Vehicle intelligent driving control method, device, equipment and computer storage medium

Abstract

The present application discloses a vehicle intelligent driving control method, device, equipment and computer storage medium, which determines the driving paths of multiple intelligent driving vehicles on the road, constructs a collaborative space corresponding to the multiple intelligent driving vehicles, and uses the corresponding mileage of the multiple intelligent driving vehicles as the coordinate axis of the collaborative space. The mileage is the mileage between the position of the intelligent driving vehicle in the corresponding driving path and the starting position of the driving path. The conflict area corresponding to the conflict position in the road is determined in the collaborative space. The conflict position refers to the position where the vehicle cannot meet. Based on the collaborative space and the conflict area, the speed of multiple intelligent driving vehicles is planned so that multiple intelligent driving vehicles do not conflict on the road. According to this embodiment, by collaboratively planning multiple intelligent driving vehicles, the vehicle meeting scene can be effectively reduced, thereby reducing the conflict and collision risks of vehicles.

Description

Technical Field

[0001] The present application belongs to the field of intelligent driving technology, and in particular, relates to a vehicle intelligent driving control method, device, equipment and computer storage medium. Background Art

[0002] Currently, driverless cars have received great attention in scientific research and business, and their potential to improve productivity in various industries and optimize traffic safety has sparked widespread discussion. In current research on intelligent driving, most of the focus is on the intelligent technology of a single vehicle, that is, the vehicle detects the surrounding environment based on its various onboard sensors, such as visual sensors, lidar, global positioning system, inertial navigation system, etc., and then makes driving decisions.

[0003] However, due to the various road shapes, the existence of many branches, intersections and narrow sections in structured roads, the driving routes are relatively complicated. Since the detection range, frequency and accuracy of the on-board sensors cannot ensure that the vehicle can fully and real-time obtain the status of itself and its surrounding environment, the decision-making ability of a single vehicle is often limited under complex road conditions, making it difficult to make the best or even safe decision, making the vehicle prone to collision. Summary of the invention

[0004] The embodiments of the present application provide a vehicle intelligent driving control method, device, equipment, computer storage medium and program, which can reduce the collision of intelligent driving vehicles.

[0005] In a first aspect, an embodiment of the present application provides a vehicle intelligent driving control method, characterized in that the method includes:

[0006] Determining a driving path of each of a plurality of intelligent driving vehicles traveling on a road on the road;

[0007] Constructing a collaborative space corresponding to the multiple intelligent driving vehicles, wherein the collaborative space uses the mileage corresponding to each of the multiple intelligent driving vehicles as a coordinate axis, and the mileage is the mileage between the position of the intelligent driving vehicle in the corresponding driving path and the starting position of the driving path;

[0008] Determining a conflict area in the collaborative space corresponding to a conflict position in the road, wherein the conflict position refers to a position where vehicles cannot meet;

[0009] Speed ​​planning is performed on the multiple intelligent driving vehicles based on the collaborative space and the conflict area so that the multiple intelligent driving vehicles do not conflict on the road.

[0010] In a second aspect, an embodiment of the present application provides a vehicle intelligent driving control device, the device comprising:

[0011] A path determination module, used to determine the driving paths of multiple intelligent driving vehicles traveling on the road;

[0012] A collaborative space construction module, used to construct a collaborative space corresponding to the multiple intelligent driving vehicles, wherein the collaborative space uses the corresponding driving mileages of the multiple intelligent driving vehicles as coordinate axes, and the driving mileage is the mileage between the position of the intelligent driving vehicle in the corresponding driving path and the starting position of the driving path;

[0013] a conflict area determination module, configured to determine a conflict area in the collaborative space corresponding to a conflict position in the road, wherein the conflict position refers to a position where vehicles cannot meet;

[0014] A speed planning module is used to plan the speeds of the multiple intelligent driving vehicles based on the collaborative space and the conflict area so that the multiple intelligent driving vehicles do not conflict on the road.

[0015] In a third aspect, an embodiment of the present application provides an electronic device, the electronic device comprising: a processor and a memory storing computer program instructions;

[0016] When the processor executes the computer program instructions, the vehicle intelligent driving control method as described in the first aspect is implemented.

[0017] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the vehicle intelligent driving control method as described in the first aspect is implemented.

[0018] In a fifth aspect, an embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the vehicle intelligent driving control method as described in the first aspect.

[0019] The vehicle intelligent driving control method, device, equipment and computer storage medium of the embodiment of the present application determine the driving paths of multiple intelligent driving vehicles on the road, construct a collaborative space corresponding to the multiple intelligent driving vehicles, the collaborative space uses the corresponding mileage of the multiple intelligent driving vehicles as the coordinate axis, the mileage is the mileage between the position of the intelligent driving vehicle in the corresponding driving path and the starting position of the driving path, and determines the conflict area corresponding to the conflict position in the road in the collaborative space. The conflict position refers to the position where the vehicle cannot meet. Based on the collaborative space and the conflict area, the speed of multiple intelligent driving vehicles is planned so that multiple intelligent driving vehicles do not conflict on the road. According to this embodiment, by collaboratively planning multiple intelligent driving vehicles, the vehicle meeting scene can be effectively reduced, thereby reducing the conflict and collision risks of vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] Figure 1 It is a schematic diagram of the architecture of the intelligent driving vehicle queue management system provided in an embodiment of the present application;

[0022] Figure 2 It is a flow chart of a vehicle intelligent driving control method provided in an embodiment of the present application;

[0023] Figure 3 is a schematic diagram of a path available for vehicle travel in a certain structured road provided in an embodiment of the present application;

[0024] Figure 4 is a schematic diagram of a two-dimensional collaborative space provided in an embodiment of the present application;

[0025] Figure 5 is a schematic diagram of a three-dimensional collaborative space provided in an embodiment of the present application;

[0026] Figure 6 It is a schematic diagram of the driving space of two vehicles provided in an embodiment of the present application;

[0027] Figure 7 is a schematic diagram of a conflict area in a two-dimensional collaborative space provided by an embodiment of the present application;

[0028] Figure 8 It is a flowchart of a specific implementation method of S24 provided in an embodiment of the present application;

[0029] Fig. 9 is a schematic diagram of a two-dimensional collaborative space provided in an embodiment of the present application;

[0030] Fig.10 is a schematic diagram of the structure of the vehicle intelligent driving control device provided in an embodiment of the present application;

[0031] Fig.11 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0033] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0034] As mentioned above, the inventors of this application have discovered that the vehicle intelligent driving control method based on single-vehicle intelligence in the prior art is usually difficult to solve problems such as vehicle blind spot detection, road steering, bypassing obstacles, detection of dynamic or static obstacles, and obstacle detection at highway entrances and exits, making it difficult for users to make optimal or even safe decisions when using intelligent driving.

