Speed processing method and device based on ramp convergence and vehicle

Abstract

The embodiment of the invention provides a speed processing method and device based on ramp confluence and a vehicle, and relates to the field of automatic driving, and the method comprises the steps: obtaining a spatial intersection point between a main road and a ramp corresponding to a current road section in response to the condition that the current road section of a driving vehicle is located at a ramp confluence road section; when the space intersection point is detected as a conflict point of ramp convergence, projecting an interactive vehicle on the ramp as a virtual interactive vehicle on the main road according to a preset projection rule, and matching the vehicle information of the virtual interactive vehicle with the interactive vehicle; and according to the virtual interaction vehicle, determining a planned speed of the driving vehicle on the main road. Through the method, the efficiency and accuracy of speed planning can be effectively improved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a speed processing method, device and vehicle based on ramp merging. Background Art

[0002] In recent years, with the rapid development of autonomous driving technology, users have become increasingly concerned about the driving safety of autonomous vehicles.

[0003] During the driving process, the vehicle will inevitably drive in the rightmost lane. For example, it needs to exit the ramp and the right lane has higher traffic efficiency, or a large truck must drive in the rightmost lane according to traffic regulations. In these cases, conflict scenarios between the vehicle and vehicles merging into the ramp are difficult to avoid.

[0004] The related technology mainly uses the speed planning algorithm of the space-time diagram (ST) to achieve the deceleration and yielding of vehicles on the main road based on the predicted trajectory of the conflicting vehicles in the conflicting ramp. However, this algorithm relies heavily on the prediction accuracy of the conflicting vehicle's predicted trajectory and has a large amount of calculation, which affects the accuracy and efficiency of the speed planning of vehicles on the main road. Summary of the invention

[0005] The present application provides a speed processing method, device and vehicle based on ramp merging to solve at least one of the above-mentioned technical problems.

[0006] According to one aspect of an embodiment of the present application, a speed processing method based on ramp merging is provided, comprising: in response to a current road section of a traveling vehicle being in a ramp merging section, obtaining a spatial intersection point between a main road and a ramp corresponding to the current road section; when the spatial intersection point is detected as a conflict point of ramp merging, projecting the interactive vehicle on the ramp into a virtual interactive vehicle on the main road according to a preset projection rule, and matching the vehicle information of the virtual interactive vehicle with that of the interactive vehicle; and determining a planned speed of the traveling vehicle on the main road according to the virtual interactive vehicle.

[0007] According to the above technical scheme of the embodiment of the present application, the spatial intersection point of the main road and the ramp is obtained, and when the spatial intersection point is the conflict point where the ramp merges, a virtual vehicle of the interactive vehicle is created, and the speed of the moving vehicle is planned using the virtual interactive vehicle. The entire process does not require prediction of the trajectory of the interactive vehicle. In the absence of a very accurate prediction module, the problem of autonomous driving vehicles giving way to conflicting vehicles merging into the ramp is solved, and the dependence on a strong prediction algorithm is eliminated. The lighter algorithm also reduces the system computing power, effectively improving the efficiency and accuracy of speed planning.

[0008] In one embodiment, the method further includes: detecting whether the spatial intersection point is a conflict point for ramp entry based on a first time required for a traveling vehicle on the main road to reach the spatial intersection point and a second time required for an interactive vehicle on the ramp to reach the spatial intersection point; wherein the conflict point is used to indicate that speed planning is required for the current ramp entry section.

[0009] Through the above technical solution, the merging conflict in the ramp merging scenario is judged by the kinematic principle, and whether the spatial intersection point is a conflict point can be efficiently detected.

[0010] In one embodiment, projecting the interactive vehicle on the ramp into a virtual interactive vehicle on the main road according to a preset projection rule includes: determining the point on the main road that is closest to the center point of the interactive vehicle as the projection point of the interactive vehicle on the main road; determining the outer envelope of the virtual interactive vehicle based on the relative position relationship between the envelope point of the interactive vehicle and the center point of the interactive vehicle with the projection point as the center; determining the speed of the virtual interactive vehicle based on the speed of the interactive vehicle; and projecting the interactive vehicle on the ramp into a virtual interactive vehicle on the main road based on the projection point, the outer envelope and the speed.

