A vehicle driving judgment method, system and electronic device without signal intersection

Abstract

This application proposes a method, system, and electronic device for determining vehicle movement at unsignalized intersections. By using standard-definition map information of the vehicle at the current intersection, the system determines the position of each node at the intersection, performs node matching, and obtains the vehicle's environmental information. Based on the environmental information and node matching results, it obtains corresponding driving priority information. Finally, based on the environmental information and driving intention, and in conjunction with the driving priority information, it determines the vehicle's movement. This application obtains road intersection priority information by acquiring a standard-definition map and performing node matching. By comparing driving priority levels, it reduces reliance on high-definition maps, achieving beneficial effects such as determining vehicle driving paths, traffic coordination, safe intersections, and improved traffic efficiency. This contributes to improving the safety, efficiency, and smoothness of the traffic system and significantly promotes the adoption of autonomous driving at complex unsignalized intersections.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a method, system and electronic device for determining vehicle movement at unsignalized intersections. Background Technology

[0002] In the field of autonomous driving, the complexity of unsignaled intersections stems from several factors. First, due to the lack of traffic light control, unsignaled intersections require a game-theoretic approach to determine the order of vehicles. This involves coordination and decision-making among multiple vehicles, as each wants to pass through the intersection as quickly as possible without causing a collision. Therefore, developing reliable game-theoretic strategies is a challenge. Second, road priority is also a challenge at unsignaled intersections. In traditional signalized intersections, vehicles clearly understand who has the right of way through changes in light color. However, at unsignaled intersections, there are no clear rules to determine vehicle priority. Therefore, advanced technologies are needed to analyze traffic flow, vehicle speed, and other relevant factors to determine the appropriate priority order.

[0003] Another challenge is behavior prediction. Unsignalized intersections may involve various types of vehicles, including cars, trucks, bicycles, and pedestrians. Accurately predicting the behavior of each traffic participant is crucial for safe passage through the intersection. This problem requires leveraging technologies such as computer vision and machine learning to perceive the surrounding environment and predict the movement and destination of each participant. Finally, road intersections are another complicating factor. Some intersections may have multiple roads converging, and vehicles on these roads may have different speeds and directions of travel. Therefore, autonomous vehicles need to be able to correctly select and adjust lanes at intersections to safely cross the intersection. In summary, unsignalized intersections present several challenges in the field of autonomous driving, including game-theoretic decision-making, road prioritization, behavior prediction, and road intersections. The challenge lies in how to address these challenges based on existing map information and reduce reliance on high-precision map data. Summary of the Invention

[0004] To address the aforementioned technical problems, this application proposes a method, system, and electronic device for determining vehicle movement at unsignalized intersections.

[0005] Firstly, this application provides a method for determining vehicle movement at an unsignalized intersection, including: S1: Based on the standard definition map information of the vehicle at the current intersection, determine the position of each node at the current intersection and perform node matching.

[0006] Furthermore, the standard definition map information typically includes basic road topology information such as lane lines, intersections, and junction locations, which is used for vehicle navigation and basic driving direction decisions.

[0007] Furthermore, the standard definition map information includes at least intersection structure information and the driving direction of each lane at the intersection; The intersection structure information is a T-shaped intersection; The intersection's lanes for each direction of travel include at least a straight lane, a left-turn lane, a right-turn lane, a shared lane for straight and right turns, a shared lane for straight and left turns, and a shared lane for straight, left, and right turns.

[0008] Furthermore, the determination of the positions of each node at the current intersection and the performance of node matching specifically involves: The number of current intersection nodes is determined based on the intersection structure information, wherein the current intersection node is each turning or lane change point in the intersection; And based on the travel direction of each lane at the intersection, determine the corresponding node position, wherein, If a node's sub-lanes consist only of a straight-ahead lane and a right-turn lane, then that node is marked as the first node. If a node's sub-lanes only have a straight lane and a left-turn lane, then that node is marked as the second node; If all the sub-lanes of a node are turning lanes, then that node is marked as the third node.

[0009] S2: Obtain the vehicle's environmental information, and based on the environmental information and node matching results, obtain the corresponding driving priority information.

[0010] Furthermore, the environmental information is acquired through the vehicle's perception system; The environmental information includes at least lane markings, lane direction of travel, number of surrounding lanes, initial lane position of the vehicle, initial lane position of surrounding vehicles, and travel paths of surrounding vehicles.