[0035] In view of the above problems, the embodiments of the present application provide a possible solution, which allows all smart driving vehicles within a certain range on the road to interact with an smart driving vehicle queue management system in real time and upload information collected by vehicle sensors; then, this smart driving vehicle queue management system considers the positions, paths and planned trajectories of all vehicles, and gives vehicle driving trajectories, speeds or paths, etc. in a global planning manner, thereby guiding all vehicles to complete tasks efficiently, safely and stably.

[0036] The embodiment of this application mainly studies the intelligent driving vehicle queue management system, and proposes a vehicle intelligent driving control method, which can plan the speed of multiple vehicles on a known structured road, and can plan and supervise the intelligent driving vehicles on a structured road through a central control platform. It aims to improve driving safety and expand the intelligence of a single vehicle. On this basis, it can achieve the goals of optimizing the driving efficiency of multiple vehicles, reducing vehicle intersection scenarios, reducing the frequency of vehicle acceleration and deceleration, and reducing the vehicle's dependence on sensors.

[0037] See also Figure 1 , is a schematic diagram of the architecture of an intelligent driving vehicle queue management system provided in an embodiment of the present application. Figure 1 As shown, it includes a maneuvering system, a vehicle intelligent driving control device and multiple intelligent driving vehicles traveling on a structured road.

[0038] Among them, the scheduling system is used to specify a driving path on a structured road for each intelligent driving vehicle based on the starting point of each intelligent driving vehicle and other factors, such as road congestion.

[0039] The central control platform is used to plan the speed of multiple intelligent driving vehicles according to their corresponding driving paths, so as to avoid conflicts such as vehicle collisions.

[0040] The vehicle intelligent driving control method provided in the embodiment of the present application can be applied to intelligent driving scenarios. Figure 2-Figure 9 The vehicle intelligent driving control method provided in the embodiment of the present application is described in detail. It should be noted that the vehicle intelligent driving control method provided in the embodiment of the present application can be executed by a subject Figure 1 The vehicle intelligent driving control device shown. In the embodiment of the present application, the vehicle intelligent driving control method is executed by the vehicle intelligent driving control device as an example to illustrate the vehicle intelligent driving control method provided by the embodiment of the present application.

[0041] See also Figure 2 , is a flow chart of a vehicle intelligent driving control method provided in an embodiment of the present application, Figure 2 As shown, the method may include the following steps: S21-S24, which are described in detail below.

[0042] S21. Determine the driving paths of multiple intelligent driving vehicles traveling on the road.

[0043] In some embodiments of the present application, the road may be any structured road, wherein there are multiple paths for vehicles to travel.

[0044] In some embodiments of the present application, before executing S21, the number of intelligent driving vehicles traveling on the road may be determined first, and when it is determined that the number of intelligent driving vehicles is greater than 1, S21 is executed for all intelligent driving vehicles traveling on the road. Among them, intelligent driving vehicles refer to vehicles that use intelligent driving technology, and intelligent driving technology may include but is not limited to: assisted driving technology, automatic driving technology, etc.

[0045] In some embodiments of the present application, there are n intelligent driving vehicles on the road, where n is greater than or equal to 2. When each intelligent driving vehicle is driving, a driving path is assigned to it from the road according to the vehicle starting point and other factors. For example Figure 1 In the system shown, the scheduling system can specify a corresponding driving path for each intelligent driving vehicle, and transmit the relevant information of the driving path corresponding to each vehicle to the vehicle intelligent driving control device. In this way, the vehicle intelligent driving control device can determine the driving paths of multiple intelligent driving vehicles traveling on the road.

[0046] In some embodiments of the present application, the driving path of the vehicle may be composed of a series of predetermined path waypoints, and the path waypoints may include the following information:

[0047] The global coordinates (x, y) of the waypoint in the map. The coordinate value can be in meters.

[0048] The distance s between the waypoint and the starting point of the route, in meters;

[0049] The speed limit on the driving route includes but is not limited to the maximum speed limit and the minimum speed limit, etc. The unit of the speed limit may be meters per second.

[0050] S22. Construct a collaborative space corresponding to multiple intelligent driving vehicles, where the collaborative space uses the mileage corresponding to each of the multiple intelligent driving vehicles as a coordinate axis, and the mileage is the mileage between the position of the intelligent driving vehicle in the corresponding driving path and the starting position of the driving path.

[0051] In some embodiments of the present application, the driving paths of each intelligent driving vehicle on the road are known. For each vehicle, in the two-dimensional topological space, i.e., the phase space Γ, the driving path of the vehicle can be defined as a continuous function γ:[0,T]→Γ. Then the position P of the vehicle in Γ can be uniquely determined by the mileage, where the mileage is the distance between the position of the vehicle in its corresponding driving path and the starting position of the driving path. For each intelligent driving vehicle on the road, its movement is restricted to its given path γ iIf the total number of vehicles that need to be intelligently driven on the road is n, the positions of all vehicles in their corresponding driving paths can form an n-dimensional configuration space called coordination space. The coordination space uses the mileage of n vehicles as the n coordinate axes. The coordinate points in the coordination space are called coordination coordinates. The coordination coordinates contain the position information of all vehicles, that is, the mileage of all vehicles.

[0052] For example, when n=2, that is, there are two vehicles on the road that need to be intelligently driven. For the convenience of distinguishing, the two vehicles are referred to as vehicle 1 and vehicle 2. The positions of vehicle 1 and vehicle 2 in their respective driving paths can form a two-dimensional collaborative space, in which the collaborative coordinates can be expressed as (s x ′ ,s y ′ ), s x ′ represents the vehicle's mileage as the x-axis, s y ′ The y-axis represents the mileage of the vehicle. If the mileage of vehicle 1 is the x-axis and the mileage of vehicle 2 is the y-axis, then when the mileage of vehicle 1 is 390m and the mileage of vehicle 2 is 95m, the collaborative coordinates representing the positions of the two vehicles in the two-dimensional collaborative space are (390, 95).

