Vehicle behavior mode determination method, device, equipment, storage medium and product

Abstract

The application discloses a vehicle behavior mode determination method, device, equipment, storage medium and product. The method is applied to a vehicle and includes the following steps: acquiring vehicle number information and merging time sorting information in a current time period; determining a first adjacent vehicle and a second adjacent vehicle according to the vehicle number information and the merging time sorting information; determining a target vehicle position of the vehicle, a first vehicle position of the first adjacent vehicle and a second vehicle position of the second adjacent vehicle; determining a first merging difference value according to a target merging time of the vehicle and a first merging time of the first adjacent vehicle in the merging time sorting information, and determining a second merging difference value according to the target merging time of the vehicle and a second merging time of the second adjacent vehicle in the merging time sorting information; and determining a target behavior mode of the vehicle according to the first merging difference value and the second merging difference value, and based on the target vehicle position, the first vehicle position and the second vehicle position.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving of vehicles, and in particular to a vehicle behavior mode determination method, device, equipment, storage medium and product. BACKGROUND

[0002] With the increasing maturity of automatic driving technology and the continuous improvement of road facilities, the market share of automatic driving vehicles is increasing. According to different driving scenarios, such as closed parks, urban roads, highways and unstructured roads, developers will design different automatic driving systems to improve driving safety. In the highway scenario, ramp merging is one of the key factors affecting traffic conditions. Due to the increase of traffic flow on the main road caused by vehicle merging, problems such as congestion and rising traffic accident rates may occur.

[0003] Most of the existing ramp merging methods for highways use Internet of Vehicles technology to obtain the state information of all vehicles in the ramp merging area to determine the number of vehicles merging from the ramp to the main line, and optimize the merging order of ramp vehicles to improve the traffic conditions of vehicles on the main line. However, this method is not efficient in controlling ramp merging in a mixed traffic situation of automatic driving and manual driving, and has low accuracy in positioning the behavior mode of vehicles before merging into the ramp. SUMMARY

[0004] The present application provides a vehicle behavior mode determination method, device, equipment, storage medium and product to improve the accuracy of determining the behavior mode of vehicles before merging into the ramp and improve the efficiency of vehicle ramp merging.

[0005] According to an aspect of the present application, a vehicle behavior mode determination method is provided, applied to a vehicle, the method comprising:

[0006] obtaining vehicle number information and merging time sorting information sent by a road test device in a current time period;

[0007] determining a first adjacent vehicle and a second adjacent vehicle according to the vehicle number information and the merging time sorting information;

[0008] determining a target vehicle position of the vehicle itself, and respectively determining a first vehicle position of the first adjacent vehicle and a second vehicle position of the second adjacent vehicle;

[0009] determining a first merging difference value according to the target merging time of the vehicle itself and the first merging time of the first adjacent vehicle in the merging time sorting information, and determining a second merging difference value according to the target merging time of the vehicle itself and the second merging time of the second adjacent vehicle in the merging time sorting information;

[0010] According to the first merging difference value and the second merging difference value, a target behavior mode of the ego vehicle is determined based on the target vehicle position, the first vehicle position and the second vehicle position.

[0011] According to another aspect of the present application, a vehicle behavior mode determination method applied to a road test device is provided, the method comprising:

[0012] According to the time of establishing a communication connection with at least one vehicle within a preset range in a current time period, the vehicles are sorted according to the communication time to obtain vehicle number information corresponding to each vehicle respectively, and the vehicle number information is sent to the corresponding vehicle;

[0013] The driving state information of each vehicle is obtained, and according to the driving state information, the vehicle merging time of each vehicle reaching a merging entrance of a ramp is determined;

[0014] According to the vehicle merging time of each vehicle, the vehicles are sorted according to the merging time to obtain merging time sorting information, and the merging time sorting information is sent to each vehicle, so that each vehicle determines the vehicle behavior mode according to the corresponding vehicle number information and the corresponding merging time sorting information.

[0015] According to another aspect of the present application, a vehicle behavior mode determination device configured in a vehicle is provided, the device comprising:

[0016] An information acquisition module is configured to acquire vehicle number information and merging time sorting information sent by a road test device in a current time period;

[0017] A neighboring vehicle determination module is configured to determine a first neighboring vehicle and a second neighboring vehicle according to the vehicle number information and the merging time sorting information;

[0018] A vehicle position determination module is configured to determine a target vehicle position of the ego vehicle, and determine a first vehicle position of the first neighboring vehicle and a second vehicle position of the second neighboring vehicle respectively;

[0019] A merging difference value determination module is configured to determine a first merging difference value according to a target merging time of the ego vehicle and a first merging time of the first neighboring vehicle in the merging time sorting information, and determine a second merging difference value according to the target merging time of the ego vehicle and a second merging time of the second neighboring vehicle in the merging time sorting information;

[0020] A behavior mode determination module is configured to determine a target behavior mode of the ego vehicle based on the target vehicle position, the first vehicle position and the second vehicle position according to the first merging difference value and the second merging difference value.

[0021] According to another aspect of the present application, there is provided a vehicle behavior mode determination apparatus configured in a road test device, the apparatus comprising:

[0022] A number information determination module is configured to sort each of the vehicles according to a time period during which each of the vehicles establishes a communication connection with at least one vehicle within a preset range, to obtain vehicle number information corresponding to each of the vehicles respectively, and to send the vehicle number information to the corresponding vehicle.

[0023] A merging time determination module is configured to obtain driving state information of each of the vehicles, and to determine a vehicle merging time of each of the vehicles reaching a merging entrance of a preset ramp according to the driving state information.

[0024] A sorting information determination module is configured to sort each of the vehicles according to the vehicle merging time of each of the vehicles, to obtain merging time sorting information, and to send the merging time sorting information to each of the vehicles, so that each of the vehicles determines a vehicle behavior mode according to the corresponding vehicle number information and the corresponding merging time sorting information.

[0025] According to another aspect of the present application, there is provided an electronic device, the electronic device comprising:

[0026] at least one processor; and

[0027] a memory in communication with the at least one processor; wherein

[0028] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the vehicle behavior mode determination method according to any one of the embodiments of the present application.

[0029] According to another aspect of the present application, there is provided a computer readable storage medium storing computer instructions for enabling a processor to perform the vehicle behavior mode determination method according to any one of the embodiments of the present application when the computer instructions are executed by the processor.

[0030] According to another aspect of the present application, there is provided a computer program product comprising a computer program for enabling a processor to perform the vehicle behavior mode determination method according to any one of the embodiments of the present application when the computer program is executed by the processor.

