Method, device, equipment, storage medium and vehicle for vehicle passing through intersection

Abstract

The present disclosure relates to a method, device, equipment, storage medium and vehicle for a vehicle passing through an intersection. The present disclosure provides basic data for determining a trajectory planning point by determining a projection position of a current position of the vehicle on lane lines on both sides of a current lane, and a starting position of lane lines on both sides of an opposite exit. The present disclosure provides basic data for a trajectory planning endpoint by determining the trajectory planning endpoint according to the projection position of the current position of the vehicle on the lane lines on both sides of the current lane and the starting position of the lane lines on both sides of the opposite exit. The present disclosure plans a driving trajectory of the vehicle in the current lane according to the current position of the vehicle and the trajectory planning endpoint, and controls the vehicle to pass through the intersection according to the planned driving trajectory, thereby avoiding a problem that the vehicle cannot drive to a target lane of an opposite intersection when the vehicle drives into the intersection and lane keeping assist exits, and improving safety of driving of the vehicle.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent driving technology for automobiles, and in particular to a method, apparatus, device, storage medium, and vehicle for a vehicle to pass through an intersection. Background Technology

[0002] Lane Keeping Assist (LKA) is a system that controls a vehicle to automatically keep driving along the two lane lines of a lane.

[0003] Normally, when a vehicle is passing through an intersection, the lane keeping system disengages or pauses when the lane markings disappear, preventing the vehicle from reaching the target lane on the opposite side of the intersection. This causes the vehicle to drive blindly, which can easily lead to danger and reduce driving safety. Summary of the Invention

[0004] To address the aforementioned technical problems, this disclosure provides a method, apparatus, device, storage medium, and vehicle for vehicles to pass through intersections, thereby improving vehicle driving safety and increasing the flexibility of the method for vehicles to pass through intersections.

[0005] In a first aspect, embodiments of this disclosure provide a method for a vehicle to pass through an intersection, including:

[0006] When a vehicle is at an intersection, determine the projected position of the vehicle's current position on the lane lines on both sides of the current lane, and the starting position of the lane lines on both sides of the opposite exit.

[0007] The endpoint of the trajectory planning is determined based on the starting positions of the lane lines on both sides of the opposite exit.

[0008] Based on the vehicle's current location and the trajectory planning endpoint, the vehicle's driving trajectory in the current lane is planned, and the vehicle is controlled to pass through the intersection according to the driving trajectory.

[0009] Secondly, embodiments of this disclosure provide a device for a vehicle to pass through an intersection, comprising:

[0010] The first determining module is used to determine the projected position of the vehicle's current position on the lane lines on both sides of the current lane and the starting position of the lane lines on both sides of the opposite exit when the vehicle is at an intersection.

[0011] The second determining module is used to determine the trajectory planning endpoint based on the starting positions of the lane lines on both sides of the opposite exit;

[0012] The control module is used to plan the vehicle's driving trajectory in the current lane based on the vehicle's current position and the trajectory planning endpoint, and control the vehicle to pass through the intersection according to the driving trajectory.

[0013] Thirdly, embodiments of this disclosure provide an electronic device, including:

[0014] Memory;

[0015] Processor; and

[0016] Computer programs;

[0017] The computer program is stored in the memory and configured to be executed by the processor to implement the method as described in the first aspect.

[0018] Fourthly, embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the method described in the first aspect.

[0019] Fifthly, embodiments of this disclosure also provide a computer program product comprising a computer program or instructions that, when executed by a processor, implement the method described above.

[0020] Sixthly, embodiments of this disclosure also provide a vehicle, including the means for a vehicle to pass through an intersection as described above.

[0021] The method, apparatus, device, storage medium, and vehicle for a vehicle to pass through an intersection provided in this disclosure provide basic data for determining trajectory planning points by determining the projected positions of the vehicle's current position on the lane lines on both sides of the current lane and the starting positions of the lane lines on both sides of the opposite exit. Based on the projected positions of the vehicle's current position on the lane lines on both sides of the current lane and the starting positions of the lane lines on both sides of the opposite exit, the trajectory planning endpoint is determined, providing basic data for the vehicle's driving trajectory. Based on the vehicle's current position and the trajectory planning endpoint, the vehicle's driving trajectory in the current lane is planned. Following the planned driving trajectory, the vehicle can be controlled to pass through the intersection, avoiding the problem of lane keeping assist reversing when the vehicle enters the intersection, preventing it from reaching the target lane of the opposite intersection, thus improving vehicle driving safety. Attached Figure Description