[0053] For example, when n=3, that is, there are three vehicles on the road that need to be intelligently driven. For the convenience of distinguishing, the three vehicles are referred to as vehicle 1, vehicle 2, and vehicle 3. The positions of vehicle 1, vehicle 2, and vehicle 3 in their respective driving paths can form a three-dimensional collaborative space, in which the collaborative coordinates can be expressed as (s x ′ ,s y ′ ,s z ′ ), s x ′ represents the vehicle's mileage as the x-axis, s y ′ represents the mileage of the vehicle as the y-axis, s ′ zIndicates the mileage of the vehicle as the z-axis. If the mileage of vehicle 1 is the x-axis, the mileage of vehicle 2 is the y-axis, and the mileage of vehicle 3 is the z-axis, then if the mileage of vehicle 1 is 50m, the mileage of vehicle 2 is 100m, and the mileage of vehicle 3 is 50m, the collaborative coordinates representing the positions of the three vehicles in the three-dimensional collaborative space are (50, 100, 50).

[0054] S23. Determine a conflict area in the collaborative space corresponding to a conflict position in the road, where the conflict position refers to a position where vehicles cannot meet.

[0055] In some embodiments of the present application, any form of intersections, narrow places, and other areas where vehicles are not expected to meet on the road can be counted into the database as conflict locations on the road.

[0056] For example, see Figure 3 , which is a schematic diagram of the paths available for vehicle travel in a structured road, where the positions in the circles are the conflict positions in the road.

[0057] In some embodiments of the present application, after the collaborative space is created, a conflict area corresponding to the conflict position may be created in the collaborative space according to the positional relationship between the conflict position in the road and each vehicle.

[0058] For example, taking n=2 as an example, the two-dimensional collaborative space created with the mileage S1 of vehicle 1 as the x-axis and the mileage S2 of vehicle 2 as the y-axis is as follows: Figure 4 As shown, the irregular area in the space is the conflict area corresponding to the conflict position in the road.

[0059] For example, taking n=3 as an example, the three-dimensional collaborative space created with the mileage S1 of vehicle 1 as the x-axis, the mileage S2 of vehicle 2 as the y-axis, and the mileage S3 of vehicle 3 as the z-axis is as follows: Figure 5 As shown, the column in the space is the conflict area corresponding to the conflict position in the road.

[0060] S24. Perform speed planning for multiple intelligent driving vehicles based on the collaborative space and the conflict area so that the multiple intelligent driving vehicles do not conflict on the road.

[0061] In some embodiments of the present application, the created collaborative space can be regarded as a topological space composed of conflict-free areas and conflict areas corresponding to multiple intelligent driving vehicles, wherein the conflict-free area is the area remaining after removing the conflict area from the collaborative space. The conflict-free area can be represented by the formula: conflict-free area = collaborative space - conflict area. When performing speed planning for multiple intelligent driving vehicles, as long as the collaborative coordinates representing the positions of multiple intelligent driving vehicles do not appear in the conflict area, that is, the collaborative coordinates are located within the conflict-free area, it can be ensured that there is no conflict between the vehicles.

[0062] In some embodiments of the present application, the collaborative coordinates used to represent the positions of multiple intelligent driving vehicles in the collaborative space can form a path γ connecting the starting point and the end point of multiple intelligent driving vehicles. The points on this path γ are the mileage of multiple intelligent driving vehicles at any time, that is, the collaborative coordinates composed of the positions. When planning the speed of multiple intelligent driving vehicles, as long as the path γ does not pass through the conflict area and all vehicles can maintain the relative mileage relationship indicated by the path, no matter what speed the vehicles take, there will be no conflict or collision risk between the vehicles. Therefore, when planning the speed of multiple intelligent driving vehicles based on the collaborative space and the conflict area, a path γ connecting the starting point and the end point in the collaborative space can be searched from the collaborative space with the optimization index as the goal. The path does not pass through any conflict area, and then the speed of each intelligent driving vehicle is configured based on the relative mileage relationship represented by the collaborative coordinates in the path γ.

[0063] The vehicle intelligent driving control method provided in the embodiment of the present application determines the driving paths of multiple intelligent driving vehicles on the road, constructs a collaborative space corresponding to the multiple intelligent driving vehicles, and uses the corresponding driving mileage of the multiple intelligent driving vehicles as the coordinate axis of the collaborative space. The mileage is the mileage between the position of the intelligent driving vehicle in the corresponding driving path and the starting position of the driving path. The conflict area corresponding to the conflict position in the road is determined in the collaborative space. The conflict position refers to the position where the vehicle cannot meet. Based on the collaborative space and the conflict area, the speed of multiple intelligent driving vehicles is planned so that multiple intelligent driving vehicles do not conflict on the road. According to this embodiment, by collaboratively planning multiple intelligent driving vehicles, the vehicle meeting scene can be effectively reduced, thereby reducing the conflict and collision risks of vehicles.

[0064] In addition, the vehicle intelligent driving control method provided in the embodiment of the present application does not include time information when planning the speed of multiple intelligent driving vehicles. It only requires that the vehicles maintain a relative spatial relationship. Compared with other multi-vehicle trajectory algorithms, it reduces the vehicle's requirements for trajectory execution time accuracy and has higher feasibility. Moreover, compared with other centralized multi-vehicle planning algorithms, the planning algorithm provided in the embodiment of the present application is simple to model, has low computing power requirements, can perform long-distance fast calculations, and rarely has unsolvable or crashed phenomena.

[0065] In some embodiments of the present application, constructing a collaborative space corresponding to multiple intelligent driving vehicles may include the following steps:

[0066] Combine multiple intelligent driving vehicles in pairs to obtain at least one vehicle combination;

[0067] For each vehicle combination, the mileage of the first vehicle in the vehicle combination is used as the x-axis, and the mileage of the second vehicle in the vehicle combination is used as the y-axis to construct a two-dimensional collaborative space corresponding to the vehicle combination, where the first vehicle is any vehicle in the vehicle combination, and the second vehicle is another vehicle in the vehicle combination except the first vehicle.

[0068] In some embodiments of the present application, when the number of multiple intelligent driving vehicles is n, a total of C(n, 2) vehicle combinations can be obtained by arranging and combining the multiple intelligent driving vehicles in groups of two vehicles, and each vehicle combination includes two vehicles. A corresponding two-dimensional collaborative space is created for each vehicle combination, and a total of C(n, 2) two-dimensional collaborative spaces can be obtained. The C(n, 2) two-dimensional collaborative spaces are used as the collaborative spaces corresponding to the multiple intelligent driving vehicles.

[0069] In the above manner, compared with directly creating an n-dimensional collaborative space, creating C(n, 2) two-dimensional collaborative spaces is more convenient for analysis and calculation.