[0031] The technical scheme of the embodiment of the present application determines the first adjacent vehicle and the second adjacent vehicle according to the vehicle number information and the merging time sorting information, determines the target vehicle position of the self vehicle, and respectively determines the first vehicle position of the first adjacent vehicle and the second vehicle position of the second adjacent vehicle; determines the first merging difference according to the target merging time of the self vehicle and the first merging time of the first adjacent vehicle in the merging time sorting information, and determines the second merging difference according to the target merging time of the self vehicle and the second merging time of the second adjacent vehicle in the merging time sorting information; and determines the target behavior mode of the self vehicle based on the target vehicle position, the first vehicle position and the second vehicle position according to the first merging difference and the second merging difference. The above technical scheme determines two adjacent vehicles adjacent to the self vehicle in the time dimension, and determines the behavior mode of the self vehicle according to the positional relationship between the self vehicle and the adjacent vehicles and the relationship between the merging ramp time, thereby improving the determination accuracy of the behavior mode of the vehicle before the vehicle merges into the ramp, and improving the ramp merging safety and the ramp merging efficiency of the vehicle.

[0032] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0034] Figure 1 is a flow chart of a vehicle behavior mode determination method provided by the first embodiment of the present application;

[0035] Figure 2 is a flow chart of a vehicle behavior mode determination method provided by the second embodiment of the present application;

[0036] Figure 3A is an interaction schematic diagram of a vehicle behavior mode determination method provided by the third embodiment of the present application;

[0037] Figure 3B is a highway ramp vehicle merging scene schematic diagram provided by the third embodiment of the present application;

[0038] Figure 4 is a structural schematic diagram of a vehicle behavior mode determination device provided by the fourth embodiment of the present application;

[0039] Figure 5 This is a schematic diagram of a vehicle behavior pattern determination device according to Embodiment 5 of the present invention;

[0040] Figure 6 This is a schematic diagram of the structure of an electronic device that implements the vehicle behavior pattern determination method of this invention. Detailed Implementation

[0041] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0042] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0043] Example 1

[0044] Figure 1 This is a flowchart of a vehicle behavior pattern determination method provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation where vehicles entering and exiting ramps undergo behavior pattern decision control. The method can be executed by a vehicle behavior pattern determination device, which can be implemented in hardware and / or software. This device can be configured in an electronic device, for example, it can be configured in a vehicle. Figure 1 As shown, this method is applied to a vehicle and includes:

[0045] S110. Obtain vehicle number information and import time sorting information sent by the road test equipment in the current time period.

[0046] Among them, the road testing equipment can be vehicle detection equipment deployed at the ramp entrance, used to establish communication connections with vehicles within a preset communication range and transmit vehicle status information within the ramp entrance range, etc.

[0047] Among them, the vehicle number information can be the sequential number of the vehicle signals received by the road test equipment within a preset range; the merging time sorting information can be the information of the road test equipment sorting the merging time of all vehicles that received signals within the preset range at the ramp entrance.

[0048] The road test equipment sorts the communication times of each vehicle based on the time it establishes a communication connection with at least one vehicle within a preset range during the current time period, obtains the vehicle number information corresponding to each vehicle, and sends the vehicle number information to the corresponding vehicle; it acquires the driving status information of each vehicle, and determines the vehicle merging time of each vehicle at the preset ramp merging entrance based on the driving status information; it sorts the merging times of each vehicle based on the vehicle merging time, obtains the merging time sorting information, and sends the merging time sorting information to each vehicle, so that each vehicle can determine its vehicle behavior pattern based on the corresponding vehicle number information and the corresponding merging time sorting information.

[0049] The road testing equipment can periodically acquire information about vehicles that have established communication connections with it within a preset range, based on a preset testing cycle. Both the preset testing cycle and the preset range can be pre-set by relevant technical personnel based on practical experience or experimental values. For example, the preset range could be a circular area with a radius of 500 meters centered on the road testing equipment itself.

[0050] Specifically, the road testing equipment establishes communication connections with vehicles within a preset range at the current time, obtaining the communication time for each vehicle. Based on the length of the communication connection, the vehicles are sorted sequentially by their communication times, for example, from longest to shortest. This results in a sequential number for each vehicle. For instance, the vehicle numbering order could be AV1, AV2, AV3, ..., AV i …、AV n The vehicle number information belonging to the corresponding vehicle is sent to that vehicle. For example, for vehicle i, its vehicle number information AV is sent. i The information is sent to vehicle i. After receiving the vehicle number information, vehicle i can determine its own vehicle number information.

[0051] The road testing equipment acquires the driving status information of each vehicle and determines the merging time of each vehicle at the preset ramp entrance based on this information. The driving status information may include vehicle position coordinates, vehicle speed, vehicle acceleration, and vehicle heading angle. For example, the merging time of a vehicle from its current position to the preset ramp entrance can be determined based on its position coordinates, speed, and acceleration. The road testing equipment sorts the merging times of each vehicle sequentially, specifically by ordering the times from shortest to longest, to obtain merging time sorting information. This merging time sorting information is sent to each vehicle so that each vehicle can determine its behavior pattern based on its vehicle number and the corresponding merging time sorting information.

[0052] It should be noted that the import time sorting is based on the vehicle number information. For example, the import time sorting information can be: T AV4 T AV1 T AV8 ... T AVi …、T AVn After receiving the imported time sorting information, a vehicle can locate its own position and the positions of adjacent vehicles in the time sorting based on its own identification number.

[0053] S120. Based on the vehicle number information and the sorting information of the arrival time, determine the first neighboring vehicle and the second neighboring vehicle.

[0054] For example, when a vehicle receives its own vehicle number information and the entry time sorting information, it can identify the two obstacle vehicles that are closest to it in time. For instance, the order of the vehicles in the entry time sorting information is as follows:

[0055] [T1,T2,T3,…,T i-1 ,T i ,T i+1 ,…,T n ]

[0056] If the vehicle's own number is i, then the two nearest times in the time dimension can be determined as T. i-1 and T i+1 If the corresponding vehicles are i-1 and i+1, then the vehicle that arrives before the vehicle that is closest to it is determined as the first neighboring vehicle, and the vehicle that arrives after the vehicle that is closest to it is determined as the second neighboring vehicle.

[0057] S130, determine the target vehicle position of the vehicle itself, and determine the first vehicle position of the first neighboring vehicle and the second vehicle position of the second neighboring vehicle respectively.

[0058] For example, a vehicle can determine the location of a target vehicle, the location of a first neighboring vehicle, and the location of a second neighboring vehicle based on its own perception and positioning module.

[0059] Optionally, to further improve the accuracy of its own vehicle's positioning of the first and second neighboring vehicles, and thus avoid the inconsistency between the positioning results of its own sensing and positioning module and the sensing and positioning module of the road test equipment, it can obtain the vehicle position information of the first and second neighboring vehicles from the road test equipment.

