvature is less than or equal to a preset curvature, and adjust the steering wheel angle of the control vehicle according to the guidance trajectory and continue driving according to the guidance trajectory.

[0085] Optionally, in one embodiment of this application, the opposing lane line detection and processing module 200 includes: a second judgment unit and a lane switching unit.

[0086] The second judgment unit is used to determine whether an oncoming lane line is identified based on the collected road information in front of the vehicle while the vehicle is traveling along the guidance trajectory.

[0087] The lane switching unit is used to select the lane with the smallest lateral steering angle as the target lane if the oncoming lane line is detected, and control the vehicle to enter the target lane and continue driving.

[0088] Optionally, in one embodiment of this application, the vehicle driving control module 400 includes: a third judgment unit, a first vehicle control unit, a second vehicle control unit, and a third vehicle control unit.

[0089] The third judgment unit is used to determine the range of the driving trajectory turning angle.

[0090] The first vehicle control unit is used to control the vehicle to follow the driving trajectory of the guide vehicle until the opposite lane line is identified, and select the lane with the smallest lateral steering wheel angle as the target lane to continue driving if the driving trajectory angle is within a first preset range.

[0091] The second vehicle control unit is used to prompt the driver to take over the vehicle through visual cues if the turning angle of the driving trajectory falls within a second preset range.

[0092] The third vehicle control unit is used to alert the driver to take over the vehicle by means of an alarm if the turning angle of the driving trajectory falls within a third preset range.

[0093] Wherein, the third preset interval range is greater than the second preset interval range, and the second preset interval range is greater than the first preset interval range.

[0094] Optionally, in one embodiment of this application, the vehicle trajectory planning system 10 for passing through an intersection further includes: a first alarm unit, a fourth judgment unit, a control identification unit, a fourth vehicle control unit, and a second alarm unit.

[0095] The first alarm unit is used to alert the driver to take over the vehicle by means of an alarm if the curvature of the lane line is greater than the preset curvature.

[0096] The fourth judgment unit is used to determine whether there is a guide vehicle in front of the vehicle if the opposite lane line cannot be identified.

[0097] The control and recognition unit is used to control the direction and turn the vehicle a preset distance according to the original lane line before the intersection if there is no guiding vehicle, and to determine whether the oncoming lane line is recognized.

[0098] The fourth vehicle control unit is used to select the lane with the smallest lateral steering angle as the target lane if the oncoming lane line is detected.

[0099] The second alarm unit is used to prompt the driver to take over the vehicle by means of an alarm if the oncoming lane line cannot be identified.

[0100] It should be noted that the explanation of the above-mentioned method for planning vehicle trajectory when passing through an intersection also applies to the vehicle trajectory planning system when passing through an intersection in this embodiment, and will not be repeated here.

[0101] The vehicle trajectory planning system for passing through intersections proposed in this application can plan the vehicle's guiding trajectory when passing through laneless intersections based on the curvature of the original lane line before passing through the intersection, whether there is a guiding vehicle in front of the vehicle, and whether the oncoming lane line can be identified. It can also adjust the steering wheel angle of the vehicle accordingly. This can effectively ensure the continuity of the intelligent driving assistance system in urban roads with many traffic intersections, effectively reduce the system's takeover rate when passing through intersections, improve the system's safety in intersection conditions, enhance the driver's driving experience, ensure the safety and reliability of autonomous driving, and improve the comfort of the user's driving experience.

[0102] This solves the technical problems in related technologies, such as unstable steering wheel control when vehicles equipped with intelligent driving assistance functions pass through laneless intersections, which increases the risk of accidents; frequent function exits affecting the continuity of intelligent driving assistance function use; and frequent alarm reminders for driver takeover affecting the driver's driving experience.

[0103] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0104] The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0105] When the processor 502 executes the program, it implements the vehicle trajectory planning method for passing through intersections provided in the above embodiments.

[0106] Furthermore, the vehicle also includes:

[0107] Communication interface 503 is used for communication between memory 501 and processor 502.

[0108] The memory 501 is used to store computer programs that can run on the processor 502.

[0109] The memory 501 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0110] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EIS) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0111] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0112] Processor 502 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0113] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for planning the trajectory of a vehicle when passing through an intersection.

[0114] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0115] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0116] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0117] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable storage medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable storage medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable storage medium could be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0118] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0119] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0120] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0121] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