[0022] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0023] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 A flowchart illustrating a method for a vehicle to pass through an intersection, as provided in this embodiment of the disclosure;

[0025] Figure 2 A schematic diagram illustrating an application scenario provided by an embodiment of this disclosure;

[0026] Figure 3 A schematic diagram illustrating an application scenario provided by an embodiment of this disclosure;

[0027] Figure 4 A schematic diagram illustrating an application scenario provided by an embodiment of this disclosure;

[0028] Figure 5 A schematic diagram of the structure of a device for a vehicle to pass through an intersection, provided in an embodiment of this disclosure;

[0029] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0030] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0031] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0032] This disclosure provides a method for vehicles to pass through an intersection, and the method will be described below with reference to specific embodiments.

[0033] Figure 1 A flowchart illustrating a method for a vehicle to pass through an intersection, as provided in an embodiment of this disclosure. This method can be applied to... Figure 2 The application scenario shown includes vehicles and intersections. It is understood that the method for vehicles to pass through intersections provided in this disclosure can also be applied to other scenarios.

[0034] The following is combined Figure 2 The application scenarios shown are for Figure 1 The method for vehicles to pass through an intersection is illustrated below, and the specific steps involved are as follows:

[0035] S101. When a vehicle is at an intersection, determine the projected position of the vehicle's current position on the lane lines on both sides of the current lane and the starting position of the lane lines on both sides of the opposite exit.

[0036] like Figure 2As shown, the vehicle can be considered as point O. The vehicle's sensors are placed in the center of the windshield. Of course, the sensors can also be mounted in other locations on the vehicle, depending on the actual situation. Based on the sensor data, data about a certain distance around the vehicle can be obtained, including the distance between the vehicle and each point on the lane line within a certain distance range, and whether there are vehicles in the lanes surrounding the vehicle within a certain distance range. The intersection is ABB1A1. When the vehicle is at this intersection and there are no vehicles ahead, based on the sensor data, the projected positions A and B of the vehicle O's current position on the lane lines on both sides of the current lane, and the starting positions A1 and B1 of the lane lines on both sides of the opposite exit are obtained. It is understood that this embodiment uses an intersection, i.e., a lane, for explanation. In some embodiments, the intersection lane can be a two-way lane or a two-way multi-lane lane, such as... Figure 3 As shown, when a vehicle is at an intersection and there are no vehicles ahead, the projected positions A and B of the vehicle's current position on the lane lines on both sides of the current lane are obtained based on sensor data, along with the starting positions A1 and B1 of the lane lines on both sides of the opposite exit. In some embodiments, the number of lanes in the current intersection's vehicle travel direction may be less than the number of lanes in the opposite intersection, such as... Figure 4 As shown, when a vehicle is at an intersection and there are no vehicles ahead, the system obtains the projected positions A and B of the vehicle's current position on the lane lines on both sides of the current lane, and the nearest starting positions A1 and B1 of the lane lines on both sides of the opposite exit, based on sensor data.

[0037] Optionally, determining the projected position of the vehicle's current position on the lane lines on both sides of the current lane includes: if at least one of the lane lines on both sides of the current lane does not exist, then determining a virtual projected position based on the vehicle's current position, wherein the distance between the virtual projected position and the vehicle's current position is half the standard lane width. For example, in Figure 2When the lane line to the left of vehicle O does not exist, the virtual projection position A on the left is determined based on the vehicle's current position O. The distance between the virtual projection position A and the vehicle's current position O is half the lane width. That is, when the lane width is the standard lane width of 3.5m, ideally, the vehicle is in the center of the road according to the lane keeping assist system. Then, a perpendicular line OB is drawn from vehicle O to the right lane line, intersecting the right lane line at point B. The distance OB between vehicle O and the right lane line should be 1.75m. The virtual projection position on the left side of the vehicle is A, OA = 1.75m, and O, A, and B are on the same straight line, that is, OA is perpendicular to the right lane line. In reality, the vehicle position O may have some deviation, but in general, this deviation is within an acceptable range and can be ignored. It can be understood that when the lane lines on the right or both sides of the vehicle do not exist, the same principle applies, obtaining the virtual projection positions A and B of the vehicle's current position on the lane lines on both sides of the current lane. It is understandable that the historical lane width can be determined based on the historical frames before the lanes on both sides disappear, and the virtual projection position can be determined based on the current position of the vehicle. The distance between the virtual projection position and the current position of the vehicle is half of the historical lane width.