[0060] S140. Determine a first merging difference based on the target merging time of the vehicle itself and the first merging time of the first neighboring vehicle in the merging time sorting information, and determine a second merging difference based on the target merging time of the vehicle itself and the second merging time of the second neighboring vehicle in the merging time sorting information.

[0061] Among them, the target arrival time T of the vehicle itself is sorted according to the arrival time information. i The first merging time T of the first adjacent vehicle i-1 Determine the first inflow difference delt t1 :

[0062] delt t1 =T i -T i-1

[0063] Based on the target arrival time T of its own vehicle in the arrival time sorting information. i The second merging time T of the second adjacent vehicle i+1 Determine the first inflow difference delt t2 :

[0064] delt t2 =T i+1 -T i

[0065] S150. Based on the first inflow difference and the second inflow difference, and based on the target vehicle position, the first vehicle position and the second vehicle position, determine the target behavior pattern of the vehicle itself.

[0066] For example, based on the time relationship between the first inflow difference and the first preset time threshold, and the time relationship between the second inflow difference and the second preset time threshold, combined with the target vehicle position, the first vehicle position, and the second vehicle position, the target behavior pattern of the vehicle itself is determined.

[0067] In one optional embodiment, based on the first merging difference and the second merging difference, and considering the target vehicle position, the first vehicle position, and the second vehicle position, the target behavior pattern of the vehicle is determined, including: if the target vehicle position, the first vehicle position, and the second vehicle position are all located on the main road, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold, then the target behavior pattern of the vehicle is determined to be a deceleration mode; if the target vehicle position, the first vehicle position, and the second vehicle position are all located on the main road, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold, then the target behavior pattern of the vehicle is determined to be a deceleration mode; If the merging difference is greater than a preset second difference threshold, the target behavior mode of the vehicle is determined to be deceleration mode; if the target vehicle position, the first vehicle position, and the second vehicle position are all located on the main road, and the first merging difference is greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold, the target behavior mode of the vehicle is determined to be constant speed mode; if the target vehicle position, the first vehicle position, and the second vehicle position are all located on the main road, and the first merging difference is greater than a preset first difference threshold and the second merging difference is greater than a preset second difference threshold, the target behavior mode of the vehicle is determined to be constant speed mode.

[0068] The first and second difference thresholds can be preset by relevant technical personnel based on actual experience or experimental values.

[0069] The first difference threshold is T. F The second difference threshold is T. B The first inflow difference is delt t1 The second input difference dimension delt t2 The target behavior pattern of the vehicle is then determined as follows:

[0070] The vehicle itself is on the main road, the first adjacent vehicle is on the main road, and the second adjacent vehicle is on the main road.

[0071] If delt t1 ≤T F delt t2 ≤T B Then the target behavior pattern is deceleration mode;

[0072] If delt t1 ≤T F delt t2 >T B Then the target behavior pattern is deceleration mode;

[0073] If delt t1 >T F delt t2 ≤T B Then the target behavior pattern is a constant speed pattern;

[0074] If delt t1 >T F delt t2 >T B If so, the target behavior pattern is a constant speed pattern.

[0075] In another optional embodiment, if the target vehicle position and the second vehicle position are located on the main road, the first vehicle position is located on the ramp, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold, then the target behavior mode of the vehicle itself is determined to be a deceleration mode; if the target vehicle position and the second vehicle position are located on the main road, the first vehicle position is located on the ramp, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is greater than a preset second difference threshold, then the target behavior mode of the vehicle itself is determined to be a deceleration mode; if the target vehicle position and the second vehicle position are located on the main road, the first vehicle position is located on the ramp, and the first merging difference is greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold, then the target behavior mode of the vehicle itself is determined to be a constant speed mode; if the target vehicle position and the second vehicle position are located on the main road, the first vehicle position is located on the ramp, and the first merging difference is greater than a preset first difference threshold and the second merging difference is greater than a preset second difference threshold, then the target behavior mode of the vehicle itself is determined to be a constant speed mode.

[0076] The first and second difference thresholds can be preset by relevant technical personnel based on actual experience or experimental values.

[0077] The first difference threshold is T. F The second difference threshold is T. B The first inflow difference is delt t1 The second input difference dimension delt t2 The target behavior pattern of the vehicle is then determined as follows:

[0078] The vehicle itself and the second adjacent vehicle are on the main road, while the first adjacent vehicle is on the ramp.

[0079] If delt t1 ≤T F delt t2 ≤T B Then the target behavior pattern is deceleration mode;

[0080] If delt t1 ≤T F delt t2 >T B Then the target behavior pattern is deceleration mode;

[0081] If delt t1 >T F delt t2 ≤T B Then the target behavior pattern is a constant speed pattern;

[0082] If delt t1 >T F delt t2 >T B If so, the target behavior pattern is a constant speed pattern.

[0083] In another alternative embodiment, the vehicle is located on the main road, while the first and second neighboring vehicles are located on the ramp. The target behavior mode for the vehicle is a deceleration mode, accelerating back to normal driving mode only after the vehicle has traveled out of a preset range.

[0084] In another optional embodiment, if the target vehicle position and the first vehicle position are both located on the main road and the second vehicle position is both located on the ramp, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold, then the target behavior mode of the vehicle is determined to be a deceleration mode; if the target vehicle position and the first vehicle position are both located on the main road and the second vehicle position is both located on the ramp, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is greater than a preset second difference threshold, then the target behavior mode of the vehicle is determined to be a deceleration mode; if the target vehicle position and the first vehicle position are both located on the main road and the second vehicle position is both located on the ramp, and the first merging difference is greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold, then the target behavior mode of the vehicle is determined to be a deceleration mode; if the target vehicle position and the first vehicle position are both located on the main road and the second vehicle position is both located on the ramp, and the first merging difference is greater than a preset first difference threshold and the second merging difference is greater than a preset second difference threshold, then the target behavior mode of the vehicle is determined to be a constant speed mode.

[0085] The first difference threshold is T. F The second difference threshold is T. B The first inflow difference is delt t1 The second input difference dimension delt t2 The target behavior pattern of the vehicle is then determined as follows:

[0086] The vehicle itself and the first adjacent vehicle are on the main road, and the second adjacent vehicle is on the ramp.

[0087] If delt t1 ≤T F delt t2 ≤T BThen the target behavior pattern is deceleration mode;

[0088] If delt t1 ≤T F delt t2 >T B Then the target behavior pattern is deceleration mode;

[0089] If delt t1 >T F delt t2 ≤T B Then the target behavior pattern is deceleration mode;

[0090] If delt t1 >T F delt t2 >T B If so, the target behavior pattern is a constant speed pattern.