[0011] Furthermore, the driving priority information specifically includes: Traffic priority for vehicles in different lanes at the current intersection node to merge their travel paths; The traffic priority relies on specific traffic rules and road signs, and applies to the priority of vehicles in different lanes at the current intersection node when their travel paths intersect. That is, in different lanes at a specific intersection node, the travel priority between vehicles is determined according to road signs and traffic rules to ensure orderly and safe traffic. At the same time, the traffic rules and road signs may vary from region to region. Therefore, in a specific driving environment, it is necessary to abide by the corresponding traffic rules and signs to ensure the safe and smooth driving of vehicles.

[0012] S3: Based on the environmental information and driving intention, and in conjunction with the driving priority information, determine the vehicle's driving direction.

[0013] Furthermore, the driving intention includes at least the target node of the vehicle and the lane position within the target node; The lane position in the target node refers to the specific lane position selected by the vehicle after reaching the target node. By specifying the lane position, the vehicle can indicate the accurate driving path.

[0014] Furthermore, step S3 includes: The initial node position of the vehicle is determined based on the lane markings, and the driving path of the vehicle is determined based on the initial node position and the initial lane position. The vehicle uses visual sensors to read lane markings on the road, and then parses the read lane marking information into understandable information, including the identification and interpretation of lane markings, arrow indicators or other road signs. Based on the parsed lane marking information, the system determines the vehicle's initial node position at the current intersection. Given the initial node positions and lane positions at the current intersection, the vehicle's travel path can be determined using a path planning algorithm. Based on the initial lane positions of surrounding vehicles and their driving paths, filter the driving paths of intersecting vehicles that are in the same target lane position as the target node of this vehicle. This involves acquiring the location and driving path information of surrounding vehicles through communication with them or sensor perception, including the current lane position, target node, and target lane position of surrounding vehicles. The system compares the target node and target lane of the current vehicle with the target nodes and target lane positions of surrounding vehicles to see if they are the same. It then filters out intersecting vehicles that are in the same target lane position as the current vehicle, analyzes the driving paths of the intersecting vehicles, and uses this information to make decisions and plans to ensure that the driving paths of the intersecting vehicles are coordinated and that the vehicles pass each other safely.

[0015] Furthermore, step S3 also includes: Based on the driving priority information, the driving priority level of the current vehicle's driving path and the driving paths of intersecting vehicles is obtained. The driving priority levels are compared, and the vehicle with the higher driving priority level enters the target lane of the target node first, while the vehicle with the lower priority level needs to wait or adjust its driving.

[0016] Furthermore, regarding the driving priority levels of the vehicle's driving path and the driving paths of intersecting vehicles, right-turning vehicles are considered to have the highest driving priority. When a right-turning vehicle arrives at an intersection simultaneously with other intersecting vehicles, the right-turning vehicle usually has priority and does not need to wait for straight-going or left-turning vehicles. Straight-going vehicles are considered to have a relatively high driving priority. When straight-going vehicles arrive at an intersection simultaneously with other intersecting vehicles, the straight-going vehicles usually have priority. In most cases, left-turning vehicles are considered to have a relatively low driving priority. When a left-turning vehicle arrives at an intersection simultaneously with other intersecting vehicles, the left-turning vehicle usually needs to wait for straight-going or right-turning vehicles to proceed. This division of driving priorities can ensure the safety and orderliness of vehicle traffic at intersections. It should be noted that the specific driving priority may be affected by local traffic regulations and actual traffic conditions. Therefore, when driving on the actual road, it is also necessary to judge the driving priority according to local road traffic signs, traffic lights and traffic markings. In addition, the driving priority may also change in special circumstances (such as emergency vehicle passage, traffic police instructions, etc.).

[0017] Secondly, this application also provides a vehicle driving judgment system for unsignaled intersections, the system comprising: The first data acquisition module is used to collect standard definition map information of vehicles at the current intersection; The first judgment module is used to determine the position of each node at the current intersection based on the standard definition map information and to perform node matching. The second acquisition module is used to acquire environmental information of the vehicle through the vehicle's camera device; The storage module is used to store driving priority information for various types of standard intersections; The calculation module is used to calculate the priority level of the driving paths of intersecting vehicles whose target lane positions are the same as those of the target lanes of the target nodes of the vehicle, based on the environmental information and driving intention. The second judgment module is used to compare the priority level of the current vehicle's travel path with the travel paths of intersecting vehicles, and to determine the vehicle that has priority to enter the target lane of the target node.