[0038] S102. Based on the starting positions of the lane lines on both sides of the opposite exit, determine the endpoint of the trajectory planning.

[0039] Based on the starting positions A1 and B1 of the lane lines on both sides of the opposite exit, determine the endpoint O1 of the trajectory planning.

[0040] Optionally, based on the starting positions A1 and B1 of the lane lines on both sides of the opposite exit, determine the midpoint O1 of the line connecting the starting positions A1 and B1 of the lane lines on both sides of the opposite exit; thus, determine the midpoint O1 of the line as the endpoint of the trajectory planning.

[0041] S103. Based on the vehicle's current position and the trajectory planning endpoint, plan the vehicle's driving trajectory in the current lane, and control the vehicle to pass through the intersection according to the driving trajectory.

[0042] Based on the vehicle's current position O and the trajectory planning destination O1, the vehicle's driving trajectory in the current lane is planned, and the vehicle is controlled to pass through the intersection according to the driving trajectory.

[0043] Optionally, if the distance between the current vehicle position O and the trajectory planning endpoint O1 is less than or equal to the safe driving distance, then the line connecting the current vehicle position O and the trajectory planning endpoint O1 is determined as the vehicle's driving trajectory in the current lane, and the vehicle is controlled to pass through the intersection according to the driving trajectory.

[0044] Optionally, if the distance between the vehicle's current position and the trajectory planning endpoint is greater than the safe driving distance, then based on the projection position of the vehicle's current position on the lane lines on both sides of the current lane and the starting position of the lane lines on both sides of the opposite exit, at least one trajectory planning point is determined, such that the distance between any two adjacent points among the vehicle's current position, the at least one trajectory planning point, and the trajectory planning endpoint is less than or equal to the safe driving distance; based on the vehicle's current position, the at least one trajectory planning point, and the trajectory planning endpoint, the vehicle's driving trajectory in the current lane is planned, and the vehicle is controlled to pass through the intersection according to the driving trajectory.

[0045] Safe driving distance = Preset distance / (lane width / lane change time) * driving speed

[0046] Safe driving distance represents the farthest distance that one can travel forward to ensure their own safety in an unknown scenario, and the unit is meters (m).

[0047] The preset distance represents the distance that the lane keeping assist function is allowed to deviate laterally within its operating range, and the unit is meters (m).

[0048] Lane width, also known as standard lane width, refers to the width required for a line of vehicles to travel safely and smoothly on a road. It includes the outer width of the designed vehicles and the extra width necessary for passing, overtaking, or driving side by side. The unit is meters (m).

[0049] Lane change time (T) represents the time it takes for a vehicle to successfully change lanes from its current lane to an adjacent lane, measured in seconds (s).

[0050] Vehicle speed (V) represents the speed of a vehicle, measured in meters per second (m / s).

[0051] If the distance between the vehicle's current position O and the trajectory planning endpoint O1 is greater than the safe driving distance, then based on the projected positions A and B of the vehicle's current position O on the lane lines on both sides of the current lane and the starting positions A1 and B1 of the lane lines on both sides of the opposite exit, a trajectory planning point O2 is determined, such that the distance between any two adjacent points among the vehicle's current position O, trajectory planning point O2, and trajectory planning endpoint O1 is less than or equal to the safe driving distance. It can be understood that when the distance between any two adjacent points among the vehicle's current position O, trajectory planning point O2, and trajectory planning endpoint O1 is greater than the safe driving distance, at least one trajectory planning point, including points O2, O3, O4, etc., is determined, such that the distance between any two adjacent points among the vehicle's current position, at least one trajectory planning point, and trajectory planning endpoint is less than or equal to the safe driving distance.

