An intersection passing speed planning method, computer equipment, readable storage medium and motor vehicle

Abstract

The application discloses a kind of intersection traffic speed planning method, computer equipment, readable storage medium and motor vehicle, it is related to automatic driving technical field, comprising the following steps: determining the availability of navigation map;Judge whether vehicle is close to intersection;According to signal light, judge vehicle to stop or pass intersection, and obtain the speed of road element and its rolling distance window;According to the speed of road element and its rolling distance window, the speed of passing intersection is calculated.The application does not depend on high-precision map of advanced auxiliary driving, only through navigation map, without changing the burden of road construction, effectively improve the traffic efficiency of crossroad.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, in particular to a driving state judgment method, a computer device, a readable storage medium and a motor vehicle. BACKGROUND

[0002] Road is the lifeline of urban traffic. With the rapid economic development, the number of vehicles in cities is increasing rapidly, and the traffic volume is increasing, which causes more and more traffic pressure on urban roads. As the point where vehicles converge, turn and disperse, crossroads and T-shaped intersections are the hub of urban traffic. Improving the traffic efficiency of crossroads is an effective way to alleviate traffic congestion.

[0003] In recent years, the automatic driving assistance system has developed rapidly. The existing automatic driving framework can be composed of four modules: perception, decision, planning and control. Decision, as the module directly interacting with planning, plays a very important role. It can free the driver's feet, and the driver only needs to operate the steering wheel to complete the operation of the vehicle. However, in the existing framework of automatic driving, professional data collection vehicles are needed to create high-definition maps, which have quarterly map updating capabilities and require a large amount of manpower and material resources to maintain high-definition maps, resulting in high maintenance and use costs of high-definition maps.

[0004] In addition, at the present stage, to improve the speed of intersection, from the perspective of infrastructure construction, such as road reconstruction, construction of large overpasses and other schemes, the occupation area is large, the construction period is long, the construction cost is high, and the limitations and implementation difficulty are large. From the perspective of perceiving the traffic light system, such as designing a signal light control system, arranging vehicle flow data collection devices, monitoring cameras and central processors, and setting the time length of various signals of the signal light according to the vehicle turning time. Although this way of using external devices to control the signal light can improve the traffic efficiency, with the passage of time and the continuous change of the environment, a large amount of effort still needs to be spent on maintenance, and it can only be applied to customized scenarios. SUMMARY

[0005] The present application aims to solve one of the technical problems in the related art to some extent. To this end, the present application provides a method for planning the speed of intersection, which does not rely on high-definition maps for advanced driver assistance, but only uses navigation maps to effectively improve the traffic efficiency of crossroads without changing the burden of road construction.

[0006] In order to achieve the above purpose, the present application adopts the following technical solutions:

[0007] A method for planning the speed of intersection, comprising the following steps:

[0008] determining the availability of the navigation map, if available, proceeding to the next step, if not available, ending;

[0009] determining whether the vehicle is approaching an intersection, if yes, proceed to the next step, if no, end;

[0010] determining whether the vehicle is stopping or passing the intersection according to the signal light, and obtaining the speed of the road element and its rolling distance window;

[0011] calculating the speed of passing the intersection according to the speed of the road element and its rolling distance window.

[0012] Optionally, the step of determining whether the vehicle is stopping or passing the intersection according to the signal light comprises the following steps:

[0013] obtaining the state of the signal light and the intersection turning type of the navigation map;

[0014] finding the nearest signal light in front of the vehicle, and confirming the found signal light as the signal light concerned by the vehicle through the found signal light and the turning information of the intersection lane;

[0015] determining whether the vehicle can cross the stop line according to the state of the signal light, if yes, passing the intersection, if no, projecting the position of the stop line on the navigation reference, obtaining the point of the projection, and giving the expected speed of 0 at the point.

[0016] Optionally, the step of obtaining the speed of the road element and its rolling distance window comprises:

[0017] the speed set by the driver and its rolling distance window information;

[0018] the speed limit of the road and its rolling distance window information;

[0019] the curvature speed limit and its rolling distance window information;

[0020] the speed in the intersection range and its rolling distance window information.

[0021] Optionally, the speed of the road element and its rolling distance window obtained are output in the form of a list.

[0022] Optionally, the formula for calculating the curvature speed limit is:

[0023]

[0024] wherein, v is the curvature speed limit, a is the acceleration of the vehicle, and k is the inverse of the curvature radius of the turning of the vehicle passing the intersection.

[0025] Optionally, the step of calculating the speed of passing the intersection according to the speed of the road element and its rolling distance window comprises the following steps:

[0026] determining whether the length of the data participating in the calculation exceeds a threshold, if no, proceeding to the next step, if yes, ending.