[0018] Thirdly, this application also provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes a vehicle driving determination method for any of the above-described signalless intersections through the computer program.

[0019] In summary, this application proposes a vehicle driving judgment method, system, and electronic device at unsignalized intersections. By using the standard definition map information of the vehicle at the current intersection, the position of each node at the current intersection is determined, node matching is performed, and the vehicle's environmental information is obtained. Based on the environmental information and the node matching results, the corresponding driving priority information is obtained. Based on the environmental information and driving intention, combined with the driving priority information, the vehicle driving judgment is performed.

[0020] Compared with the prior art, this application has the following technical effects: This application, by analyzing lane marking information and initial node positions, can accurately determine the vehicle's travel path at the current intersection, helping vehicles follow designated lanes and reducing the possibility of getting lost or driving incorrectly. Simultaneously, by acquiring the positions and travel paths of surrounding vehicles, it filters intersecting vehicles with the same target lane position as the vehicle's target lane, analyzes the driving paths of intersecting vehicles, and makes decisions and plans based on driving priority levels. This enables coordination and safe intersections with intersecting vehicles, helping to reduce traffic congestion, reduce the risk of traffic accidents, and improve traffic efficiency and safety. Furthermore, by accurately determining the vehicle's travel path and coordinating with surrounding vehicles, traffic efficiency can be improved. Vehicles travel according to designated paths and priorities, reducing unnecessary lane changes, overtaking, and chasing, reducing the possibility of traffic jams and congestion, optimizing traffic flow, and reducing reliance on high-precision maps. For complex unsignalized intersections, this significantly increases the adoption of autonomous driving. Attached Figure Description

[0021] Figure 1 This is a flowchart of the vehicle driving determination method at an unsignalized intersection as described in this application.

[0022] Figure 2 This is a schematic diagram of the driving paths of each lane at each node of a T-shaped intersection in one embodiment.

[0023] Figure 3 This is a flowchart of the vehicle driving judgment system at an unsignalized intersection as described in this application. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0025] Example 1: like Figure 1As shown, this application provides a method for determining vehicle movement at an unsignalized intersection, including the following steps: S1: Based on the standard definition map information of the vehicle at the current intersection, determine the position of each node at the current intersection and perform node matching.

[0026] Furthermore, the standard definition map information typically includes basic road topology information such as lane lines, intersections, and junction locations, which is used for vehicle navigation and basic driving direction decisions.

[0027] Furthermore, the standard definition map information includes at least intersection structure information and the driving direction of each lane at the intersection; The intersection structure information is a T-shaped intersection; The intersection's lanes for each direction of travel include at least a straight lane, a left-turn lane, a right-turn lane, a shared lane for straight and right turns, a shared lane for straight and left turns, and a shared lane for straight, left, and right turns.

[0028] Furthermore, the determination of the positions of each node at the current intersection and the performance of node matching specifically involves: The number of current intersection nodes is determined based on the intersection structure information, wherein the current intersection node is each turning or lane change point in the intersection; And based on the travel direction of each lane at the intersection, determine the corresponding node position, wherein, If a node's sub-lanes consist only of a straight-ahead lane and a right-turn lane, then that node is marked as the first node. If a node's sub-lanes only have a straight lane and a left-turn lane, then that node is marked as the second node; If all the sub-lanes of a node are turning lanes, then that node is marked as the third node.

[0029] In one embodiment, there is a standard definition map containing basic road topology information, including intersections and junction locations. Based on the standard definition map information, it is known that the vehicle is traveling in a T-junction. The driving direction of each lane at the intersection is determined based on the lane lines and arrow markings in the standard definition map information. In the case of a T-junction, there are typically straight-ahead lanes and turning lanes. According to the node matching rules, node matching is performed to determine the location of each node at the current T-junction. First, based on the T-junction structure, it is known that there are 3 nodes at the current intersection. Among the driving directions at the intersection, there are straight-ahead lanes and left-turn lanes. According to the node matching rules, the node where the vehicle is located is the second node. The lanes for oncoming vehicles are straight-ahead lanes and right-turn lanes. According to the node matching rules, the node where the oncoming vehicles are located is the first node. Since the last node lane of this T-junction is a turning lane, this node is the third node.

[0030] S2: Obtain the vehicle's environmental information, and based on the environmental information and node matching results, obtain the corresponding driving priority information.