[0070] In some embodiments of the present application, when the collaborative space includes C(n, 2) two-dimensional collaborative spaces, determining the conflict area in the collaborative space corresponding to the conflict position in the road may include the following steps:

[0071] For each vehicle combination, according to the driving paths corresponding to the first vehicle and the second vehicle in the vehicle combination, a target conflict position where vehicles in the vehicle combination may conflict is determined from the conflict positions on the road;

[0072] For each vehicle combination, a target conflict area corresponding to a target conflict position where vehicles in the vehicle combination may conflict is created in the two-dimensional cooperative space corresponding to the vehicle combination.

[0073] In some embodiments of the present application, because the cooperative space includes C(n, 2) two-dimensional cooperative spaces, when determining the conflict area, the conflict area in each two-dimensional cooperative space may be determined separately.

[0074] A road usually includes multiple conflict locations, but the driving path corresponding to each vehicle may not pass through all conflict locations, and two vehicles may only collide at the conflict locations that they have passed together. When determining the conflict area in each two-dimensional collaborative space, the conflict location that the two vehicles in the vehicle combination corresponding to the two-dimensional collaborative space may need to pass through can be determined first, that is, the target conflict location.

[0075] For each vehicle combination, when determining the corresponding target conflict position, the conflict position in the driving path corresponding to each vehicle in the vehicle combination can be determined respectively, and then the same conflict position in the driving path corresponding to the two vehicles can be determined, and the same conflict position can be determined as the conflict position that both vehicles need to pass through, that is, the target conflict position. After determining the target conflict position, the target conflict area corresponding to the target conflict position in the two-dimensional collaborative space can be determined according to the positional relationship between the target conflict position and the two vehicles in the vehicle combination.

[0076] In this way, corresponding target conflict areas can be drawn in C(n, 2) two-dimensional collaborative spaces respectively, and the target conflict areas in the C(n, 2) two-dimensional collaborative spaces are used as conflict areas in the collaborative space corresponding to the conflict positions in the road.

[0077] In some embodiments of the present application, for each vehicle combination, in the two-dimensional collaborative space corresponding to the vehicle combination, creating a target conflict area corresponding to a target conflict position where vehicles in the vehicle combination may conflict may include the following steps:

[0078] Determine a first conflict mileage corresponding to a first vehicle and a second conflict mileage corresponding to a second vehicle in the vehicle combination, wherein the first conflict mileage is the mileage between a target conflict position and a starting position of a driving path corresponding to the first vehicle, and the second conflict mileage is the mileage between the target conflict position and a starting position of a driving path corresponding to the second vehicle;

[0079] Determine the coordinate points corresponding to the first conflict mileage and the second conflict mileage in the two-dimensional collaborative space as conflict coordinate points corresponding to the target conflict position;

[0080] In the two-dimensional collaborative space, a rectangle is created with the conflict coordinate point as the upper right vertex and the preset safety mileage length as the side length;

[0081] The rectangle is used as the target conflict area corresponding to the target conflict position in the two-dimensional collaborative space.

[0082] The preset safety mileage may be set according to actual needs, for example, 20 meters.

[0083] In some embodiments of the present application, in order to avoid a collision between two vehicles in the vehicle combination at the target conflict position, it is necessary to ensure that the distance difference between the two vehicles and the conflict mileage of the target conflict position is greater than a preset safety mileage. Figure 6 , assuming that the first vehicle in the vehicle combination is vehicle A, the second vehicle is vehicle B, and the mileage of vehicle A is S A , the mileage of vehicle B is S B , the conflict mileage of vehicle A is S A_C , the conflict mileage of vehicle B is S B_C , then the target conflict area corresponding to the target conflict position in the two-dimensional collaborative space is expressed as:

[0084] |(S A_C -S A )-(S B_C -S B )|≤ΔS safe ,S A_C -S A >0,S B_C -S B >0

[0085] In the formula, ΔS safe Indicates the preset safety mileage.

[0086] See also Figure 7 , the shape of the target conflict area in the two-dimensional collaborative space can be a (S A_C , S B_C ) is the upper right vertex, with ΔS safe is a rectangle whose sides are parallel to the coordinate axes.

[0087] By drawing the target conflict area in the above manner, it can be ensured that the distance between the two vehicles in the vehicle combination near the target conflict position is not less than the preset safety mileage, thereby avoiding a conflict between the two vehicles at the target conflict position.

[0088] In some embodiments of the present application, from the perspective of collaborative space, the purpose of speed planning is to search for a path connecting the starting point and the end point in the collaborative space with the optimization index as the goal, the path does not pass through any conflicting areas, and satisfies a series of preset speed constraints. In view of this, the above step S24 may include the following steps:

[0089] In a plurality of two-dimensional cooperative spaces corresponding to the plurality of vehicle combinations, cooperative paths that do not intersect with the target conflict area are drawn respectively, wherein the cooperative paths represent the relative position relationship of the vehicle combination corresponding to the two-dimensional cooperative space in the process of moving from one cooperative coordinate to another cooperative coordinate;

[0090] Based on the collaborative paths in all two-dimensional collaborative spaces, the driving speeds of multiple intelligent driving vehicles in corresponding driving paths are configured.

[0091] The two-dimensional collaborative space is a set of collaborative coordinates composed of the mileage of the corresponding vehicle combination. The collaborative path in the two-dimensional collaborative space represents the relative position relationship between the two vehicles in the process of moving from one collaborative coordinate to another. At the same time, the slope of the collaborative path is equal to the ratio of the driving speeds that the two vehicles should maintain at the collaborative coordinate. For any vehicle combination, as long as the collaborative path in its corresponding two-dimensional collaborative space does not pass through the target conflict area, and the vehicles can maintain the relative mileage relationship indicated by the collaborative path, no matter what speed the vehicles take, there will be no risk of conflict or collision between the vehicles. Therefore, based on the collaborative paths in all two-dimensional collaborative spaces, configuring the driving speeds of multiple intelligent driving vehicles in the corresponding driving paths can ensure that there are no conflicts or collisions between multiple intelligent driving vehicles.

[0092] In some embodiments of the present application, see Figure 8 , respectively drawing cooperative paths that do not intersect with the target conflict area in multiple two-dimensional cooperative spaces corresponding to multiple vehicle combinations, can include the following steps: S241-S244.

[0093] S241. Initialize the constraint library to be empty. The constraint library is used to store constraint information.

[0094] Here, the constraint library can store the constraint information corresponding to each vehicle combination, and the constraint information is applicable to all vehicles related to it in all vehicle combinations. In this way, the synchronization of lines in multiple two-dimensional collaborative spaces can be ensured.