[0091] In another alternative embodiment, if the vehicle is located on a ramp and the first and second neighboring vehicles are located on the main road, the target behavior mode of the vehicle is a deceleration mode, which continues until the vehicle moves out of the preset range before accelerating back to normal driving mode.

[0092] In another optional embodiment, if the target vehicle position and the first vehicle position are located on a ramp, the second vehicle position is located on the main road, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold, then the target behavior mode of the vehicle itself is determined to be a deceleration mode; if the target vehicle position and the first vehicle position are located on a ramp, the second vehicle position is located on the main road, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is greater than a preset second difference threshold, then the target behavior mode of the vehicle itself is determined to be a deceleration mode; if the target vehicle position and the first vehicle position are located on a ramp, the second vehicle position is located on the main road, and the first merging difference is greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold, then the target behavior mode of the vehicle itself is determined to be a deceleration mode; if the target vehicle position and the first vehicle position are located on a ramp, the second vehicle position is located on the main road, and the first merging difference is greater than a preset first difference threshold and the second merging difference is greater than a preset second difference threshold, then the target behavior mode of the vehicle itself is determined to be a constant speed mode.

[0093] The first difference threshold is T. F The second difference threshold is T. B The first inflow difference is delt t1 The second input difference dimension delt t2 The target behavior pattern of the vehicle is then determined as follows:

[0094] The vehicle itself and the first adjacent vehicle are on the ramp, while the second adjacent vehicle is on the main road.

[0095] If delt t1 ≤T F delt t2 ≤T B Then the target behavior pattern is deceleration mode;

[0096] If delt t1 ≤T F delt t2 >T B Then the target behavior pattern is deceleration mode;

[0097] If delt t1 >T F delt t2 ≤T B Then the target behavior pattern is deceleration mode;

[0098] If delt t1 >T F delt t2 >T B If so, the target behavior pattern is a constant speed pattern.

[0099] In another optional embodiment, if the target vehicle position, the first vehicle position, and the second vehicle position are all located on a ramp, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold, then the target behavior mode of the vehicle is determined to be a deceleration mode; if the target vehicle position, the first vehicle position, and the second vehicle position are all located on a ramp, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is greater than a preset second difference threshold, then the target behavior mode of the vehicle is determined to be a deceleration mode; if the target vehicle position, the first vehicle position, and the second vehicle position are all located on a ramp, and the first merging difference is greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold, then the target behavior mode of the vehicle is determined to be a constant speed mode; if the target vehicle position, the first vehicle position, and the second vehicle position are all located on a ramp, and the first merging difference is greater than a preset first difference threshold and the second merging difference is greater than a preset second difference threshold, then the target behavior mode of the vehicle is determined to be a constant speed mode.

[0100] The first and second difference thresholds can be preset by relevant technical personnel based on actual experience or experimental values.

[0101] The first difference threshold is T. F The second difference threshold is T. B The first inflow difference is delt t1The second input difference dimension delt t2 The target behavior pattern of the vehicle is then determined as follows:

[0102] The vehicle itself, the first adjacent vehicle, and the second adjacent vehicle are all located on the ramp.

[0103] If delt t1 ≤T F delt t2 ≤T B Then the target behavior pattern is deceleration mode;

[0104] If delt t1 ≤T F delt t2 >T B Then the target behavior pattern is deceleration mode;

[0105] If delt t1 >T F delt t2 ≤T B Then the target behavior pattern is a constant speed pattern;

[0106] If delt t1 >T F delt t2 >T B If so, the target behavior pattern is a constant speed pattern.

[0107] In another optional embodiment, if the target vehicle position and the second vehicle position are both located on the ramp and the first vehicle position is both located on the main road, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold, then the target behavior mode of the vehicle is determined to be a deceleration mode; if the target vehicle position and the second vehicle position are both located on the ramp and the first vehicle position is both located on the main road, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is greater than a preset second difference threshold, then the target behavior mode of the vehicle is determined to be a deceleration mode; if the target vehicle position and the second vehicle position are both located on the ramp and the first vehicle position is both located on the main road, and the first merging difference is greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold, then the target behavior mode of the vehicle is determined to be a constant speed mode; if the target vehicle position and the second vehicle position are both located on the ramp and the first vehicle position is both located on the main road, and the first merging difference is greater than a preset first difference threshold and the second merging difference is greater than a preset second difference threshold, then the target behavior mode of the vehicle is determined to be a constant speed mode.

[0108] The first difference threshold is T. F The second difference threshold is T. BThe first inflow difference is delt t1 The second input difference dimension delt t2 The target behavior pattern of the vehicle is then determined as follows:

[0109] The vehicle itself and the second adjacent vehicle are on the ramp, while the first adjacent vehicle is on the main road.

[0110] If delt t1 ≤T F delt t2 ≤T B Then the target behavior pattern is deceleration mode;

[0111] If delt t1 ≤T F delt t2 >T B Then the target behavior pattern is deceleration mode;

[0112] If delt t1 >T F delt t2 ≤T B Then the target behavior pattern is a constant speed pattern;

[0113] If delt t1 >T F delt t2 >T B If so, the target behavior pattern is a constant speed pattern.

[0114] The technical solution of this invention determines the first and second neighboring vehicles based on vehicle number information and merging time sorting information, determines the target vehicle position of the vehicle itself, and determines the first vehicle position of the first neighboring vehicle and the second vehicle position of the second neighboring vehicle. Based on the target merging time of the vehicle itself and the first merging time of the first neighboring vehicle in the merging time sorting information, a first merging difference is determined; and based on the target merging time of the vehicle itself and the second merging time of the second neighboring vehicle in the merging time sorting information, a second merging difference is determined. Based on the first and second merging difference, and using the target vehicle position, the first vehicle position, and the second vehicle position, the target behavior pattern of the vehicle itself is determined. This technical solution improves the accuracy of determining the vehicle behavior pattern before merging onto the ramp by identifying two neighboring vehicles that are close to the vehicle in the time dimension and making decisions about the vehicle's behavior pattern based on the positional relationship between the vehicle and the neighboring vehicles and the relationship between the merging ramp time. This improves the safety and efficiency of vehicle ramp merging.

[0115] Example 2

[0116] Figure 2This is a flowchart of a vehicle behavior pattern determination method provided in Embodiment 2 of the present invention. This embodiment is applicable to the situation where vehicles at ramp entrances and exits are subject to behavior pattern decision control. The method can be executed by a vehicle behavior pattern determination device, which can be implemented in hardware and / or software. This device can be configured in electronic equipment, for example, in road testing equipment. Figure 2 As shown, this method is applied to drive test equipment, including:

[0117] S210. Based on the time of establishing a communication connection with at least one vehicle within a preset range under the current time period, sort the communication times of each vehicle to obtain the vehicle number information corresponding to each vehicle, and send the vehicle number information to the corresponding vehicle.