[0052] This embodiment of the disclosure provides basic data for determining trajectory planning points by determining the projected positions of the vehicle's current position on the lane lines on both sides of the current lane and the starting positions of the lane lines on both sides of the opposite exit. Based on the starting positions of the lane lines on both sides of the opposite exit, the trajectory planning endpoint is determined. If the distance between the vehicle's current position and the trajectory planning endpoint is greater than a safe driving distance, at least one trajectory planning point is determined based on the projected positions of the vehicle's current position on the lane lines on both sides of the current lane and the starting positions of the lane lines on both sides of the opposite exit. This ensures that the distance between any two adjacent points among the vehicle's current position, the at least one trajectory planning point, and the trajectory planning endpoint is less than or equal to the safe driving distance, thus providing basic data for the vehicle's driving trajectory. Based on the vehicle's current position, at least one trajectory planning point, and the trajectory planning endpoint, the vehicle's driving trajectory in the current lane is planned. Following the planned driving trajectory allows the vehicle to pass through intersections, avoiding the problem of lane keeping assist reversing when the vehicle enters an intersection, preventing it from reaching the target lane of the opposite intersection, and improving vehicle driving safety.

[0053] In some embodiments, determining at least one trajectory planning point based on the projected positions of the vehicle's current position on the lane lines on both sides of the current lane and the starting positions of the lane lines on both sides of the opposite exit includes: determining the first midpoint of the line connecting the projected position on the left lane line of the current lane and the starting position of the left lane line of the opposite exit; determining the second midpoint of the line connecting the projected position on the right lane line of the current lane and the starting position of the right lane line of the opposite exit; and determining the midpoint of the line connecting the first midpoint and the second midpoint as the first trajectory planning point.

[0054] Based on the projected position A on the left lane line of the current lane and the starting position A1 of the left lane line of the opposite exit, determine the first midpoint A2 of the line AA1 connecting the projected position A on the left lane line of the current lane and the starting position A1 of the left lane line of the opposite exit; based on the projected position B on the right lane line of the current lane and the starting position B1 of the right lane line of the opposite exit, determine the second midpoint B2 of the line BB1 ​​connecting the projected position B on the right lane line of the current lane and the starting position B1 of the right lane line of the opposite exit; connect the first midpoint A2 and the second midpoint B2, and determine the midpoint O2 of the line A2B2 connecting the first midpoint A2 and the second midpoint B2 as the first trajectory planning point.

[0055] Optionally, based on the projected positions of the vehicle's current position on the lane lines on both sides of the current lane and the starting positions of the lane lines on both sides of the opposite exit, at least one trajectory planning point is determined, including: if the distance between the first trajectory planning point and the trajectory planning endpoint is greater than the safe driving distance, then the third midpoint of the line connecting the first midpoint and the starting position of the left lane line of the opposite exit is determined; the fourth midpoint of the line connecting the second midpoint and the starting position of the right lane line of the opposite exit is determined; and the midpoint of the line connecting the third midpoint and the fourth midpoint is determined as the second trajectory planning point.

[0056] If the distance between the first trajectory planning point O2 and the trajectory planning endpoint O1 is greater than the safe driving distance, then determine the third midpoint A4 of the line A2A1 connecting the first midpoint A2 and the starting position A1 of the left lane line of the opposite exit, and determine the fourth midpoint B4 of the line B2B1 connecting the second midpoint B2 and the starting position B1 of the right lane line of the opposite exit. Connect A4B4, and determine the midpoint O4 of the line A4B4 connecting the third midpoint A4 and the fourth midpoint B4 as the second trajectory planning point.

[0057] Optionally, determining at least one trajectory planning point based on the projected positions of the vehicle's current position on the lane lines on both sides of the current lane and the starting positions of the lane lines on both sides of the opposite exit includes: if the distance between the vehicle's current position and the first trajectory planning point is greater than the safe driving distance, then determining the fifth midpoint of the line connecting the projected position on the left lane line of the current lane and the first midpoint; determining the sixth midpoint of the line connecting the projected position on the right lane line of the current lane and the second midpoint; and determining the midpoint of the line connecting the fifth midpoint and the sixth midpoint as the third trajectory planning point.

[0058] If the distance between the vehicle's current position O and the first trajectory planning point O2 is greater than the safe driving distance, then determine the fifth midpoint A3 of the line AA2 connecting the projected position A on the left lane line of the current lane and the first midpoint A2, and determine the sixth midpoint B3 of the line BB2 connecting the projected position B on the right lane line of the current lane and the second midpoint B2; determine the midpoint O3 of the line A3B3 connecting the fifth midpoint A3 and the sixth midpoint B3 as the third trajectory planning point.