[0095] S242. Synchronously draw lines in multiple two-dimensional collaborative spaces corresponding to multiple vehicle combinations, with the lines taking the starting point coordinates of the two-dimensional collaborative space to which they belong as the starting point, and taking the ratio of the driving speed of the second vehicle to the driving speed of the first vehicle in the corresponding vehicle combination as the slope, and complying with the constraint information related to the vehicle combination in the constraint library, wherein the driving speed of the first vehicle and the driving speed of the second vehicle are determined according to preset speed constraints.

[0096] In some embodiments of the present application, when there are c(n, 2) vehicle combinations, lines are drawn synchronously in c(n, 2) two-dimensional collaborative spaces, where synchronous drawing means that at the same drawing time, the mileage of the same vehicle in different two-dimensional collaborative spaces is consistent. In this way, it can be ensured that the constraint information for a certain vehicle in the constraint library can simultaneously play a constraint role on the vehicle in different two-dimensional collaborative spaces.

[0097] For each line, the constraint information related to it in the constraint library is the constraint information related to any vehicle in the vehicle combination corresponding to the two-dimensional collaborative space to which the line belongs in the constraint library.

[0098] In some embodiments of the present application, the driving speed of each intelligent driving vehicle must meet a preset speed constraint condition, wherein the speed constraint condition may include but is not limited to:

[0099] Without stopping and without reaching the end position of the corresponding driving route, the driving speed is less than or equal to the maximum speed limit of the corresponding driving route, and greater than or equal to the minimum speed limit of the corresponding driving route;

[0100] When the vehicle stops or reaches the end of the corresponding driving path, the driving speed is 0.

[0101] In practical applications, in order to enable the vehicle to reach the end of the driving path as quickly as possible, for each intelligent driving vehicle, if the vehicle has not stopped and has not reached the end position of the corresponding driving path, the maximum speed limit in the driving path corresponding to the vehicle can be used as the driving speed of the vehicle.

[0102] S243. In the process of drawing lines, for each vehicle combination, when the line drawn in the two-dimensional collaborative space corresponding to the vehicle combination contacts any target conflict area in the two-dimensional collaborative space, constraint information corresponding to the vehicle combination is generated, and the constraint information is added to the constraint library, and when the line no longer contacts any target conflict area, the constraint information is deleted from the constraint library, wherein the constraint information is used to constrain the driving speed of at least one vehicle in the vehicle combination to avoid the line crossing any target conflict space.

[0103] In some embodiments of the present application, for each vehicle combination, the initial position of the vehicle in the vehicle combination can be used as the starting point coordinates of the two-dimensional collaborative space. Then, starting from the starting point coordinates, a line with a slope corresponding to the ratio of the driving speed of the second vehicle in the vehicle combination to the driving speed of the first vehicle is drawn in the two-dimensional collaborative space.

[0104] During the drawing process, it can be detected whether there is constraint information related to the vehicles in the vehicle combination in the constraint library. If so, when drawing the lines, it is necessary to ensure that the drawn lines meet the relevant constraint information.

[0105] During the drawing process, the slab ray and bounding box (AABB) intersection algorithm can also be used to determine whether the drawn line contacts any target conflict area in the two-dimensional collaborative space. When it is detected that the drawn line contacts any target conflict area, constraint information corresponding to the vehicle combination is generated and the constraint information is added to the constraint library. The constraint information is used to constrain the driving speed of at least one vehicle in the vehicle combination. Furthermore, when it is determined that the line contacts any target conflict area, when it is detected that the line no longer contacts the arbitrary target conflict area, the constraint information generated above is deleted from the constraint library.

[0106] In some embodiments of the present application, for each vehicle combination, when a line drawn in the two-dimensional collaborative space corresponding to the vehicle combination contacts any target conflict area in the two-dimensional collaborative space, generating constraint information corresponding to the vehicle combination may include:

[0107] In the case where the line contacts the target conflict region in the two-dimensional collaborative space, determining a contact position of the line with the target conflict region;

[0108] The restraint information corresponding to the vehicle combination is generated based on the contact position.

[0109] Among them, the lines in the two-dimensional collaborative space are actually fitted by multiple collaborative coordinates, where the collaborative coordinates represent the mileage of the two vehicles in the vehicle combination. Considering the process of the vehicle driving in the driving path, the distance from the starting point of the driving path should be getting farther and farther, and the distance from the end point should be getting closer and closer to meet the needs of users. Therefore, for each vehicle, its mileage usually has only two situations: increase and no change, but cannot be reduced. In view of this, if the line contacts the target conflict area, in order to avoid the intersection of the line and the target conflict area, one vehicle in the vehicle combination can be controlled to stop and one vehicle can continue to drive. Considering that different vehicles stop and drive, it will lead to different directions of the line. Therefore, it is possible to determine under what direction the line will not intersect with the target conflict area according to the contact position of the line with the target conflict area, and then determine which vehicle to stop and which vehicle to continue to drive based on the direction. Based on this, corresponding constraint information is generated for the vehicle that needs to stop to constrain the vehicle to stop. It can be seen that the contact position of the line with the target conflict area is different, and the corresponding constraint information is different. Therefore, the corresponding constraint information can be generated according to the contact position of the line with the target conflict area.

[0110] In some embodiments of the present application, generating constraint information corresponding to the vehicle combination according to the contact position between the line and the target conflict area may include:

[0111] Determine the cooperative coordinates at the contact position, the cooperative coordinates including a first driving range corresponding to the first vehicle and a second driving range corresponding to the second vehicle in the vehicle combination;

[0112] When the contact position is located at the bottom edge of the target conflict area, generating first constraint information, the first constraint information is used to instruct the second vehicle to stop when the mileage is a second mileage;

[0113] When the contact position is located at a side of the target conflict area, second constraint information is generated, and the second constraint information is used to instruct the first vehicle to stop when the mileage is a first mileage.

[0114] When the contact position is located at the bottom edge of the target conflict area, if the vertical coordinate corresponding to the line continues to increase, the line will intersect with the target conflict area. Therefore, in this case, the direction of the line can be determined to be horizontal, that is, the vertical coordinate of the line is kept unchanged. In this way, the intersection with the target conflict area can be avoided. Based on this, in this case, the vehicle corresponding to the vertical axis is controlled to stop, and the vehicle corresponding to the horizontal axis is controlled to continue driving. Therefore, constraint information is generated for controlling the second vehicle corresponding to the vertical axis to stop.

[0115] When the contact position is located on the side of the target conflict area, if the horizontal coordinate corresponding to the line continues to increase, the line will intersect with the target conflict area. Therefore, in this case, the direction of the line can be determined as a vertical direction, that is, the horizontal coordinate of the line is kept unchanged. In this way, the intersection with the target conflict area can be avoided. Based on this, in this case, the vehicle corresponding to the horizontal axis is controlled to stop, and the vehicle corresponding to the vertical axis is controlled to continue driving. Therefore, constraint information for controlling the first vehicle corresponding to the horizontal axis to stop is generated.