[0118] S220. Obtain the driving status information of each vehicle, and determine the merging time of each vehicle when it reaches the preset ramp merging entrance based on the driving status information.

[0119] S230. Based on the vehicle entry time of each vehicle, sort the vehicles by entry time to obtain entry time sorting information, and send the entry time sorting information to each vehicle so that each vehicle can determine its vehicle behavior pattern based on the corresponding vehicle number information and the corresponding entry time sorting information.

[0120] Among them, the road testing equipment can be vehicle detection equipment deployed at the ramp entrance, used to establish communication connections with vehicles within a preset communication range and transmit vehicle status information within the ramp entrance range, etc.

[0121] Among them, the vehicle number information can be the sequential number of the vehicle signals received by the road test equipment within a preset range; the merging time sorting information can be the information of the road test equipment sorting the merging time of all vehicles that received signals within the preset range at the ramp entrance.

[0122] The road test equipment sorts the communication times of each vehicle based on the time it establishes a communication connection with at least one vehicle within a preset range during the current time period, obtains the vehicle number information corresponding to each vehicle, and sends the vehicle number information to the corresponding vehicle; it acquires the driving status information of each vehicle, and determines the vehicle merging time of each vehicle at the preset ramp merging entrance based on the driving status information; it sorts the merging times of each vehicle based on the vehicle merging time, obtains the merging time sorting information, and sends the merging time sorting information to each vehicle, so that each vehicle can determine its vehicle behavior pattern based on the corresponding vehicle number information and the corresponding merging time sorting information.

[0123] The road testing equipment can periodically acquire information about vehicles that have established communication connections with it within a preset range, based on a preset testing cycle. Both the preset testing cycle and the preset range can be pre-set by relevant technical personnel based on practical experience or experimental values. For example, the preset range could be a circular area with a radius of 500 meters centered on the road testing equipment itself.

[0124] Specifically, the road testing equipment establishes communication connections with vehicles within a preset range at the current time, obtaining the communication time for each vehicle. Based on the length of the communication connection, the vehicles are sorted sequentially by their communication times, for example, from longest to shortest. This results in a sequential number for each vehicle. For instance, the vehicle numbering order could be AV1, AV2, AV3, ..., AV i …、AV n The vehicle number information belonging to the corresponding vehicle is sent to that vehicle. For example, for vehicle i, its vehicle number information AV is sent. i The information is sent to vehicle i. After receiving the vehicle number information, vehicle i can determine its own vehicle number information.

[0125] The road testing equipment acquires the driving status information of each vehicle and determines the merging time of each vehicle at the preset ramp entrance based on this information. The driving status information may include vehicle position coordinates, vehicle speed, vehicle acceleration, and vehicle heading angle. For example, the merging time of a vehicle from its current position to the preset ramp entrance can be determined based on its position coordinates, speed, and acceleration. The road testing equipment sorts the merging times of each vehicle sequentially, specifically by ordering the times from shortest to longest, to obtain merging time sorting information. This merging time sorting information is sent to each vehicle so that each vehicle can determine its behavior pattern based on its vehicle number and the corresponding merging time sorting information.

[0126] It should be noted that the import time sorting is based on the vehicle number information. For example, the import time sorting information can be: T AV4 T AV1 T AV8 ... T AVi …、T AVn After receiving the imported time sorting information, a vehicle can locate its own position and the positions of adjacent vehicles in the time sorting based on its own identification number.

[0127] After obtaining vehicle ID information and merging time sorting information sent by the road test equipment in the current time period, the vehicle determines the first and second neighboring vehicles based on the vehicle ID information and merging time sorting information; it also determines the target vehicle position of its own vehicle, and the first vehicle position of the first neighboring vehicle and the second vehicle position of the second neighboring vehicle. Based on the target merging time of its own vehicle and the first merging time of the first neighboring vehicle in the merging time sorting information, a first merging difference is determined; and based on the target merging time of its own vehicle and the second merging time of the second neighboring vehicle in the merging time sorting information, a second merging difference is determined. Based on the first and second merging difference, and using the target vehicle position, the first vehicle position, and the second vehicle position, the vehicle determines its own target behavior pattern.

[0128] This embodiment's technical solution sorts the communication times of vehicles based on the time it takes to establish a communication connection with at least one vehicle within a preset range during the current time period, obtaining vehicle number information for each vehicle, and sending the vehicle number information to the corresponding vehicle; it acquires the driving status information of each vehicle and determines the merging time of each vehicle at the preset ramp merging entrance based on the driving status information; it sorts the merging times of each vehicle based on their merging times, obtaining merging time sorting information, and sends the merging time sorting information to each vehicle, allowing each vehicle to determine its vehicle behavior pattern based on the corresponding vehicle number information and the corresponding merging time sorting information. The road test equipment in the above technical solution sorts the vehicles within the preset range according to the time dimension of the ramp merging entrance and assigns vehicle numbers to each vehicle, thereby improving the accuracy of determining vehicle number information and merging time sorting information, further enhancing the accuracy of determining vehicle behavior patterns before merging onto the ramp, and thus improving the safety and efficiency of vehicle ramp merging.

[0129] Example 3

[0130] Figure 3A This is an interactive schematic diagram of a vehicle behavior pattern determination method provided in Embodiment 3 of the present invention. Based on the above embodiments, this embodiment also provides a preferred embodiment.

[0131] The road testing equipment includes a road testing sensing unit, a road testing computing unit, and a road testing communication unit. The vehicle includes a sensing and positioning module, a decision-making module, and a control and execution module.

[0132] like Figure 3BThe diagram illustrates a vehicle merging scenario on a highway ramp. Vehicles enter a preset range and establish communication with roadside equipment. The roadside communication unit in the roadside equipment sends vehicle signals to the roadside perception unit. The roadside perception unit assigns vehicle numbers to all vehicles within the preset range, obtaining a set of vehicle numbers. If there are multiple autonomous vehicles within the preset range, they are numbered according to the order in which they established communication with the roadside equipment. After numbering, the roadside perception unit sends the vehicle numbers to the roadside communication unit, which then returns them to the vehicle's perception and positioning module. This process unifies the vehicle's and obstacle vehicle numbers assigned by the roadside perception unit and the vehicle's perception and positioning module, determining the vehicle's own number.

[0133] The roadside sensing unit acquires the status information of each vehicle within a preset range in real time, including vehicle position coordinates, speed, acceleration and heading angle, and sends the status information to the roadside computing unit.