[0011] Through the above technical solution, the interactive vehicles on the ramp can be effectively projected into virtual interactive vehicles on the main road, so as to carry out more accurate speed planning, ensure vehicle safety and smooth traffic flow.

[0012] In one embodiment, the first time is calculated based on the speed of the traveling vehicle and the distance from the traveling vehicle to the spatial intersection point, and the second time is calculated based on the speed of the interacting vehicle and the distance from the interacting vehicle to the spatial intersection point; based on the first time required for the traveling vehicle on the main road to reach the spatial intersection point and the second time required for the interacting vehicle on the ramp to reach the spatial intersection point, detecting whether the spatial intersection point is a conflict point for ramp merging includes: when the sum of the first time and the preset conflict yield time is greater than the second time, detecting that the spatial intersection point is a conflict point for ramp merging.

[0013] Through the above technical solution, by applying the conflict yield time when detecting the conflict point, the conflict risk can be effectively reduced and the driving safety can be improved.

[0014] In one embodiment, the vehicle information includes at least one of the following: the size, speed and position of the vehicle, wherein the position of the vehicle is obtained according to the position of the projection point, and the size of the vehicle is obtained according to the outer envelope of the vehicle.

[0015] Through the above technical solution, the vehicle information between the interactive vehicle and the virtual interactive vehicle can be highly synchronized.

[0016] In one embodiment, the spatial intersection point between the main road and the ramp corresponding to the current road section is obtained; based on the current positioning point of the moving vehicle and high-precision map data, the spatial intersection point between the main road and the ramp corresponding to the current road section is obtained.

[0017] Through the above technical solution, utilizing the high-precision characteristics of high-precision map data, more accurate spatial intersection point information can be obtained, providing data support for subsequent speed planning.

[0018] In one embodiment, the planned speed includes a yield speed; determining the planned speed of the traveling vehicle on the main road based on the virtual interactive vehicle includes: when the virtual interactive vehicle is in front of the traveling vehicle, calculating and determining the expected acceleration of the traveling vehicle based on the distance difference between the current following distance and the expected following distance between the traveling vehicle and the virtual interactive vehicle, and the speed difference between the traveling vehicle and the virtual interactive vehicle; calculating and determining the yield speed of the traveling vehicle based on the expected acceleration and a preset acceleration time.

[0019] Through the above technical solution, the kinematic principle is utilized to efficiently plan a high-precision yielding speed for the moving vehicles, effectively reducing the risk of collision between the moving vehicles and the vehicles merging into the ramp.

[0020] In one embodiment, the method is applied to the moving vehicle and also includes: displaying the moving vehicle, the interactive vehicle and the virtual interactive vehicle through a vehicle screen, wherein the planned speed is synchronously displayed at the display position of the moving vehicle; in response to a control operation on the information displayed on the vehicle screen, controlling the moving vehicle to decelerate or accelerate so as to give way to or drive away the interactive vehicle.

[0021] Through the above technical solution, the relevant information of the current road section is displayed on the car screen, and decisions are made on the driving vehicle through interaction with the user's operations. This process can provide intuitive and accurate driving information, improve the efficiency of vehicles giving way or leaving, and thus improve driving safety and user experience.

[0022] According to a second aspect of an embodiment of the present application, a speed processing device based on ramp merging is provided, comprising: an acquisition module, configured to acquire a spatial intersection point between a main road and a ramp corresponding to the current section in response to a current section of a traveling vehicle being in a ramp merging section; a projection module, configured to project an interactive vehicle on the ramp into a virtual interactive vehicle on the main road according to a preset projection rule when the spatial intersection point is detected as a conflict point of ramp merging, wherein the vehicle information of the virtual interactive vehicle matches that of the interactive vehicle; and a speed planning module, configured to determine a planned speed of the traveling vehicle on the main road according to the virtual interactive vehicle.