[0059] This embodiment of the disclosure provides a data foundation for vehicle driving trajectory by determining trajectory planning points, thereby further improving vehicle driving safety.

[0060] In some embodiments, if the starting positions of the lane lines on both sides of the opposite exit cannot be determined, at least one trajectory planning point is determined based on the current position of the vehicle, and the distance between any two adjacent points among the current position of the vehicle and the at least one trajectory planning point is the safe driving distance; based on the current position of the vehicle and the at least one trajectory planning point, the driving trajectory of the vehicle in the current lane is planned, and the vehicle is controlled to drive according to the driving trajectory.

[0061] When the starting positions of the lane lines on both sides of the oncoming exit cannot be determined based on sensor data, a trajectory planning point is determined based on the vehicle's current position O, and a virtual point O3 is drawn, such that O3 is parallel to the lane lines and equal to the safe driving distance. If the vehicle is at position O3 and the starting positions of the lane lines on both sides of the oncoming exit cannot be determined based on sensor data, a virtual point O2 is drawn, such that O3, O2, and O are on the same straight line, O3O2 is parallel to the lane lines, and O3O2 is equal to the safe driving distance. If the vehicle is at position O2 and the starting positions of the lane lines on both sides of the oncoming exit cannot be determined based on sensor data, a virtual point O4 is drawn, such that O4, O3, O2, and O are on the same straight line, O2O4 is parallel to the lane lines, and O2O4 is equal to the safe driving distance. Based on the vehicle's current position and the trajectory planning points O3, O2, and O4, the vehicle's driving trajectory in the current lane is planned, and the vehicle is controlled to drive according to the stated trajectory. It is understandable that the width of the road is fixed, so the length of the intersection is limited. When the starting position of the lane lines on both sides of the opposite exit cannot be determined, one can safely complete the entire intersection by following the safe driving distance.

[0062] Optionally, if the starting positions of the lane lines on both sides of the opposite exit are determined based on sensor data during the process of controlling the vehicle to travel according to the driving trajectory, then the step of determining the trajectory planning endpoint based on the starting positions of the lane lines on both sides of the opposite exit and subsequent steps are executed.

[0063] During the process of controlling the vehicle to travel along the stated trajectory, if the starting positions of the lane lines on both sides of the oncoming exit are determined based on sensor data, then the step of determining the trajectory planning endpoint based on the starting positions of the lane lines on both sides of the oncoming exit, and subsequent steps, are executed. For example, when the vehicle is at position O3, the starting positions of the lane lines on both sides of the oncoming exit can be determined based on sensor data, then the trajectory planning endpoint is determined based on the starting positions of the lane lines on both sides of the oncoming exit; if the distance between the vehicle's current position and the trajectory planning endpoint is greater than the safe driving distance, then at least one trajectory planning point is determined based on the projection position of the vehicle's current position on the lane lines on both sides of the current lane and the starting positions of the lane lines on both sides of the oncoming exit, so that the distance between any two adjacent points among the vehicle's current position, at least one trajectory planning point, and the trajectory planning endpoint is less than or equal to the safe driving distance; based on the vehicle's current position, at least one trajectory planning point, and the trajectory planning endpoint, the vehicle's travel trajectory in the current lane is planned, and the vehicle is controlled to pass through the intersection according to the stated trajectory.

[0064] This embodiment of the invention determines the vehicle's trajectory by identifying each trajectory planning point when the starting positions of the lane lines on both sides of the opposite exit cannot be determined based on sensor data, thereby further improving the safety of vehicle driving.

[0065] Figure 5 This is a schematic diagram of a vehicle crossing an intersection device provided in an embodiment of this disclosure. The vehicle crossing intersection device can be the electronic device described in the above embodiment, or it can be a component or assembly within that electronic device. The vehicle crossing intersection device provided in this disclosure embodiment can execute the processing flow provided in the vehicle crossing intersection method embodiment, such as... Figure 5 As shown, the vehicle passage device 50 includes: a first determining module 51, a second determining module 52, and a control module 53; wherein, the first determining module 51 is used to determine the projection position of the vehicle's current position on the lane lines on both sides of the current lane and the starting position of the lane lines on both sides of the opposite exit when the vehicle is located at the intersection; the second determining module 52 is used to determine the trajectory planning endpoint based on the starting position of the lane lines on both sides of the opposite exit; the control module 54 is used to plan the vehicle's driving trajectory in the current lane based on the vehicle's current position and the trajectory planning endpoint, and control the vehicle to pass through the intersection according to the driving trajectory.