[0031] Furthermore, the environmental information is acquired through the vehicle's perception system; The environmental information includes at least lane markings, lane direction of travel, number of surrounding lanes, initial lane position of the vehicle, initial lane position of surrounding vehicles, and travel paths of surrounding vehicles.

[0032] Furthermore, the driving priority information specifically includes: Traffic priority for vehicles in different lanes at the current intersection node to merge their travel paths; The traffic priority relies on specific traffic rules and road signs, and applies to the priority of vehicles in different lanes at the current intersection node when their travel paths intersect. That is, in different lanes at a specific intersection node, the travel priority between vehicles is determined according to road signs and traffic rules to ensure orderly and safe traffic. At the same time, the traffic rules and road signs may vary from region to region. Therefore, in a specific driving environment, it is necessary to abide by the corresponding traffic rules and signs to ensure the safe and smooth driving of vehicles.

[0033] like Figure 2 As shown, in one embodiment, the first node and the second node each have 2 lanes, and the third node has 4 lanes. The 2 lanes of the first node are recorded as A1 and A2, the 2 lanes of the second node are recorded as B1 and B2, and the 4 lanes of the third node are recorded as C1, C2, C3, and C4. The priority information is that when a vehicle in lane B1 or B2 of the second node is traveling in a straight line, a vehicle in lane C1 or C2 of the third node will intersect with a vehicle in lane B1 or B2. At this time, the vehicle in lane B1 or B2 has a higher priority than the vehicle in lane C1 or C2 that is about to enter lane B1 or B2.

[0034] S3: Based on the environmental information and driving intention, and in conjunction with the driving priority information, determine the vehicle's driving direction.

[0035] Furthermore, the driving intention includes at least the target node of the vehicle and the lane position within the target node; The lane position in the target node refers to the specific lane position selected by the vehicle after reaching the target node. By specifying the lane position, the vehicle can indicate the accurate driving path.

[0036] Furthermore, step S3 includes: The initial node position of the vehicle is determined based on the lane markings, and the driving path of the vehicle is determined based on the initial node position and the initial lane position. The vehicle uses visual sensors to read lane markings on the road, and then parses the read lane marking information into understandable information, including the identification and interpretation of lane markings, arrow indicators or other road signs. Based on the parsed lane marking information, the system determines the vehicle's initial node position at the current intersection. In one embodiment, the vehicle reads lane markings on the road using a visual sensor and parses the read lane marking information into understandable information. For example, if the vehicle recognizes a right-turn arrow in the lane markings, the system can determine that the vehicle is in the right-turn lane of a T-junction. Therefore, the initial node position can be determined as the third node of the T-junction. In this way, the vehicle can accurately determine its own driving path and corresponding driving behavior, and coordinate with other vehicles to ensure traffic safety and efficiency.

[0037] Given the initial node positions and lane positions at the current intersection, the vehicle's travel path can be determined using a path planning algorithm. Based on the initial lane positions of surrounding vehicles and their driving paths, filter the driving paths of intersecting vehicles that are in the same target lane position as the target node of this vehicle. This involves acquiring the location and driving path information of surrounding vehicles through communication with them or sensor perception, including the current lane position, target node, and target lane position of surrounding vehicles. The system compares the target node and target lane of the current vehicle with the target nodes and target lane positions of surrounding vehicles to see if they are the same. It then filters out intersecting vehicles that are in the same target lane position as the current vehicle, analyzes the driving paths of the intersecting vehicles, and uses this information to make decisions and plans to ensure that the driving paths of the intersecting vehicles are coordinated and that the vehicles pass each other safely.

[0038] In one embodiment, there is a T-junction. The initial node position of the vehicle is determined as the first node, and the initial lane position is the straight lane. The travel paths of intersecting vehicles with the same target lane position as the vehicle's target node are determined. Assuming there is a vehicle around the vehicle whose initial lane position is the straight lane of the first node and its target node is the left-turn lane of the second node, the target node and target lane position of the vehicle are compared with the target nodes and target lane positions of the surrounding vehicles. That is, the target node of the vehicle is the left-turn lane of the second node, which is the same as the target node of the surrounding vehicles. Based on the target lane position, intersecting vehicles with the same target lane position as the vehicle's target lane are selected. The selected intersecting vehicles are then... The intersecting vehicle is the one whose initial lane position is the straight lane at node one and whose target node is the left-turn lane at node two. By analyzing the driving paths of the selected intersecting vehicles, we can understand their possible driving behaviors and decisions. In particular, by analyzing the speed, acceleration, and steering behavior of the intersecting vehicles, we can predict whether they will conflict or cross with our vehicle. Based on the principle of coordinating with the driving paths of the intersecting vehicles and ensuring safe passage, combined with our driving priority and traffic rules, we can make decisions and plans. In this example, our vehicle may yield to the intersecting vehicle whose initial lane position is node one and whose target node is node two, and safely drive to its target lane position (left-turn lane) at its target node (node ​​two).