[0023] In one embodiment, the above-mentioned device can be used to implement any feasible embodiment of the above-mentioned first aspect.

[0024] According to a third aspect of an embodiment of the present application, a vehicle is provided, including a memory and a processor;

[0025] The memory stores computer-executable instructions;

[0026] The processor executes the computer-executable instructions stored in the memory, so that the vehicle performs the speed processing method based on ramp merging as provided in any one of the first aspects above. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic diagram of a possible application scenario provided for an embodiment of the present application;

[0028] Figure 2 One of the flow charts of a speed processing method based on ramp merging provided in an embodiment of the present application;

[0029] Figure 3 A second flow chart of a speed processing method based on ramp merging provided in an embodiment of the present application;

[0030] Figure 4 This is an example diagram of a conflict point where a ramp merges in an embodiment of the present application;

[0031] Figure 5 This is an example diagram of a virtual interactive vehicle in an embodiment of the present application;

[0032] Figure 6 A schematic flow chart of another method for processing speed based on ramp merging provided in an embodiment of the present application;

[0033] Figure 7 This is a schematic diagram of the interface of the vehicle screen in the embodiment of the present application;

[0034] Figure 8A schematic diagram of the structure of a speed processing device based on ramp merging provided in an embodiment of the present application;

[0035] Fig. 9 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] The L4 autonomous driving solution for highway scenarios has gradually become a key product for future implementation. In order to reduce the takeover rate of autonomous driving, the vehicle ramp merging scenario undoubtedly needs to be considered. When a vehicle is driving on a highway, it is difficult to avoid the situation of walking in the rightmost lane. For example, if the vehicle wants to get off the ramp, it is more efficient to walk in the right lane, or if the vehicle is a large truck, the traffic rules stipulate that it must walk in the rightmost lane. Then, when walking in the rightmost lane, it is difficult to avoid the scene of conflict with the vehicle merging into the ramp. Most highway marking rules are that a section of the road near the merging point is a solid line, and lane changes are prohibited. Therefore, for the scene of conflict with the vehicle merging into the ramp, slowing down and giving way has become the decision that should be made in most cases. The relevant technology for handling this situation is mostly based on the predicted trajectory of the conflicting vehicle, using the speed planning algorithm of the ST graph to achieve slowing down and giving way. However, this algorithm relies heavily on the accuracy of the prediction, and the speed planning calculation of the ST graph is relatively large, and the final performance may not be as expected.

[0037] In view of this, the embodiments of the present application provide a speed processing method, device and vehicle based on ramp merging, including a yield decision planning algorithm for ramp merging. In the scenario of ramp merging, the method can determine whether the moving vehicle should give way by utilizing the vehicle kinematics principle, and create a virtual obstacle vehicle when giving way, and project it to the lane of the vehicle, thereby achieving deceleration. It does not need to rely on high-precision trajectory prediction, and has better stability for speed planning of ramp merging scenarios. The lighter algorithm also reduces the system computing power, and can accurately implement the yield function when there is a conflict with the ramp merging vehicle.

[0038] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below in conjunction with the drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals throughout represent the same or similar parts or parts with the same or similar functions. The described embodiments are part of the embodiments of the present application, not all of the embodiments. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limitations on the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0039] Optionally, the ramp-based speed processing method provided in the embodiment of the present application can be applied to the application scenario of intelligent driving, and more specifically, can be applied to the application scenario of autonomous driving based on vehicle cloud computing. Exemplarily, the execution subject of the method provided in the embodiment of the present application can be a vehicle or a cloud server. The following is an introduction to the method provided in the embodiment of the present application using a vehicle as the execution subject:

[0040] Please refer to Figure 1 , Figure 1 A possible scenario schematic diagram is provided for an embodiment of the present application. In this scenario, there is a traveling vehicle 110 traveling on a main road, and an interactive vehicle 120 on a ramp that is about to merge into the main road, wherein the interactive vehicle 120 is a vehicle on the ramp identified by the traveling vehicle 110. Optionally, the traveling vehicle 110 may include a sensor (such as a camera, a lidar, etc.) 121 and an Advanced Driver Assistance Systems (ADAS) 122. The traveling vehicle 120 may use the sensor 121 to monitor whether the current driving section is a ramp merging scene, and identify the interactive vehicle 120 merging into the ramp; optionally, the traveling vehicle 110 and the conflicting vehicle 120 may also communicate through vehicle-to-vehicle communication (V2V) communication technology or other communication technologies. When the traveling vehicle 110 detects that its current road section is at the entrance section of the ramp, the spatial intersection point between the main road and the ramp is obtained, which can be obtained from the high-precision map server 130, and a conflict detection is performed on the spatial intersection point. When a conflict is detected, a virtual interactive vehicle 140 matching the interactive vehicle 120 is created on the main road, and the planned speed of the traveling vehicle 110 is calculated based on the distance, speed and other information between the virtual interactive vehicle 140 and the traveling vehicle 110.

[0041] It should be noted that the number of the above-mentioned traveling vehicles 110 and conflicting vehicles 120 may be more or less, and this embodiment does not specifically limit this.

[0042] The above is a brief description of the scenario diagram of this application. Figure 1 Taking the traveling vehicle 120 in the figure as an example, the speed processing method based on ramp merging provided in the embodiment of the present application is described in detail.

[0043] Please refer to Figure 2 , Figure 2 A flow chart of a method for processing speed based on ramp merging is provided for an embodiment of the present application. The method includes steps S201-S203:

[0044] Step S201: In response to a current road section where a vehicle is traveling being located at a ramp merging section, a spatial intersection point between a main road corresponding to the current road section and the ramp is obtained.

[0045] A ramp merge is an area on a main road or highway where a ramp (usually a road that connects to the main road from a smaller road or branch road) merges with the main road. In this area, vehicles entering the main road from the ramp usually need to speed up to match the traffic flow on the main road and merge safely into the traffic flow on the main road.

[0046] In this embodiment, the moving vehicle can monitor the current road section condition in real time through sensors or navigation data during driving, and when the current road section is a ramp merging section, obtain the spatial intersection point between the main road and the ramp.

[0047] It can be understood that in response to the conditions or states on which the executed operations depend, when the dependent conditions or states are met, one or more operations executed can be in real time or have a set delay; unless otherwise specified, there is no restriction on the order of execution of the multiple operations executed.

[0048] In one embodiment, the spatial intersection point can be obtained using high-precision map data. Specifically, in the above step S201, the spatial intersection point between the main road and the ramp corresponding to the current road section is obtained, and the spatial intersection point between the main road and the ramp corresponding to the current road section can be obtained according to the current positioning point of the traveling vehicle and the high-precision map data.

[0049] A high-definition map (HD Map) is a digital map with extremely high precision and detailed information. Compared with traditional digital maps, a high-definition map contains more detailed information and higher precision, usually reaching the centimeter level.

[0050] In this embodiment, the vehicle positioning data can obtain the current positioning point of the vehicle through GPS, inertial navigation system (INS), vehicle-mounted sensors (such as laser radar, camera, etc.); the high-precision map data can obtain detailed map information of the current road section from the high-precision map server, which may include the geometry of the main road and ramp, lane lines, road boundaries, traffic signs, etc. The current positioning point of the vehicle is matched and fused with the high-precision map data to ensure the accurate position of the vehicle positioning point on the high-precision map. Next, according to the positioning point of the vehicle, the road section where the vehicle is currently located is identified, and the geometric information of the main road and ramp corresponding to the current road section is extracted from the high-precision map to calculate the spatial intersection point. Specifically, the spatial intersection point between the main road and the ramp can be calculated using a geometric algorithm (such as a line segment intersection algorithm, a Bezier curve intersection algorithm, etc.). The spatial intersection point is also the key position for the vehicle to merge into the main road from the ramp. In some embodiments, the spatial intersection point can be information carried in the high-precision map without the need for real-time calculation.