[0066] Optionally, the first determining module 51 is further configured to determine the projection position of the vehicle's current position on the lane lines on both sides of the current lane, including: if at least one lane line on both sides of the current lane does not exist, then based on the vehicle's current position, determine a virtual projection position, wherein the distance between the virtual projection position and the vehicle's current position is half the standard lane width.

[0067] Optionally, the second determining module 52 is further configured to determine the trajectory planning endpoint based on the starting positions of the lane lines on both sides of the opposite exit, including: determining the midpoint of the line connecting the starting positions of the lane lines on both sides of the opposite exit; and determining the midpoint of the line as the trajectory planning endpoint.

[0068] Optionally, the control module 53 is further configured to determine the line connecting the current position of the vehicle and the trajectory planning endpoint as the vehicle's driving trajectory in the current lane if the distance between the current position of the vehicle and the trajectory planning endpoint is less than or equal to the safe driving distance, and control the vehicle to pass through the intersection according to the driving trajectory.

[0069] Optionally, the control module 53 is further configured to plan the vehicle's driving trajectory in the current lane based on the vehicle's current position and the trajectory planning endpoint, and control the vehicle to pass through the intersection according to the driving trajectory, including:

[0070] If the distance between the current position of the vehicle and the trajectory planning endpoint is greater than the safe driving distance, then based on the projection position of the current position of the vehicle on the lane lines on both sides of the current lane and the starting position of the lane lines on both sides of the opposite exit, at least one trajectory planning point is determined so that the distance between any two adjacent points among the current position of the vehicle, the at least one trajectory planning point, and the trajectory planning endpoint is less than or equal to the safe driving distance.

[0071] Based on the vehicle's current location, the at least one trajectory planning point, and the trajectory planning endpoint, the vehicle's driving trajectory in the current lane is planned, and the vehicle is controlled to pass through the intersection according to the driving trajectory.

[0072] Optionally, the control module 53 is further configured to determine at least one trajectory planning point based on the projected positions of the vehicle's current position on the lane lines on both sides of the current lane and the starting positions of the lane lines on both sides of the opposite exit, including: determining the first midpoint of the line connecting the projected position on the left lane line of the current lane and the starting position of the left lane line of the opposite exit; determining the second midpoint of the line connecting the projected position on the right lane line of the current lane and the starting position of the right lane line of the opposite exit; and determining the midpoint of the line connecting the first midpoint and the second midpoint as the first trajectory planning point.

[0073] Optionally, the control module 53 is further configured to determine at least one trajectory planning point based on the projected position of the vehicle's current position on the lane lines on both sides of the current lane and the starting position of the lane lines on both sides of the opposite exit, including: if the distance between the first trajectory planning point and the trajectory planning endpoint is greater than the safe driving distance, then determining the third midpoint of the line connecting the first midpoint and the starting position of the left lane line of the opposite exit; determining the fourth midpoint of the line connecting the second midpoint and the starting position of the right lane line of the opposite exit; and determining the midpoint of the line connecting the third midpoint and the fourth midpoint as the second trajectory planning point.

[0074] Optionally, the control module 53 is further configured to determine at least one trajectory planning point based on the projected positions of the vehicle's current position on the lane lines on both sides of the current lane and the starting positions of the lane lines on both sides of the opposite exit, including: if the distance between the vehicle's current position and the first trajectory planning point is greater than the safe driving distance, then determining the fifth midpoint of the line connecting the projected position on the left lane line of the current lane and the first midpoint; determining the sixth midpoint of the line connecting the projected position on the right lane line of the current lane and the second midpoint; and determining the midpoint of the line connecting the fifth midpoint and the sixth midpoint as the third trajectory planning point.

[0075] Optionally, the control module 53 is further configured to, if the starting positions of the lane lines on both sides of the opposite exit cannot be determined, determine at least one trajectory planning point based on the current position of the vehicle, wherein the distance between any two adjacent points of the current position of the vehicle and the at least one trajectory planning point is a safe driving distance; plan the driving trajectory of the vehicle in the current lane based on the current position of the vehicle and the at least one trajectory planning point, and control the vehicle to drive according to the driving trajectory.