[0116] S244. For each two-dimensional collaborative space, a line drawn in the two-dimensional collaborative space from the coordinates of the starting point to the coordinates of the end point of the two-dimensional collaborative space is used as a collaborative path in the two-dimensional system space.

[0117] In some embodiments of the present application, for each two-dimensional collaborative space, the end point coordinates are the collaborative coordinates composed of the end point mileage of the first vehicle and the end point mileage of the second vehicle in the corresponding vehicle combination, wherein the end point mileage of the vehicle is the mileage between the start point and the end point of the driving path corresponding to the vehicle, that is, the total mileage of the driving path. For example, for a certain vehicle combination, the total mileage of the driving path corresponding to the first vehicle is 500 meters, and the total mileage of the driving path corresponding to the second vehicle is 900 meters, then the end point coordinates of the two-dimensional collaborative space corresponding to the vehicle combination are (500, 900).

[0118] When the lines in all two-dimensional collaborative spaces corresponding to all vehicle combinations reach the end coordinates of the corresponding two-dimensional collaborative spaces, all two-dimensional collaborative spaces contain a line, and for each two-dimensional collaborative space, the line contained therein is used as a collaborative path.

[0119] The slope of the collaborative path can reflect the ratio of the driving speeds of the two vehicles in the vehicle combination corresponding to the two-dimensional collaborative space at each position, and the driving speed of each vehicle meets the preset speed constraints. Therefore, based on the vehicle constraints, the driving speed that each intelligent driving vehicle should take can be determined by jointly solving all the lines in the two-dimensional collaborative space, thereby completing the speed planning.

[0120] For example, the two-dimensional collaborative space corresponding to vehicle A and vehicle B included in the multiple intelligent driving vehicles is as follows: Fig. 9 In the case shown, vehicle A should stop when vehicle B is traveling from s_1c to s_1q, that is, its driving speed is 0, while vehicle B should stop when traveling from C2 to Q2, that is, its driving speed is 0.

[0121] Through the above method, it is guaranteed that a "normal" path equivalent to the Pareto optimal path is obtained in a class of paths that are homologous in the collaborative space.

[0122] Based on the vehicle intelligent driving control method provided in the above embodiment, the present application also provides a specific implementation of a vehicle intelligent driving control device. Please refer to the following embodiments.

[0123] See also Fig.10 The vehicle intelligent driving control device provided in the embodiment of the present application includes the following modules:

[0124] A path determination module 101 is used to determine the driving paths of multiple intelligent driving vehicles traveling on the road.

[0125] A collaborative space construction module 102 is used to construct a collaborative space corresponding to multiple intelligent driving vehicles, where the collaborative space uses the mileage corresponding to each of the multiple intelligent driving vehicles as a coordinate axis, where the mileage is the mileage between the position of the intelligent driving vehicle in the corresponding driving path and the starting position of the driving path;

[0126] A conflict area determination module 103 is used to determine a conflict area in the collaborative space corresponding to a conflict position in the road, where the conflict position refers to a position where vehicles cannot meet;

[0127] The speed planning module 104 is used to plan the speeds of multiple intelligent driving vehicles based on the collaborative space and the conflict area so that the multiple intelligent driving vehicles do not conflict on the road.

[0128] The vehicle intelligent driving control device provided in the embodiment of the present application determines the driving paths of multiple intelligent driving vehicles on the road, constructs a collaborative space corresponding to the multiple intelligent driving vehicles, and uses the corresponding driving mileage of the multiple intelligent driving vehicles as the coordinate axis of the collaborative space. The mileage is the mileage between the position of the intelligent driving vehicle in the corresponding driving path and the starting position of the driving path. The conflict area corresponding to the conflict position in the road is determined in the collaborative space. The conflict position refers to the position where the vehicle cannot meet. Based on the collaborative space and the conflict area, the speed of multiple intelligent driving vehicles is planned so that multiple intelligent driving vehicles do not conflict on the road. According to this embodiment, by collaboratively planning multiple intelligent driving vehicles, the vehicle meeting scene can be effectively reduced, thereby reducing the conflict and collision risks of vehicles.

[0129] In some embodiments of the present application, the collaborative space construction module 102 is specifically used to:

[0130] Combine multiple intelligent driving vehicles in pairs to obtain at least one vehicle combination;

[0131] For each vehicle combination, the mileage of the first vehicle in the vehicle combination is used as the x-axis, and the mileage of the second vehicle in the vehicle combination is used as the y-axis to construct a two-dimensional collaborative space corresponding to the vehicle combination, where the first vehicle is any vehicle in the vehicle combination, and the second vehicle is another vehicle in the vehicle combination except the first vehicle.

[0132] In some embodiments of the present application, the conflict area determination module 103 includes:

[0133] A conflict position determination submodule, for each vehicle combination, determines a target conflict position where vehicles in the vehicle combination may conflict from the conflict positions on the road according to the driving paths corresponding to the first vehicle and the second vehicle in the vehicle combination;

[0134] The conflict area creation submodule is used to create, for each vehicle combination, a target conflict area corresponding to a target conflict position where vehicles in the vehicle combination may conflict in the two-dimensional collaborative space corresponding to the vehicle combination.

[0135] In some embodiments of the present application, the conflict area creation submodule is specifically used to:

[0136] For each vehicle combination, perform the following steps:

[0137] Determine a first conflict mileage corresponding to a first vehicle and a second conflict mileage corresponding to a second vehicle in the vehicle combination, wherein the first conflict mileage is the mileage between a target conflict position and a starting position of a driving path corresponding to the first vehicle, and the second conflict mileage is the mileage between the target conflict position and a starting position of a driving path corresponding to the second vehicle;

[0138] Determine the coordinate points corresponding to the first conflict mileage and the second conflict mileage in the two-dimensional collaborative space as conflict coordinate points corresponding to the target conflict position;

[0139] In the two-dimensional collaborative space, a rectangle is created with the conflict coordinate point as the upper right vertex and the preset safety mileage length as the side length;

[0140] The rectangle is used as the target conflict area corresponding to the target conflict position in the two-dimensional collaborative space.

[0141] In some embodiments of the present application, the speed planning module 104 includes:

[0142] A cooperative path drawing submodule is used to draw cooperative paths that do not intersect with the target conflict area in multiple two-dimensional cooperative spaces corresponding to multiple vehicle combinations, respectively. The cooperative path represents the relative position relationship of the vehicle combination corresponding to the two-dimensional cooperative space in the process of moving from one cooperative coordinate to another cooperative coordinate. The slope of the cooperative path is equal to the ratio of the driving speeds of the vehicle combination corresponding to the two-dimensional system space at the cooperative coordinate.