[0039] Furthermore, step S3 also includes: Based on the driving priority information, the driving priority level of the current vehicle's driving path and the driving paths of intersecting vehicles is obtained. The driving priority levels are compared, and the vehicle with the higher driving priority level enters the target lane of the target node first, while the vehicle with the lower priority level needs to wait or adjust its driving.

[0040] Furthermore, regarding the driving priority levels of the vehicle's driving path and the driving paths of intersecting vehicles, right-turning vehicles are considered to have the highest driving priority. When a right-turning vehicle arrives at an intersection simultaneously with other intersecting vehicles, the right-turning vehicle usually has priority and does not need to wait for straight-going or left-turning vehicles. Straight-going vehicles are considered to have a relatively high driving priority. When straight-going vehicles arrive at an intersection simultaneously with other intersecting vehicles, the straight-going vehicles usually have priority. In most cases, left-turning vehicles are considered to have a relatively low driving priority. When a left-turning vehicle arrives at an intersection simultaneously with other intersecting vehicles, the left-turning vehicle usually needs to wait for straight-going or right-turning vehicles to proceed. This division of driving priorities can ensure the safety and orderliness of vehicle traffic at intersections. It should be noted that the specific driving priority may be affected by local traffic regulations and actual traffic conditions. Therefore, when driving on the actual road, it is also necessary to judge the driving priority according to local road traffic signs, traffic lights and traffic markings. In addition, the driving priority may also change in special circumstances (such as emergency vehicle passage, traffic police instructions, etc.).

[0041] In one embodiment, there is a T-shaped intersection. The vehicle's driving priority information determines that vehicles going straight have a higher priority, while vehicles turning left have a lower priority. The driving priority of this vehicle is compared with that of an intersecting vehicle. Since this vehicle is going straight and the intersecting vehicle is turning left, the vehicle going straight has a higher priority than the vehicle turning left. Based on the driving priority result, it is determined which vehicle has priority to enter the target lane of the target node. Therefore, because the vehicle going straight has a higher priority, it will enter the target lane of the target node first; while the vehicle turning left will need to wait or adjust its direction. This ensures traffic coordination and safety, following traffic rules and the driving order at the intersection.

[0042] Example 2: As another preferred embodiment, this application also provides a vehicle driving judgment system for unsignaled intersections, such as... Figure 3 As shown, the system includes: The first data acquisition module is used to collect standard definition map information of vehicles at the current intersection; The first judgment module is used to determine the position of each node at the current intersection based on the standard definition map information and to perform node matching. The second acquisition module is used to acquire environmental information of the vehicle through the vehicle's perception system; The storage module is used to store driving priority information for various types of standard intersections; The calculation module is used to calculate the priority level of the driving paths of intersecting vehicles whose target lane positions are the same as those of the target lanes of the target nodes of the vehicle, based on the environmental information and driving intention. The second judgment module is used to compare the priority level of the current vehicle's travel path with the travel paths of intersecting vehicles, and to determine the vehicle that has priority to enter the target lane of the target node.

[0043] Example 3: As another preferred embodiment, this application also provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes a vehicle driving determination method for an unsignaled intersection as described above through the computer program.

[0044] In summary, this application proposes a vehicle driving judgment method, system, and electronic device at unsignalized intersections. By using the standard definition map information of the vehicle at the current intersection, the position of each node at the current intersection is determined, node matching is performed, and the vehicle's environmental information is obtained. Based on the environmental information and the node matching results, the corresponding driving priority information is obtained. Based on the environmental information and driving intention, combined with the driving priority information, the vehicle driving judgment is performed.