[0051] Through the above steps, by utilizing the high-precision characteristics of high-precision map data, more accurate spatial intersection point information can be obtained to provide data support for subsequent speed planning.

[0052] Step S202: When the spatial intersection point is detected as a conflict point where the ramp merges, the interactive vehicle on the ramp is projected as a virtual interactive vehicle on the main road according to a preset projection rule, and the vehicle information of the virtual interactive vehicle is matched with the interactive vehicle.

[0053] In this embodiment, the conflict point of ramp merging, that is, the conflict point between the interactive vehicle merging into the ramp and the vehicle traveling on the main road, is used to indicate that when the interactive vehicle merges in, it may cause a conflict between the interactive vehicle and the traveling vehicle (such as the risk of collision between the two vehicles). When it is identified as a conflict point, it indicates that the traveling vehicle needs to plan its speed on the current ramp merging road. Accordingly, in some embodiments, it can also be used to instruct the interactive vehicle to plan its speed.

[0054] In one implementation, it is possible to determine whether the spatial intersection point is a conflict point between the two vehicles based on the travel time of the traveling vehicle and the interacting vehicle, such as Figure 3 As shown, the method provided in this embodiment may also include the following steps:

[0055] Step S301: Based on the first time required for the traveling vehicles on the main road to reach the spatial intersection point and the second time required for the interchanging vehicles on the ramp to reach the spatial intersection point, it is detected whether the spatial intersection point is a conflict point for ramp merging, and the conflict point is used to indicate that speed planning is required for the current ramp merging section.

[0056] In one example, the historical trajectory data of the vehicle, or the combination of high-precision maps and traffic signal information, can be used to predict the arrival time of the moving vehicle at the spatial intersection, that is, the first time, and the second time is the same. By analyzing whether the arrival times of the vehicles conflict, it is possible to detect whether the spatial intersection is a ramp entry conflict point. Specifically, it can be determined whether the first time and the second time are equal to determine whether the intersection is a conflict point. Among them, the conflict point example is Figure 4 As shown, it can be understood that the vehicle in the figure is a moving vehicle, and the interaction is an interactive vehicle.

[0057] In the above manner, by utilizing the arrival time between the moving vehicle and the interacting vehicle, it is possible to efficiently detect whether the spatial intersection point is a conflict point.

[0058] In another example, the first time is calculated based on the speed of the moving vehicle and the distance from the moving vehicle to the spatial intersection point, and the second time is calculated based on the speed of the interacting vehicle and the distance from the interacting vehicle to the spatial intersection point.

[0059] In addition to the method of obtaining the arrival time in the above example, the chassis module of the moving vehicle (such as the suspension system, steering system, braking system, etc.) can also obtain the vehicle speed v1 at the first time, and then calculate the time t1 required for the vehicle to reach the intersection point based on the distance x1 from the vehicle to the spatial intersection point, where t1=x1 / v1; the perception module of the moving vehicle (such as a camera, lidar, etc.) can also obtain the interacting vehicle speed v2 at the second time, and then calculate the time t2 required for the interacting vehicle to reach the intersection point based on the distance x2 from the interacting vehicle to the intersection point, where t2=x2 / v2.

[0060] In order to reduce the risk of conflict, this embodiment introduces a preset conflict yield time t_yield. The above step S301 detects whether the spatial intersection point is a conflict point for ramp entry based on the first time required for the traveling vehicles on the main road to reach the spatial intersection point and the second time required for the interchanging vehicles on the ramp to reach the spatial intersection point. The following method can be adopted: when the sum of the first time and the preset conflict yield time is greater than the second time, the spatial intersection point is detected as a conflict point for ramp entry.

[0061] Specifically, by comparing t1 and t2, if t1+t_yield>t2, where t_yield is the conflict yield time (technical personnel in the field can adaptively set it in combination with actual applications), for example, 2 seconds, then it is determined that the vehicle should yield. Considering that the two vehicles collide when t1=t2, if the arrival times of the two identified vehicles are not equal but close, there may still be a risk of conflict. Therefore, this embodiment is set to t1+t_yield>t2, thereby reducing the risk of collision between the two vehicles.