[0027] Insert the data participating in the calculation into a sliding window queue;

[0028] Set a step size, traverse the data participating in the calculation according to the step size, and perform the following calculation on the data participating in the calculation:

[0029] The minimum speed is calculated from the speed list corresponding to the step size;

[0030] Output the expected traffic speed in the step size;

[0031] Output the expected traffic speed of all step size sets.

[0032] The technical solution provided by the present application improves the method in the prior art of needing to improve the surrounding road or adding equipment, and improves the method to obtain information such as signal light states and stop lines from perception fusion according to the intersection direction of a navigation map, and uses a sliding window dynamic algorithm to fuse and calculate the expected traffic speed of a vehicle, thereby affecting subsequent longitudinal planning, and the vehicle no longer depends on a high-precision map. After simplification, the use cost is reduced, the calculation amount is reduced, the cost of manufacturing a map is reduced, the running efficiency of the vehicle is improved, and the load of the entire system is reduced.

[0033] Meanwhile, the decision algorithm level improves the traffic efficiency at the intersection, and the intersection traffic efficiency is greatly improved by using the sensors carried by the vehicle and the navigation map, thereby relieving traffic congestion.

[0034] In addition, the present application also provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the driving state judgment method of any one of the preceding aspects when executing the computer program.

[0035] Meanwhile, a computer readable storage medium stores a computer program, and the computer program implements the driving state judgment method of any one of the preceding aspects when executed by a processor.

[0036] In addition, the present application also provides a motor vehicle having a navigation-assisted cruise function or an automatic driving function, wherein the motor vehicle plans a speed for passing through an intersection by using the intersection traffic speed planning method of any one of the preceding aspects when the navigation-assisted cruise function or the automatic driving function is running.

[0037] The features and advantages of the present application will be described in detail in the following specific embodiments and drawings. The best embodiment or means of the present application will be fully described in conjunction with the drawings, but it is not a limitation on the technical solution of the present application. In addition, the features, elements and components appearing in each of the following text and drawings are multiple, and different symbols or numbers are marked for the convenience of representation, but all represent the same or similar structure or function parts. Attached Figure Description

[0038] The present invention will be further described below with reference to the accompanying drawings:

[0039] Figure 1 This is a flowchart of an embodiment of the present invention;

[0040] Figure 2 This is a flowchart illustrating how a traffic light determines whether a vehicle stops or passes through an intersection, as described in an embodiment of the present invention.

[0041] Figure 3 This is a flowchart illustrating the calculation of the speed through the intersection based on the speed of the road element and its scroll distance window in an embodiment of the present invention.

[0042] Figure 4 This is a schematic diagram of a vehicle passing through an intersection in an embodiment of the present invention;

[0043] Figure 5 This is a rendering of the sliding window in an embodiment of the present invention;

[0044] Figure 6 A schematic diagram of the electronic device provided by the present invention;

[0045] Figure 7 This is a schematic diagram of a computer-readable medium provided by the present invention. Detailed Implementation

[0046] Embodiments of the present invention are described in detail below. Examples of the 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 are intended to explain the present invention and should not be construed as limiting the present invention.

[0047] The terms "an embodiment," "example," or "trademark" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this patent. The phrase "in an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0048] like Figure 1 As shown, this invention provides a method for planning traffic speed at intersections. When a motor vehicle with navigation-assisted cruise control or autonomous driving function is operating the navigation-assisted cruise control or autonomous driving function, the speed for passing through the intersection is planned by the traffic speed planning method provided in this embodiment.

[0049] The intersection traffic speed planning method provided in this embodiment includes the following steps:

[0050] Determine the availability of the navigation map. If it is available, proceed to the next step; otherwise, end the process.

[0051] Determine whether the vehicle is approaching the intersection, the determination method can be by comparing the distance between the vehicle and the stop line with a threshold value, or directly known by the vehicle perception system, which is not limited here. If it is approaching, proceed to the next step, if it is not approaching, end;

[0052] As shown in Figure 2 , the following steps are taken to determine whether the vehicle stops or passes through the intersection according to the signal light:

[0053] Obtain the state of the signal light and the intersection turning type of the navigation map;

[0054] Find the nearest signal light in front of the vehicle, and confirm that the found signal light is the signal light concerned by the vehicle through the found signal light and the turning information of the intersection lane;

[0055] Determine whether the vehicle can cross the stop line according to the state of the signal light, if it can, pass through the intersection, if it cannot, project the position of the stop line on the navigation reference, obtain the point of the projection, and give a desired speed of 0 at this point.