[0134] The roadside calculation unit calculates the arrival time of all vehicles within the preset range that have not yet reached the ramp merging point at the ramp merging point based on the status information. The arrival time of vehicle AV1 is recorded as t. AV1 The arrival times of other vehicles are denoted as t1, t2, ..., t3. n The subscripts here correspond one-to-one with the vehicle numbers assigned by the roadside sensing unit. That is, t1 is the time when vehicle 1 arrives at the ramp merging point, t2 is the time when vehicle 2 arrives at the ramp merging point, and so on. The roadside calculation unit sorts the arrival times of both vehicles and vehicles at the ramp merging point from smallest to largest, denoted as a set T = [t1, ..., t2]. i ,t AV1 ,t j The roadside computing unit sends set T to the roadside communication unit, which then sends set T to each vehicle.

[0135] The vehicle decision module receives a set T and calculates the time t between the vehicle's arrival at the ramp entrance. AV1 The nearest obstacle vehicle reaches the ramp entrance in time t. i t j The difference between deltT i deltT j The decision-making level sets a threshold T for the time difference between the arrival of the vehicle and the nearest forward obstacle vehicle at the ramp merging point. F The threshold T for the time difference between the nearest following vehicle and the vehicle arriving at the ramp merging point. B The decision-making level will deltT i and T F deltT j and T B The system compares the data, determines the next behavior pattern of the vehicle based on the comparison results, and outputs decision instructions.

[0136] The determination method specifically includes:

[0137] 1) Vehicle i is on the main road, vehicle j is on the main road, and vehicle i is on the main road:

[0138] If deltTi≤TF and deltTj≤TB, the decision-making level issues a deceleration command.

[0139] If deltTi≤TF and deltTj>TB, the decision-making level issues a deceleration command;

[0140] If deltTi>TF and deltTj≤TB, the decision-making level issues a uniform speed command;

[0141] If deltTi>TF and deltTj>TB, the decision-making level issues a constant speed command.

[0142] 2) Vehicle i is on the main road, vehicle j is on the ramp, and vehicle j is on the main road:

[0143] If deltTi≤TF and deltTj≤TB, the decision-making level issues a deceleration command.

[0144] If deltTi≤TF and deltTj>TB, the decision-making level issues a deceleration command;

[0145] If deltTi>TF and deltTj≤TB, the decision-making level issues a uniform speed command;

[0146] If deltTi>TF and deltTj>TB, the decision-making level issues a constant speed command.

[0147] 3) Vehicle i is located on the main road, vehicle j is located on the ramp, and vehicle i is located on the ramp:

[0148] The decision-makers issued a deceleration command, and the vehicle accelerated back to normal driving speed only after it had driven out of the preset range.

[0149] 4) Vehicle i is located on the main road, vehicle j is located on the main road, and vehicle j is located on the ramp:

[0150] If deltTi≤TF and deltTj≤TB, the decision-making level issues a deceleration command.

[0151] If deltTi≤TF and deltTj>TB, the decision-making level issues a deceleration command;

[0152] If deltTi>TF and deltTj≤TB, the decision-making level issues a deceleration command;

[0153] If deltTi>TF and deltTj>TB, the decision-making level issues a constant speed command.

[0154] 5) Vehicle i is on the ramp, vehicle j is on the main road, and vehicle j is on the main road:

[0155] The decision-makers issued a deceleration command, and the vehicle accelerated back to normal driving speed only after it had driven out of the preset range.

[0156] 6) Vehicle i is located on the ramp, vehicle j is located on the ramp, and vehicle j is located on the main road:

[0157] If deltTi≤TF and deltTj≤TB, the decision-making level issues a deceleration command.

[0158] If deltTi≤TF and deltTj>TB, the decision-making level issues a deceleration command;

[0159] If deltTi>TF and deltTj≤TB, the decision-making level issues a deceleration command;

[0160] If deltTi>TF and deltTj>TB, the decision-making level issues a constant speed command.

[0161] 7) Vehicle i is located on the ramp, vehicle j is located on the ramp, and vehicle i is located on the ramp:

[0162] If deltTi≤TF and deltTj≤TB, the decision-making level issues a deceleration command.

[0163] If deltTi≤TF and deltTj>TB, the decision-making level issues a deceleration command;

[0164] If deltTi>TF and deltTj≤TB, the decision-making level issues a uniform speed command;

[0165] If deltTi>TF and deltTj>TB, the decision-making level issues a constant speed command.

[0166] 8) Vehicle i is on the ramp, vehicle j is on the main road, and vehicle j is on the ramp:

[0167] If deltTi≤TF and deltTj≤TB, the decision-making level issues a deceleration command.

[0168] If deltTi≤TF and deltTj>TB, the decision-making level issues a deceleration command;

[0169] If deltTi>TF and deltTj≤TB, the decision-making level issues a uniform speed command;

[0170] If deltTi>TF and deltTj>TB, the decision-making level issues a constant speed command.

[0171] The decision module issues decision instructions to the control execution module for execution.

[0172] Example 4

[0173] Figure 4 This is a schematic diagram of a vehicle behavior pattern determination device provided in Embodiment 4 of the present invention. The vehicle behavior pattern determination device provided in this embodiment of the present invention is applicable to situations where behavior pattern decision-making control is performed on vehicles entering and exiting ramps. This vehicle behavior pattern determination device can be implemented in hardware and / or software, such as... Figure 4 As shown, the device can be configured in a vehicle and specifically includes: an information acquisition module 401, a nearby vehicle determination module 402, a vehicle location determination module 403, an inflow difference determination module 404, and a behavior pattern determination module 405. Among these,

[0174] The information acquisition module 401 is used to acquire vehicle number information and merge time sorting information sent by the road test equipment in the current time period;

[0175] The neighboring vehicle determination module 402 is used to determine the first neighboring vehicle and the second neighboring vehicle based on the vehicle number information and the merging time sorting information;

[0176] The vehicle position determination module 403 is used to determine the target vehicle position of its own vehicle, and to determine the first vehicle position of the first neighboring vehicle and the second vehicle position of the second neighboring vehicle respectively.

[0177] The merging difference determination module 404 is used to determine a first merging difference based on the target merging time of its own vehicle and the first merging time of the first neighboring vehicle in the merging time sorting information, and to determine a second merging difference based on the target merging time of its own vehicle and the second merging time of the second neighboring vehicle in the merging time sorting information.

[0178] The behavior pattern determination module 405 is used to determine the target behavior pattern of its own vehicle based on the first import difference and the second import difference, and on the target vehicle position, the first vehicle position and the second vehicle position.