[0076] Optionally, the control module 53 is further configured to, if the starting position of the lane lines on both sides of the opposite exit is determined based on sensor data during the process of controlling the vehicle to travel according to the driving trajectory, execute the step of determining the trajectory planning endpoint based on the starting position of the lane lines on both sides of the opposite exit and the subsequent steps.

[0077] Figure 5 The device for vehicles passing through intersections in the illustrated embodiment can be used to execute the technical solutions of the above method embodiments. Its implementation principle and technical effects are similar, and will not be repeated here.

[0078] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. The electronic device provided in this embodiment of the disclosure can execute the processing flow provided in the method embodiment for a vehicle passing through an intersection, such as... Figure 6As shown, the electronic device 60 includes: a memory 61, a processor 62, a computer program, and a communication interface 63; wherein the computer program is stored in the memory 61 and configured to be executed by the processor 62 as described above, the method for a vehicle to pass through an intersection.

[0079] In addition, this disclosure also provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the method for vehicles to pass through an intersection as described in the above embodiments.

[0080] Furthermore, this disclosure also provides a computer program product, which includes a computer program or instructions that, when executed by a processor, implement the method for a vehicle to pass through an intersection as described above.

[0081] Furthermore, this disclosure also provides a vehicle, including the device described above for a vehicle to pass through an intersection.

[0082] It should be noted that the computer-readable medium described in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0083] In some implementations, clients and servers can communicate using any currently known or future-developed network protocol such as HTTP (Hypertext Transfer Protocol) and can interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet of Things), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future-developed networks.

[0084] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0085] The aforementioned computer-readable medium carries one or more programs that, when executed by the electronic device, cause the electronic device to:

[0086] When a vehicle is at an intersection, determine the projected position of the vehicle's current position on the lane lines on both sides of the current lane, and the starting position of the lane lines on both sides of the opposite exit.

[0087] The endpoint of the trajectory planning is determined based on the starting positions of the lane lines on both sides of the opposite exit.

[0088] Based on the vehicle's current location and the trajectory planning endpoint, the vehicle's driving trajectory in the current lane is planned, and the vehicle is controlled to pass through the intersection according to the driving trajectory.

[0089] In addition, the electronic device can also perform other steps in the method for vehicles to pass through intersections as described above.

[0090] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0091] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0092] The units described in the embodiments of this disclosure can be implemented in software or hardware. The names of the units are not, in some cases, intended to limit the specific unit.

[0093] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0094] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0095] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, 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 limitations, 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.

[0096] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for a vehicle to pass through an intersection, characterized in that, The method includes: When a vehicle is at an intersection, determine the projected position of the vehicle's current position on the lane lines on both sides of the current lane, and the starting position of the lane lines on both sides of the opposite exit. The endpoint of the trajectory planning is determined based on the starting positions of the lane lines on both sides of the opposite exit. Based on the vehicle's current position and the trajectory planning endpoint, the vehicle's driving trajectory in the current lane is planned, and the vehicle is controlled to pass through the intersection according to the driving trajectory; The method further includes: If the starting positions of the lane lines on both sides of the opposite exit cannot be determined, then at least one trajectory planning point is determined based on the current position of the vehicle. The distance between the current position of the vehicle and any two adjacent points among the at least one trajectory planning point is the safe driving distance. Based on the vehicle's current position and the at least one trajectory planning point, the vehicle's driving trajectory in the current lane is planned, and the vehicle is controlled to drive according to the driving trajectory.

2. The method according to claim 1, characterized in that, Determining the projected position of the vehicle's current location on the lane lines on both sides of the current lane includes: If at least one lane line on either side of the current lane does not exist, a virtual projection position is determined based on the vehicle's current position, and the distance between the virtual projection position and the vehicle's current position is half the standard lane width.

3. The method according to claim 1, characterized in that, The determination of the trajectory planning endpoint based on the starting positions of the lane lines on both sides of the opposite exit includes: Determine the midpoint of the line connecting the starting positions of the lane lines on both sides of the opposing exit; The midpoint of the connecting line is determined as the endpoint of the trajectory planning.

4. The method according to claim 1, characterized in that, The method further includes: if the distance between the current position of the vehicle and the trajectory planning endpoint is less than or equal to the safe driving distance, then the line connecting the current position of the vehicle and the trajectory planning endpoint is determined as the driving trajectory of the vehicle in the current lane, and the vehicle is controlled to pass through the intersection according to the driving trajectory.