[0056] At the same time, obtain the speed of the road element and its rolling distance window, which specifically includes:

[0057] The speed set by the driver and its rolling distance window information;

[0058] Road speed limit and its rolling distance window information;

[0059] Curvature speed limit and its rolling distance window information. The curvature speed limit is the speed limit under the curvature of the route provided by the navigation map. The route provided by the navigation map is also the trajectory of a particle in space, and its tangential velocity is parallel to the acceleration direction, and its normal velocity is perpendicular to the acceleration direction. The radius of the circular motion can be determined from the relationship between the speed and the acceleration in the circular motion, and the calculation formula of the curvature speed limit is:

[0060]

[0061] Where v is the curvature speed limit, a is the acceleration of the vehicle, and k is the inverse of the curvature radius of the intersection turning of the vehicle.

[0062] The speed and its rolling distance window information in the intersection range.

[0063] It should be noted that in the present embodiment, the rolling distance window corresponding to the speed of each road element is an effective rolling distance window, and the effective range of the rolling distance window can be flexibly selected by those skilled in the art according to the calibration of different vehicle models.

[0064] The speed of the obtained road element and its rolling distance window are output in the form of a list.

[0065] The speed through the intersection is calculated according to the speed of the road element and its rolling distance window. In this embodiment, the speed through the intersection is calculated by using a sliding window dynamic algorithm, which can be used to solve the problem of finding a continuous interval that meets certain conditions. Since the interval is continuous, when the interval changes, the search space can be pruned by using the original calculation result, thereby reducing repeated calculation and reducing time complexity. As shown in Figure 3 The calculation of the speed through the intersection includes the following steps:

[0066] It is judged whether the length of the data participating in the calculation exceeds a threshold value. If not, the next step is performed. If it exceeds, the process is ended.

[0067] The data participating in the calculation is inserted into a sliding window queue. In this embodiment, the head of the host vehicle is taken as the starting position, and the length of the sliding window is taken as the ending distance of n meters. The navigation map path is discretized into nodes (x1, x2, x k ,...,x n ). The information contained in each node is , etc. The sliding window queue set of each road element is as follows (P start ,,...,P end ), wherein start is the starting index, and end is the ending index.

[0068] The step size is set to d meters. The data participating in the calculation is traversed according to the step size, and the following calculation is performed on the data participating in the calculation:

[0069] The speed list corresponding to the step size is calculated to obtain the minimum speed. The expected passing speed within the step size is output. The expected passing speed of all step size sets is output. As shown in Figure 4 The right vehicle is an autonomous vehicle with an auxiliary system, and the dashed line is the intersection range. At this time, the signal light is red, and the guide line with numbers is the navigation guide line.

[0070] The navigation map is available, the host vehicle approaches the intersection, the signal light is red at this moment, and the host vehicle needs to stop. The projection speed at the stop line is 0. The road speed limit, curvature, distance from the intersection, and other data are obtained from the navigation map, and then the corresponding sliding window is formed as follows:

[0071] Window 1 is the sliding window of the speed set by the driver, and the sliding range is (s start1 -s end1 ). The corresponding sliding speed is (v start1 -v end1 ).

[0072] Window 2 is a sliding window for road speed limits, with a sliding range of (s). start2 -s end2 The corresponding sliding speed is (v) start2 -v end2 );

[0073] Window 3 is a sliding window for curvature-limited speed, with a sliding range of (s). start3 -s end3 The corresponding sliding speed is (v) start3 -v end3 );

[0074] Window 4 is a sliding window for speeds within the intersection area, with a sliding range of (s). start4 -s end4 The corresponding sliding speed is (v) start4 -v end4 );

[0075] Window 5 is the sliding window for the traffic light, with a sliding range of (s). start5 -s end5 The corresponding sliding speed is (v) start5 -v end5 ).

[0076] The output speed through the intersection is as follows: Figure 5 As shown, Figure 5 This is also a diagram of a sliding window, with the vertical axis representing speed and the horizontal axis representing speed. For the horizontal axis, the system iterates through all the sliding window data in a fixed step, queuing up the valid data and calculating the minimum speed for each step. All speeds are then aggregated into the desired speed set and output to the autonomous vehicle. The driver only needs to control the steering wheel, eliminating the need to control the accelerator pedal, thus achieving an effective method for autonomous longitudinal control of the vehicle through intersections, significantly improving traffic efficiency and alleviating traffic congestion.

[0077] Meanwhile, this embodiment also provides

[0078] An electronic device, such as Figure 6 As shown, it includes:

[0079] One or more processors 101;

[0080] The memory 102 stores one or more computer programs that, when executed by the one or more processors 101, cause the one or more processors 101 to implement the driving state determination method according to the first aspect of the invention.