[0045] This application, by analyzing lane marking information and initial node positions, can accurately determine the vehicle's travel path at the current intersection, helping vehicles follow designated lanes and reducing the possibility of getting lost or driving incorrectly. Simultaneously, by acquiring the positions and travel paths of surrounding vehicles, it filters intersecting vehicles with the same target lane position as the vehicle's target lane, analyzes the driving paths of intersecting vehicles, and makes decisions and plans based on driving priority levels. This enables coordination and safe intersections with intersecting vehicles, helping to reduce traffic congestion, reduce the risk of traffic accidents, and improve traffic efficiency and safety. Furthermore, by accurately determining the vehicle's travel path and coordinating with surrounding vehicles, traffic efficiency can be improved. Vehicles travel according to designated paths and priorities, reducing unnecessary lane changes, overtaking, and chasing, reducing the possibility of traffic jams and congestion, optimizing traffic flow, and reducing reliance on high-precision maps. For complex unsignalized intersections, this significantly increases the adoption of autonomous driving.

[0046] Although exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above exemplary embodiments are merely illustrative and are not intended to limit the scope of this application. Various changes and modifications can be made therein by those skilled in the art without departing from the scope and spirit of this application. All such changes and modifications are intended to be included within the scope of this application as claimed in the appended claims.

[0047] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0048] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed.

[0049] The various component embodiments of this application can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some modules according to the embodiments of this application. This application can also be implemented as an apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such an implementation of this application can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

Claims

1. A method for determining vehicle movement at an unsignalized intersection, characterized in that, include: S1: Determine the location of each node at the current intersection based on the vehicle's standard definition map information at the current intersection, and perform node matching; S2: Obtain the vehicle's environmental information, and based on the environmental information and node matching results, obtain the corresponding driving priority information; S3: Based on the environmental information and driving intention, and in conjunction with the driving priority information, make a vehicle driving judgment; The process of determining the node position at the current intersection and performing node matching specifically involves: The number of current intersection nodes is determined based on the intersection structure information, wherein the current intersection node is each turning or lane change point in the intersection; And based on the direction of travel of each lane at the intersection, determine the corresponding node position, among which, If a node's sub-lanes consist only of a straight-ahead lane and a right-turn lane, then that node is marked as the first node. If a node's sub-lanes only have a straight lane and a left-turn lane, then that node is marked as the second node; If all the sub-lanes of a node are turning lanes, then that node is marked as the third node; The environmental information is acquired through the vehicle's perception system; The environmental information includes at least lane markings, lane direction of travel, number of surrounding lanes, vehicle's initial lane position, initial lane positions of surrounding vehicles, and the travel paths of surrounding vehicles. Step S3 includes: The initial node position of the vehicle is determined based on the lane markings, and the driving path of the vehicle is determined based on the initial node position and the initial lane position. Based on the initial lane positions of surrounding vehicles and their travel paths, select the travel paths of intersecting vehicles that are in the same target lane position as the target node of this vehicle.

2. The method for determining vehicle movement at an unsignalized intersection according to claim 1, characterized in that, The driving priority information is specifically as follows: Traffic priority for vehicles in different lanes at the current intersection node to merge their travel paths; The traffic priority mentioned herein depends on traffic rules and road signs.

3. The method for determining vehicle movement at an unsignalized intersection according to claim 2, characterized in that, The driving intention includes at least the target node of the vehicle and the lane position within the target node.

4. The method for determining vehicle movement at an unsignalized intersection according to claim 3, characterized in that, Step S3 further includes: Based on the driving priority information, the driving priority level of the current vehicle's driving path and the driving paths of intersecting vehicles is obtained. The driving priority levels are compared, and the vehicle with the higher driving priority level enters the target lane of the target node first, while the vehicle with the lower priority level needs to wait or adjust its driving.

5. A system for determining vehicle movement at an unsignalized intersection according to any one of claims 1-4, characterized in that, The system includes: The first data acquisition module is used to obtain standard definition map information of vehicles at the current intersection; The first judgment module is used to determine the position of each node at the current intersection based on the standard definition map information and to perform node matching. The second acquisition module is used to acquire environmental information of the vehicle through the vehicle's perception system; The storage module is used to store driving priority information for various types of standard intersections; The calculation module is used to calculate the priority level of the driving paths of intersecting vehicles whose target lane positions are the same as those of the target lanes of the target nodes of the vehicle, based on the environmental information and driving intention. The second judgment module is used to compare the priority level of the current vehicle's travel path with the travel paths of intersecting vehicles, and to determine the vehicle that has priority to enter the target lane of the target node.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes a vehicle driving determination method at an unsignalized intersection as described in any one of claims 1-4 via a computer program.

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