[0143] The speed configuration submodule is used to configure the driving speeds of multiple intelligent driving vehicles in corresponding driving paths based on the collaborative paths in all two-dimensional collaborative spaces.

[0144] In some embodiments of the present application, the collaborative path drawing submodule includes:

[0145] An initialization unit, used to initialize the constraint library to be empty, and the constraint library is used to store constraint information;

[0146] A drawing unit, used for synchronously drawing lines in multiple two-dimensional collaborative spaces corresponding to multiple vehicle combinations, wherein the lines take the coordinates of the starting point of the two-dimensional collaborative space to which they belong as a starting point, take the ratio of the driving speed of the second vehicle to the driving speed of the first vehicle in the corresponding vehicle combination as a slope, and conform to the constraint information related to the vehicle combination in the constraint library, wherein the driving speed of the first vehicle and the driving speed of the second vehicle are determined according to a preset speed constraint condition;

[0147] a constraint information updating unit, for each vehicle combination, in the process of drawing a line, when the line drawn in the two-dimensional collaborative space corresponding to the vehicle combination contacts any target conflict area in the two-dimensional collaborative space, generating constraint information corresponding to the vehicle combination, adding the constraint information to a constraint library, and deleting the constraint information from the constraint library when the line no longer contacts any target conflict area, wherein the constraint information is used to constrain the driving speed of at least one vehicle in the vehicle combination to prevent the line from crossing any target conflict area;

[0148] The path determination unit, for each two-dimensional collaborative space, uses a line drawn in the two-dimensional collaborative space from the coordinates of the starting point to the coordinates of the end point of the two-dimensional collaborative space as a collaborative path in the two-dimensional system space.

[0149] In some embodiments of the present application, the constraint information updating unit includes:

[0150] a contact position determination subunit, for determining a contact position of the line with the target conflict area in the two-dimensional collaborative space when the line contacts the target conflict area;

[0151] The constraint generation subunit is used to generate constraint information corresponding to the vehicle combination according to the contact position.

[0152] In some embodiments of the present application, the constraint generation subunit is specifically used to:

[0153] Determining cooperative coordinates of the contact position, the cooperative coordinates including a first driving range corresponding to a first vehicle and a second driving range corresponding to a second vehicle in the vehicle combination;

[0154] When the contact position is located at the bottom edge of the target conflict area, generating first constraint information, the first constraint information is used to instruct the second vehicle to stop when the mileage is a second mileage;

[0155] When the contact position is located at a side of the target conflict area, second constraint information is generated, and the second constraint information is used to instruct the first vehicle to stop when the mileage is a first mileage.

[0156] The vehicle intelligent driving control device provided in the embodiment of the present application can achieve Figures 2 to 9 To avoid repetition, the various processes implemented by the method embodiment are not described here.

[0157] Fig.11 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown.

[0158] The electronic device may include a processor 1101 and a memory 1102 storing computer program instructions.

[0159] Specifically, the processor 1101 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0160] The memory 1102 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 1102 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 1102 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 1102 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 1102 is a non-volatile solid-state memory. The memory 1102 may include a read-only memory (ROM), a random access memory (RAM), a disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical, or other physical / tangible memory storage device. Therefore, typically, memory 1102 includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it can perform the operations described in any one of the vehicle intelligent driving control methods in the above-mentioned embodiments.

[0161] The processor 1101 implements any one of the vehicle intelligent driving control methods in the above embodiments by reading and executing computer program instructions stored in the memory 1102.

[0162] In one example, the electronic device may further include a communication interface 1103 and a bus 1110. Fig.11 As shown, the processor 1101, the memory 1102, and the communication interface 1103 are connected via a bus 1110 and communicate with each other.

[0163] The communication interface 1103 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0164] Bus 1110 includes hardware, software or both, and the parts of online data flow billing equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front-end bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 1110 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the present application considers any suitable bus or interconnection.

[0165] In addition, in combination with the vehicle intelligent driving control method in the above embodiments, the embodiment of the present application can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any one of the vehicle intelligent driving control methods in the above embodiments is implemented.

[0166] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0167] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0168] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0169] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0170] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A vehicle intelligent driving control method, characterized in that: The method comprises: Determining a driving path of each of a plurality of intelligent driving vehicles traveling on a road on the road; Constructing a collaborative space corresponding to the multiple intelligent driving vehicles, wherein the collaborative space uses the mileage corresponding to each of the multiple intelligent driving vehicles as a coordinate axis, and the mileage is the mileage between the position of the intelligent driving vehicle in the corresponding driving path and the starting position of the driving path; Determining a conflict area in the collaborative space corresponding to a conflict position in the road, wherein the conflict position refers to a position where vehicles cannot meet; Performing speed planning for the multiple intelligent driving vehicles based on the collaborative space and the conflict area so that the multiple intelligent driving vehicles do not conflict on the road; The constructing of the collaborative space corresponding to the plurality of intelligent driving vehicles includes: Combining the plurality of intelligent driving vehicles in pairs to obtain at least one vehicle combination; For each vehicle combination, the mileage of the first vehicle in the vehicle combination is used as the x-axis, and the mileage of the second vehicle in the vehicle combination is used as the y-axis to construct a two-dimensional collaborative space corresponding to the vehicle combination, wherein the first vehicle is any vehicle in the vehicle combination, and the second vehicle is another vehicle in the vehicle combination except the first vehicle; The determining of the conflict area in the collaborative space corresponding to the conflict position in the road includes: For each vehicle combination, according to the driving paths corresponding to the first vehicle and the second vehicle in the vehicle combination, a target conflict position where the vehicles in the vehicle combination may conflict is determined from the conflict positions on the road; For each vehicle combination, in the two-dimensional collaborative space corresponding to the vehicle combination, a target conflict area corresponding to the target conflict position where the vehicles in the vehicle combination may conflict is created; The step of creating a target conflict area corresponding to a target conflict position where a vehicle in the vehicle combination may conflict in the two-dimensional collaborative space corresponding to the vehicle combination includes: Determine a first conflict mileage corresponding to a first vehicle and a second conflict mileage corresponding to a second vehicle in the vehicle combination, wherein the first conflict mileage is the mileage between the target conflict position and a starting position of a driving path corresponding to the first vehicle, and the second conflict mileage is the mileage between the target conflict position and a starting position of a driving path corresponding to the second vehicle; Determine the coordinate points corresponding to the first conflict mileage and the second conflict mileage in the two-dimensional collaborative space as conflict coordinate points corresponding to the target conflict position; Creating a rectangle in the two-dimensional collaborative space with the conflict coordinate point as the upper right vertex and a preset safety mileage length as the side length; The rectangle is used as the target conflict area corresponding to the target conflict position in the two-dimensional collaborative space.