[0179] The technical solution of this invention determines the first and second neighboring vehicles based on vehicle number information and merging time sorting information, determines the target vehicle position of the vehicle itself, and determines the first vehicle position of the first neighboring vehicle and the second vehicle position of the second neighboring vehicle. Based on the target merging time of the vehicle itself and the first merging time of the first neighboring vehicle in the merging time sorting information, a first merging difference is determined; and based on the target merging time of the vehicle itself and the second merging time of the second neighboring vehicle in the merging time sorting information, a second merging difference is determined. Based on the first and second merging difference, and using the target vehicle position, the first vehicle position, and the second vehicle position, the target behavior pattern of the vehicle itself is determined. This technical solution improves the accuracy of determining the vehicle behavior pattern before merging onto the ramp by identifying two neighboring vehicles that are close to the vehicle in the time dimension and making decisions about the vehicle's behavior pattern based on the positional relationship between the vehicle and the neighboring vehicles and the relationship between the merging ramp time. This improves the safety and efficiency of vehicle ramp merging.

[0180] Optionally, the behavior pattern determination module 405 includes:

[0181] The first mode determination unit is configured to determine the target behavior mode of its own vehicle as deceleration mode if the target vehicle position, the first vehicle position and the second vehicle position are all located on the main road, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold.

[0182] The second mode determination unit is used to determine that the target behavior mode of its own vehicle is deceleration mode if the target vehicle position, the first vehicle position and the second vehicle position are all located on the main road, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is greater than a preset second difference threshold.

[0183] The third mode determination unit is used to determine that the target behavior mode of its own vehicle is constant speed mode if the target vehicle position, the first vehicle position and the second vehicle position are all located on the main road, and the first merging difference is greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold.

[0184] The fourth mode determination unit is used to determine that the target behavior mode of its own vehicle is constant speed mode if the target vehicle position, the first vehicle position and the second vehicle position are all located on the main road, and the first merging difference is greater than a preset first difference threshold and the second merging difference is greater than a preset second difference threshold.

[0185] Optionally, the behavior pattern determination module 405 includes:

[0186] The fifth mode determination unit is used to determine the target behavior mode of its own vehicle as deceleration mode if the target vehicle position and the first vehicle position are both located on the main road and the second vehicle position are both located on the ramp, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold.

[0187] The sixth mode determination unit is used to determine the target behavior mode of its own vehicle as deceleration mode if the target vehicle position and the first vehicle position are both located on the main road and the second vehicle position are both located on the ramp, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is greater than a preset second difference threshold.

[0188] The seventh mode determination unit is used to determine that the target behavior mode of its own vehicle is deceleration mode if the target vehicle position and the first vehicle position are both located on the main road and the second vehicle position are both located on the ramp, and the first merging difference is greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold.

[0189] The eighth mode determination unit is used to determine that the target behavior mode of its own vehicle is constant speed mode if the target vehicle position and the first vehicle position are both located on the main road and the second vehicle position are both located on the ramp, and the first merging difference is greater than a preset first difference threshold and the second merging difference is greater than a preset second difference threshold.

[0190] Optionally, the behavior pattern determination module 405 includes:

[0191] The ninth mode determination unit is used to determine the target behavior mode of its own vehicle as deceleration mode if the target vehicle position and the second vehicle position are both located on the ramp position and the first vehicle position is both located on the main road position, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold.

[0192] The tenth mode determination unit is used to determine the target behavior mode of its own vehicle as deceleration mode if the target vehicle position and the second vehicle position are both located on the ramp and the first vehicle position is both located on the main road, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is greater than a preset second difference threshold.

[0193] The eleventh mode determination unit is used to determine that the target behavior mode of its own vehicle is constant speed mode if the target vehicle position and the second vehicle position are both located on the ramp position and the first vehicle position is both located on the main road position, and the first merging difference is greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold.

[0194] The twelfth mode determination unit is used to determine the target behavior mode of its own vehicle as constant speed mode if the target vehicle position and the second vehicle position are both located on the ramp position and the first vehicle position is both located on the main road position, and the first merging difference is greater than a preset first difference threshold and the second merging difference is greater than a preset second difference threshold.

[0195] The vehicle behavior pattern determination device provided in the embodiments of the present invention can execute the vehicle behavior pattern determination method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method execution.

[0196] Example 5

[0197] Figure 5 This is a schematic diagram of a vehicle behavior pattern determination device provided in Embodiment 5 of the present invention. The vehicle behavior pattern determination device provided in this embodiment of the present invention is applicable to situations where behavior pattern decision-making control is performed on vehicles entering and exiting ramps. This vehicle behavior pattern determination device can be implemented in hardware and / or software, such as... Figure 5 As shown, this device can be configured in road test equipment and specifically includes: a number information determination module 501, an merging time determination module 502, and a sorting information determination module 503. Among them,

[0198] The number information determination module 501 is used to sort the communication time of each vehicle according to the time of establishing a communication connection with at least one vehicle within a preset range in the current time period, obtain the vehicle number information corresponding to each vehicle, and send the vehicle number information to the corresponding vehicle.

[0199] The merging time determination module 502 is used to obtain the driving status information of each vehicle and determine the merging time of each vehicle when it reaches the preset ramp merging entrance based on the driving status information.

[0200] The sorting information determination module 503 is used to sort the vehicles according to their entry time to obtain entry time sorting information, and send the entry time sorting information to each vehicle so that each vehicle can determine its vehicle behavior pattern according to the corresponding vehicle number information and the corresponding entry time sorting information.

[0201] The technical solution of this embodiment sorts the communication times of each vehicle based on the time it takes to establish a communication connection with at least one vehicle within a preset range in the current time period, obtaining vehicle number information corresponding to each vehicle, and sends the vehicle number information to the corresponding vehicle; it acquires the driving status information of each vehicle, and determines the vehicle merging time of each vehicle at the preset ramp merging entrance based on the driving status information; it sorts the merging times of each vehicle based on the merging time, obtaining merging time sorting information, and sends the merging time sorting information to each vehicle, so that each vehicle can determine its vehicle behavior pattern based on the corresponding vehicle number information and the corresponding merging time sorting information. The road test equipment of the above technical solution, by sorting the vehicles within the preset range according to the time dimension of the ramp merging entrance and assigning vehicle numbers to each vehicle, achieves higher accuracy in determining vehicle number information and merging time sorting information, thereby further improving the accuracy of determining the vehicle behavior pattern before merging onto the ramp, and thus improving the safety and efficiency of vehicle ramp merging.

[0202] Example 6

[0203] Figure 6 A schematic diagram of an electronic device 60 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0204] like Figure 6 As shown, the electronic device 60 includes at least one processor 61 and a memory, such as a read-only memory (ROM) 62 and a random access memory (RAM) 63, communicatively connected to the at least one processor 61. The memory stores computer programs executable by the at least one processor. The processor 61 can perform various appropriate actions and processes based on the computer program stored in the ROM 62 or loaded into the RAM 63 from storage unit 68. The RAM 63 may also store various programs and data required for the operation of the electronic device 60. The processor 61, ROM 62, and RAM 63 are interconnected via a bus 64. An input / output (I / O) interface 65 is also connected to the bus 64.