[0122] It should be understood that the application of this application is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A method for planning the trajectory of a vehicle when passing through an intersection, characterized in that, The method for planning vehicle trajectories when passing through intersections includes: Obtain the lane curvature before the vehicle passes through the intersection. If the lane curvature is less than or equal to a preset curvature, simulate and generate a guide trajectory for passing through the intersection according to the lane curvature, and adjust the steering wheel angle of the vehicle accordingly based on the guide trajectory. While the vehicle is traveling along the guided trajectory, if an oncoming lane line is detected, the lane with the smallest lateral steering angle is selected as the target lane to continue driving. If the oncoming lane line is not detected and a guide vehicle is detected in front of the vehicle, obtain the driving trajectory and turning angle of the guide vehicle; The driving trajectory turning angle is obtained by sensor identification, tracking, and prediction of the guide vehicle's driving trajectory; Based on the range of the turning angle of the driving trajectory, control the vehicle to follow the driving trajectory of the guide vehicle until the opposite lane line is detected or prompt the driver to take over the vehicle. The process of obtaining the lane curvature before the vehicle passes through the intersection, and if the lane curvature is less than or equal to a preset curvature, simulating and generating a guide trajectory for passing through the intersection according to the lane curvature, and adjusting the steering wheel angle of the vehicle accordingly based on the guide trajectory, specifically includes: When the vehicle's intelligent driving assistance system is activated and it passes through an intersection without lane markings, the curvature of the lane markings before the vehicle passes through the intersection is obtained. Determine whether the curvature of the lane line is less than or equal to a preset curvature; If the lane curvature is less than or equal to the preset curvature, then a guide trajectory for passing through the intersection is simulated and generated according to the lane curvature, and the steering wheel angle of the vehicle is adjusted accordingly based on the guide trajectory, and the vehicle continues to drive according to the guide trajectory. The process of the vehicle traveling along the guided trajectory, if an oncoming lane line is detected, selecting the lane with the smallest lateral steering angle as the target lane for continued driving, specifically includes: As the vehicle travels along the guided trajectory, it is determined whether the oncoming lane line is identified based on the road information collected ahead of the vehicle. If the oncoming lane line is detected, the lane with the smallest lateral steering angle is selected as the target lane, and the vehicle is controlled to enter the target lane and continue driving.

2. The method for planning vehicle trajectory when passing through an intersection according to claim 1, characterized in that, The step of determining whether the lane line curvature is less than or equal to a preset curvature further includes: If the curvature of the lane line is greater than the preset curvature, an alarm will be triggered to prompt the driver to take over the vehicle.

3. The method for planning vehicle trajectory when passing through an intersection according to claim 1, characterized in that, The determination of whether the oncoming lane line has been detected further includes: If the oncoming lane line cannot be identified, determine whether there is a guide vehicle in front of this vehicle.

4. The method for planning vehicle trajectory when passing through an intersection according to claim 3, characterized in that, The process of determining whether there is a lead vehicle in front of the vehicle also includes: If there is no guide vehicle, the vehicle will follow the original lane lines before the intersection to fit the driving trajectory, control the direction and turn the vehicle for a preset distance, and determine whether the oncoming lane lines have been identified. If the oncoming lane line is detected, the lane with the smallest lateral steering angle is selected as the target lane to continue driving; If the oncoming lane line cannot be identified, an alarm will be triggered to prompt the driver to take over the vehicle.

5. The method for planning vehicle trajectory when passing through an intersection according to claim 1, characterized in that, The step of controlling the vehicle to follow the guide vehicle's trajectory until the oncoming lane line is detected or the driver is prompted to take over the vehicle, based on the range of the turning angle of the driving trajectory, specifically includes: Determine the range of the turning angle of the driving trajectory; If the turning angle of the driving trajectory is within the first preset range, the vehicle is controlled to follow the driving trajectory of the guide vehicle until the opposite lane line is identified, and the lane with the smallest steering wheel lateral turning angle is selected as the target lane to continue driving. If the turning angle of the driving trajectory falls within the second preset range, the driver will be prompted to take over the vehicle via visual cues. If the turning angle of the driving trajectory falls within the third preset range, an alarm will be triggered to prompt the driver to take over the vehicle. Wherein, the third preset interval range is greater than the second preset interval range, and the second preset interval range is greater than the first preset interval range.

6. A system for planning the trajectory of a vehicle when passing through an intersection, characterized in that, The vehicle trajectory planning system for passing through an intersection is applied to the vehicle trajectory planning method for passing through an intersection as described in any one of claims 1-5, wherein the vehicle trajectory planning system for passing through an intersection includes: The lane curvature detection and processing module is used to obtain the lane curvature before the vehicle passes through the intersection. If the lane curvature is less than or equal to the preset curvature, the module simulates and generates a guide trajectory for passing through the intersection according to the lane curvature, and adjusts the steering wheel angle of the vehicle accordingly based on the guide trajectory. The oncoming lane detection and processing module is used to select the lane with the smallest lateral steering angle as the target lane for continued driving if an oncoming lane line is detected while the vehicle is driving according to the guidance trajectory. The guide vehicle detection and processing module is used to obtain the driving trajectory and turning angle of the guide vehicle if the oncoming lane line is not detected and a guide vehicle is detected in front of the vehicle. The vehicle driving control module is used to control the vehicle to follow the driving trajectory of the guide vehicle until the opposite lane line is detected or the driver is prompted to take over the vehicle, based on the range of the driving trajectory turning angle.

7. A vehicle, characterized in that, The vehicle includes: a memory, a processor, and a vehicle trajectory planning program stored in the memory and executable on the processor, wherein when the vehicle trajectory planning program is executed by the processor, it implements the steps of the vehicle trajectory planning method for crossing an intersection as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a planning program for the trajectory of a vehicle when passing through an intersection. When the planning program for the trajectory of a vehicle when passing through an intersection is executed by a processor, it implements the steps of the planning method for the trajectory of a vehicle when passing through an intersection as described in any one of claims 1-5.

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