2. The method according to claim 1, characterized in that The performing speed planning for the multiple intelligent driving vehicles based on the collaborative space and the conflict area so that the multiple intelligent driving vehicles do not conflict on the road includes: In at least one two-dimensional cooperative space corresponding to the at least one vehicle combination, a cooperative path that does not intersect with the target conflict area is drawn, wherein the cooperative path represents the relative position relationship of the vehicle combination corresponding to the two-dimensional cooperative space in the process of moving from one cooperative coordinate to another cooperative coordinate, and the slope of the cooperative path is equal to the ratio of the driving speeds of the vehicle combination corresponding to the two-dimensional cooperative space at the cooperative coordinate; Based on the collaborative paths in all two-dimensional collaborative spaces, the driving speeds of the multiple intelligent driving vehicles in the corresponding driving paths are configured.

3. The method according to claim 2, characterized in that The step of drawing a cooperative path that does not intersect with the target conflict area in at least one two-dimensional cooperative space corresponding to the at least one vehicle combination includes: Initialize a constraint library to be empty, wherein the constraint library is used to store constraint information; Synchronously drawing a line in at least one two-dimensional collaborative space corresponding to the at least one vehicle combination, the line starting from the coordinates of the starting point of the two-dimensional collaborative space to which it belongs, with a slope based on the ratio of the driving speed of the second vehicle to the driving speed of the first vehicle in the corresponding vehicle combination, and conforming to the constraint information related to the vehicle combination in the constraint library, wherein the driving speed of the first vehicle and the driving speed of the second vehicle are determined according to a preset speed constraint condition; In the process of drawing the line, for each vehicle combination, when the line drawn in the two-dimensional collaborative space corresponding to the vehicle combination contacts any target conflict area in the two-dimensional collaborative space, constraint information corresponding to the vehicle combination is generated, and the constraint information is added to the constraint library, and when the line no longer contacts the arbitrary target conflict area, the constraint information is deleted from the constraint library, and the constraint information is used to constrain the driving speed of at least one vehicle in the vehicle combination to prevent the line from crossing the arbitrary target conflict area; For each two-dimensional collaborative space, a line drawn in the two-dimensional collaborative space from the coordinates of the starting point to the coordinates of the end point of the two-dimensional collaborative space is used as a collaborative path in the two-dimensional collaborative space.

4. The method according to claim 3, characterized in that The step of generating constraint information corresponding to the vehicle combination when the line drawn in the two-dimensional cooperative space corresponding to the vehicle combination contacts any target conflict area in the two-dimensional cooperative space includes: determining a contact position between the line and the target conflict area in the two-dimensional cooperative space when the line contacts the target conflict area; Constraint information corresponding to the vehicle combination is generated based on the contact position.

5. The method according to claim 4, characterized in that The generating of constraint information corresponding to the vehicle combination according to the contact position includes: Determine the cooperative coordinates at the contact position, the cooperative coordinates including a first mileage corresponding to the first vehicle and a second mileage corresponding to the second vehicle in the vehicle combination; generating first constraint information when the contact position is located at the bottom edge of the target conflict area, wherein the first constraint information is used to instruct the second vehicle to stop when the mileage is the second mileage; In a case where the contact position is located at a side of the target conflict area, second constraint information is generated, where the second constraint information is used to instruct the first vehicle to stop when the mileage is the first mileage.

6. A vehicle intelligent driving control device, characterized in that: The device comprises: A path determination module, used to determine the driving paths of multiple intelligent driving vehicles traveling on the road; A collaborative space construction module, used to construct a collaborative space corresponding to the multiple intelligent driving vehicles, wherein the collaborative space uses the mileage corresponding to each of the multiple intelligent driving vehicles as a coordinate axis, and the mileage is the mileage between the position of the intelligent driving vehicle in the corresponding driving path and the starting position of the driving path; a conflict area determination module, configured to determine a conflict area in the collaborative space corresponding to a conflict position in the road, wherein the conflict position refers to a position where vehicles cannot meet; A speed planning module, configured to plan the speeds of the plurality of intelligent driving vehicles based on the collaborative space and the conflict area, so that the plurality of intelligent driving vehicles do not conflict with each other on the road; The collaborative space building module is specifically used for: Combining the plurality of intelligent driving vehicles in pairs to obtain at least one vehicle combination; For each vehicle combination, the mileage of the first vehicle in the vehicle combination is used as the x-axis, and the mileage of the second vehicle in the vehicle combination is used as the y-axis to construct a two-dimensional collaborative space corresponding to the vehicle combination, where the first vehicle is any vehicle in the vehicle combination, and the second vehicle is another vehicle in the vehicle combination except the first vehicle; The conflict area determination module includes: A conflict position determination submodule, for each vehicle combination, determines a target conflict position where vehicles in the vehicle combination may conflict from the conflict positions on the road according to the driving paths corresponding to the first vehicle and the second vehicle in the vehicle combination; A conflict area creation submodule is used to create, for each vehicle combination, a target conflict area corresponding to a target conflict position where vehicles in the vehicle combination may conflict in a two-dimensional collaborative space corresponding to the vehicle combination; The conflict area creation submodule is specifically used for: For each vehicle combination, perform the following steps: Determine a first conflict mileage corresponding to a first vehicle and a second conflict mileage corresponding to a second vehicle in the vehicle combination, wherein the first conflict mileage is the mileage between a target conflict position and a starting position of a driving path corresponding to the first vehicle, and the second conflict mileage is the mileage between the target conflict position and a starting position of a driving path corresponding to the second vehicle; Determine the coordinate points corresponding to the first conflict mileage and the second conflict mileage in the two-dimensional collaborative space as conflict coordinate points corresponding to the target conflict position; In the two-dimensional collaborative space, a rectangle is created with the conflict coordinate point as the upper right vertex and the preset safety mileage length as the side length; The rectangle is used as the target conflict area corresponding to the target conflict position in the two-dimensional collaborative space.

7. An electronic device, characterized in that: The electronic device comprises: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the vehicle intelligent driving control method as described in any one of claims 1-5 is implemented.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by the processor, the vehicle intelligent driving control method as described in any one of claims 1-5 is implemented.

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