[0205] Multiple components in electronic device 60 are connected to I / O interface 65, including: input unit 66, such as keyboard, mouse, etc.; output unit 67, such as various types of monitors, speakers, etc.; storage unit 68, such as disk, optical disk, etc.; and communication unit 69, such as network card, modem, wireless transceiver, etc. Communication unit 69 allows electronic device 60 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0206] Processor 61 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 61 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 61 performs the various methods and processes described above, such as vehicle behavior pattern determination methods.

[0207] In some embodiments, the vehicle behavior pattern determination method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 68. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 60 via ROM 62 and / or communication unit 69. When the computer program is loaded into RAM 63 and executed by processor 61, one or more steps of the vehicle behavior pattern determination method described above may be performed. Alternatively, in other embodiments, processor 61 may be configured to perform the vehicle behavior pattern determination method by any other suitable means (e.g., by means of firmware).

[0208] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0209] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0210] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0211] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0212] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0213] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0214] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0215] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for determining vehicle behavior patterns, characterized in that, Applied to vehicles, including: Obtain vehicle number information and import time sorting information sent by the road test equipment in the current time period; Based on the vehicle number information and the merging time sorting information of the arrival at the ramp merging entrance, the first neighboring vehicle and the second neighboring vehicle are determined; Determine the target vehicle location of your own vehicle, and determine the first vehicle location of the first neighboring vehicle and the second vehicle location of the second neighboring vehicle respectively; Based on the target merging time of its own vehicle and the first merging time of the first neighboring vehicle in the merging time sorting information, a first merging difference is determined, and based on the target merging time of its own vehicle and the second merging time of the second neighboring vehicle in the merging time sorting information, a second merging difference is determined. Based on the first inflow difference and the second inflow difference, and based on the target vehicle position, the first vehicle position and the second vehicle position, the target behavior pattern of the vehicle itself is determined; The step of determining the target behavior pattern of its own vehicle based on the first inflow difference and the second inflow difference, and based on the target vehicle position, the first vehicle position, and the second vehicle position, includes: If the target vehicle location, the first vehicle location, and the second vehicle location are all located on the main road, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold, then the target behavior mode of the vehicle itself is determined to be deceleration mode.

2. The method according to claim 1, characterized in that, The step of determining the target behavior pattern of its own vehicle based on the first inflow difference and the second inflow difference, and based on the target vehicle position, the first vehicle position, and the second vehicle position, further includes: If the target vehicle position, the first vehicle position, and the second vehicle position are all located on the main road, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is greater than a preset second difference threshold, then the target behavior mode of the vehicle itself is determined to be deceleration mode. If the target vehicle position, the first vehicle position, and the second vehicle position are all located on the main road, and the first merging difference is greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold, then the target behavior mode of the vehicle itself is determined to be constant speed mode. If the target vehicle position, the first vehicle position, and the second vehicle position are all located on the main road, and the first merging difference is greater than a preset first difference threshold and the second merging difference is greater than a preset second difference threshold, then the target behavior mode of the vehicle itself is determined to be a constant speed mode.

3. The method according to claim 1, characterized in that, The step of determining the target behavior pattern of its own vehicle based on the first inflow difference and the second inflow difference, and based on the target vehicle position, the first vehicle position, and the second vehicle position, further includes: If the target vehicle position and the first vehicle position are both located on the main road and the second vehicle position is located on the ramp, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold, then the target behavior mode of the vehicle itself is determined to be deceleration mode. If the target vehicle position and the first vehicle position are both located on the main road and the second vehicle position is located on the ramp, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is greater than a preset second difference threshold, then the target behavior mode of the vehicle itself is determined to be deceleration mode. If the target vehicle position and the first vehicle position are both located on the main road and the second vehicle position is located on the ramp, and the first merging difference is greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold, then the target behavior mode of the vehicle itself is determined to be deceleration mode. If the target vehicle position and the first vehicle position are both located on the main road and the second vehicle position is located on the ramp, and the first merging difference is greater than a preset first difference threshold and the second merging difference is greater than a preset second difference threshold, then the target behavior mode of the vehicle itself is determined to be constant speed mode.

4. The method according to claim 1, characterized in that, The step of determining the target behavior pattern of its own vehicle based on the first inflow difference and the second inflow difference, and based on the target vehicle position, the first vehicle position, and the second vehicle position, further includes: If the target vehicle position and the second vehicle position are both located on the ramp and the first vehicle position is located on the main road, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold, then the target behavior mode of the vehicle itself is determined to be deceleration mode. If the target vehicle position and the second vehicle position are both located on the ramp and the first vehicle position is located on the main road, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is greater than a preset second difference threshold, then the target behavior mode of the vehicle itself is determined to be deceleration mode. If the target vehicle position and the second vehicle position are both located on the ramp and the first vehicle position is located on the main road, and the first merging difference is greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold, then the target behavior mode of the vehicle itself is determined to be constant speed mode. If the target vehicle position and the second vehicle position are both located on the ramp and the first vehicle position is located on the main road, and the first merging difference is greater than a preset first difference threshold and the second merging difference is greater than a preset second difference threshold, then the target behavior mode of the vehicle itself is determined to be constant speed mode.

5. A vehicle behavior pattern determination device, characterized in that, Configured in vehicles, including: The information acquisition module is used to acquire vehicle number information and import time sorting information sent by the road test equipment in the current time period; The neighboring vehicle determination module is used to determine the first neighboring vehicle and the second neighboring vehicle based on the vehicle number information and the merging time sorting information; The vehicle location determination module is used to determine the target vehicle location of its own vehicle, and to determine the first vehicle location of the first neighboring vehicle and the second vehicle location of the second neighboring vehicle, respectively. The merging difference determination module is used to determine a first merging difference based on the target merging time of its own vehicle and the first merging time of the first neighboring vehicle in the merging time sorting information, and to determine a second merging difference based on the target merging time of its own vehicle and the second merging time of the second neighboring vehicle in the merging time sorting information. The behavior pattern determination module is used to determine the target behavior pattern of its own vehicle based on the first import difference and the second import difference, and on the target vehicle position, the first vehicle position and the second vehicle position. The behavior pattern determination module includes: The first mode determination unit is configured to determine the target behavior mode of its own vehicle as deceleration mode if the target vehicle position, the first vehicle position and the second vehicle position are located on the main road, and the first merging difference is not greater than a preset first difference threshold and the second merging difference is not greater than a preset second difference threshold.

6. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle behavior pattern determination method according to any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the vehicle behavior pattern determination method according to any one of claims 1-4.

8. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the vehicle behavior pattern determination method according to any one of claims 1-4.

Images