[0081] The electronic device can further include one or more I / O interfaces 103 connected between the processor 101 and the memory 102, configured to realize information interaction of the processor 101 and the memory 102.

[0082] The processor 101 is a device with data processing capability, including but not limited to a central processing unit (CPU) and the like; the first memory is a device with data storage capability, including but not limited to a random access memory (RAM, more specifically SDRAM, DDR, etc.), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory (FLASH); the I / O interface (read-write interface) is connected between the processor and the memory, and can realize information interaction of the processor and the memory, including but not limited to a data bus (Bus) and the like.

[0083] In some embodiments, the processor 101, the memory 102 and the I / O interface 103 are connected with each other through the bus 104, and further connected with other components of the computing device.

[0084] Meanwhile, the embodiment further provides a computer readable medium, as shown in the accompanying drawings, which stores a computer program, and the computer program is executed by the processor to realize the driving state judgment method provided in the first aspect of the present disclosure. Figure 7 The computer program is executed by the processor to realize the driving state judgment method provided in the first aspect of the present disclosure.

[0085] In addition, the embodiment further provides a motor vehicle with a navigation-assisted cruise function or an automatic driving function, and the motor vehicle provided in the embodiment plans the speed of passing through the intersection by using the intersection passing speed planning method when the navigation-assisted cruise function or the automatic driving function is running.

[0086] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. Accordingly, the computer program can be stored in a non-volatile computer readable storage medium, and when executed, the computer program can implement the method of any one of the above-mentioned embodiments. In the embodiments provided in the present application, any reference to memory, storage, database or other medium can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM) and memory bus dynamic RAM (RDRAM), etc.

[0087] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Those skilled in the art should understand that the present application includes but is not limited to the contents described in the above specific embodiments and the accompanying drawings. Any modification that does not deviate from the functional and structural principles of the present application will be included in the scope of the claims.

Claims

1. A method for planning traffic speed at an intersection, characterized in that, The intersection traffic speed planning method includes the following steps: Determine the availability of the navigation map. If it is available, proceed to the next step; otherwise, end the process. Determine if the vehicle is approaching the intersection. If it is, proceed to the next step; otherwise, end the process. Determine whether a vehicle stops or passes through an intersection based on traffic lights, and obtain the speed of road elements and their scroll distance windows; The speed through the intersection is calculated based on the speed of the road elements and their rolling distance window. Determining whether a vehicle should stop or proceed through an intersection based on traffic lights involves the following steps: Get the status of traffic lights and the type of intersection turns on the navigation map; Find the nearest traffic light in front of your vehicle, and confirm that the found traffic light is the one you are interested in by checking the turn information of the intersection lanes. Determine whether the vehicle can cross the stop line based on the status of the traffic lights. If it can, proceed through the intersection. If not, project the position of the stop line onto the navigation reference, obtain the point of the projection, and give the expected speed of 0 at this point. The window for obtaining the speed and scroll distance of road elements includes: Driver-set speed and its scroll distance window information; Road speed limits and their scroll distance window information; Curvature speed limit and its scroll distance window information; Speed ​​and its scroll distance window information within the intersection area; The sliding range and speed of the traffic light's sliding window; Calculating the speed through the intersection based on the speed of the road element and its roll distance window includes the following steps: Determine if the length of the data involved in the calculation exceeds the threshold. If it does not exceed the threshold, proceed to the next step; otherwise, end the process. Insert the data to be calculated into the sliding window queue; Set a step size, iterate through the data involved in the calculation according to the step size, and perform the following calculations on the data involved in the calculation: Calculate the minimum speed from the list of speeds corresponding to the step size; Output the expected passage speed within the step size; Output the expected travel speed for all step size sets.

2. The intersection traffic speed planning method according to claim 1, characterized in that, The speed of the acquired road elements and their scroll distance windows are output as a list.

3. The intersection traffic speed planning method according to claim 1, characterized in that, The formula for calculating the curvature speed limit is: Where v is the curvature speed limit, a is the acceleration of the vehicle, and k is the reciprocal of the curvature radius of the vehicle as it turns through the intersection.

4. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the intersection traffic speed planning method according to any one of claims 1 to 3.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the intersection traffic speed planning method according to any one of claims 1 to 3.

6. A motor vehicle, characterized in that, The motor vehicle has a navigation-assisted cruise function or an automatic driving function. When the motor vehicle operates the navigation-assisted cruise function or the automatic driving function, the speed of passing through the intersection is planned by the intersection speed planning method according to any one of claims 1 to 3.

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