5. The method according to claim 1, characterized in that, Based on the vehicle's current position and the trajectory planning endpoint, the system plans the vehicle's driving trajectory in the current lane and controls the vehicle to pass through the intersection according to the driving trajectory, including: If the distance between the current position of the vehicle and the trajectory planning endpoint is greater than the safe driving distance, then based on the projection position of the current position of the vehicle on the lane lines on both sides of the current lane and the starting position of the lane lines on both sides of the opposite exit, at least one trajectory planning point is determined so that the distance between any two adjacent points among the current position of the vehicle, the at least one trajectory planning point, and the trajectory planning endpoint is less than or equal to the safe driving distance. Based on the vehicle's current location, the at least one trajectory planning point, and the trajectory planning endpoint, the vehicle's driving trajectory in the current lane is planned, and the vehicle is controlled to pass through the intersection according to the driving trajectory.

6. The method according to claim 5, characterized in that, The step of determining at least one trajectory planning point based on the projected position of the vehicle's current position on the lane lines on both sides of the current lane and the starting position of the lane lines on both sides of the opposite exit includes: Determine the first midpoint of the line connecting the projected position on the left lane line of the current lane and the starting position on the left lane line of the opposite exit. Determine the second midpoint of the line connecting the projected position on the right lane line of the current lane and the starting position on the right lane line of the opposite exit. The midpoint of the line connecting the first midpoint and the second midpoint is determined as the first trajectory planning point.

7. The method according to claim 6, characterized in that, The step of determining at least one trajectory planning point based on the projected position of the vehicle's current position on the lane lines on both sides of the current lane and the starting position of the lane lines on both sides of the opposite exit includes: If the distance between the first trajectory planning point and the trajectory planning endpoint is greater than the safe driving distance, then determine the third midpoint of the line connecting the first midpoint and the starting position of the left lane line of the opposite exit; determine the fourth midpoint of the line connecting the second midpoint and the starting position of the right lane line of the opposite exit; and determine the midpoint of the line connecting the third midpoint and the fourth midpoint as the second trajectory planning point.

8. The method according to claim 6, characterized in that, The step of determining at least one trajectory planning point based on the projected position of the vehicle's current position on the lane lines on both sides of the current lane and the starting position of the lane lines on both sides of the opposite exit includes: If the distance between the vehicle's current position and the first trajectory planning point is greater than the safe driving distance, then the fifth midpoint of the line connecting the projected position on the left lane line of the current lane and the first midpoint is determined; the sixth midpoint of the line connecting the projected position on the right lane line of the current lane and the second midpoint is determined; and the midpoint of the line connecting the fifth midpoint and the sixth midpoint is determined as the third trajectory planning point.

9. The method according to claim 1, characterized in that, The method further includes: If, during the process of controlling the vehicle to travel along the driving trajectory, the starting positions of the lane lines on both sides of the opposite exit are determined, then the step of determining the trajectory planning endpoint based on the starting positions of the lane lines on both sides of the opposite exit and subsequent steps are executed.

10. A device for a vehicle to pass through an intersection, characterized in that, The device includes: The first determining module is used to determine the projected position of the vehicle's current position on the lane lines on both sides of the current lane and the starting position of the lane lines on both sides of the opposite exit when the vehicle is at an intersection. The second determining module is used to determine the trajectory planning endpoint based on the starting positions of the lane lines on both sides of the opposite exit; The control module is used to plan the vehicle's driving trajectory in the current lane based on the vehicle's current position and the trajectory planning endpoint, and control the vehicle to pass through the intersection according to the driving trajectory; The control module is also used to determine at least one trajectory planning point based on the current position of the vehicle if the starting position of the lane lines on both sides of the opposite exit cannot be determined. The distance between the current position of the vehicle and any two adjacent points among the at least one trajectory planning point is the safe driving distance. Based on the vehicle's current position and the at least one trajectory planning point, the vehicle's driving trajectory in the current lane is planned, and the vehicle is controlled to drive according to the driving trajectory.

11. An electronic device, characterized in that, include: Memory; processor; as well as Computer programs; The computer program is stored in the memory and configured to be executed by the processor to implement the method as described in any one of claims 1-9.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-9.

13. A vehicle, characterized in that, Includes the device for a vehicle to pass through an intersection as described in claim 10.

Images