[0062] Next, the above step S202 of projecting the interactive vehicle on the ramp into a virtual interactive vehicle on the main road according to the preset projection rule is further described:

[0063] Determine the point on the main road that is closest to the center point of the interacting vehicle as the projection point of the interacting vehicle on the main road;

[0064] Taking the projection point as the center, determining the outer envelope of the virtual interactive vehicle according to the relative position relationship between the envelope point of the interactive vehicle and the center point of the interactive vehicle;

[0065] determining the speed of the virtual interactive vehicle according to the speed of the interactive vehicle;

[0066] The interactive vehicle on the ramp is projected as a virtual interactive vehicle on the main road according to the projection point, the outer envelope and the speed.

[0067] In this embodiment, the point closest to the center point of the interactive vehicle is found on the planned trajectory of the vehicle, and this point is used as the projection point. Specifically, the point on the main road closest to the center point of the interactive vehicle, that is, the position at the vertical distance from the center point to the main road (center line, corresponding to the lane line of the moving vehicle), can be used as the projection point to improve geometric accuracy. Selecting the closest point as the projection point can minimize the projection error, so that the projection point is as close as possible to the actual position of the interactive vehicle, which helps to improve the system's accurate perception of the interactive vehicle's position.

[0068] Envelope points refer to key points around the vehicle's outer contour, which define the vehicle's outer boundaries. After determining the projection point, the outer envelope of the virtual interactive vehicle is calculated based on the relative position relationship between the envelope point of the interactive vehicle and the center point of the interactive vehicle, with the projection point as the center. Exemplarily, assuming that the coordinates of the center point of the interactive vehicle are (x_c, y_c), the relative positions of the envelope points relative to the center point are (dx_1, dy_1), (dx_2, dy_2), ..., (dx_n, dy_n). The coordinates of the projection point are (x_p, y_p). First, the relative position relationship is obtained, such as the relative position of the first envelope point of the interactive vehicle relative to the center point is (dx_1, dy_1). Then the virtual envelope point is calculated, the relative position is applied to the projection point, the absolute coordinates of the first virtual envelope point are calculated, x = x_p + dx_1; y = y_p + dy_1, and the above calculation process is repeated for all envelope points to generate the outer envelope of the virtual interactive vehicle.

[0069] Next, the speed of the interactive vehicle is obtained in real time, and the speed of the virtual interactive vehicle is assigned so that its speed is equal to the speed of the real interactive vehicle. The virtual interactive vehicle can be created by using the determined projection point, outer envelope and speed. Figure 5 shown.

[0070] In this way, the interactive vehicles on the ramp can be effectively projected into virtual interactive vehicles on the main road, so as to carry out more accurate speed planning and ensure vehicle safety and smooth traffic flow.

[0071] Optionally, the vehicle information may include at least one of the following: size, speed and position of the vehicle, wherein the position of the vehicle is obtained according to the position of the projection point, and the size of the vehicle is obtained according to the outer envelope of the vehicle. In this way, the projected virtual interactive vehicle and the interactive vehicle can have the same vehicle information.

[0072] Continue to refer to Figure 2 , step S203, determining the planned speed of the vehicle traveling on the main road according to the virtual interactive vehicle.

[0073] The embodiment of the present application obtains the spatial intersection point of the main road and the ramp, and when the spatial intersection point is the conflict point where the ramp merges, creates a virtual vehicle for the interactive vehicle, and uses the virtual interactive vehicle to plan the speed of the moving vehicle. The entire process does not require prediction of the trajectory of the interactive vehicle. In the absence of a very accurate prediction module, the problem of autonomous driving vehicles giving way to conflicting vehicles merging into the ramp is solved, and the dependence on strong prediction algorithms is eliminated. The lighter algorithm also reduces the system computing power, effectively improving the efficiency and accuracy of speed planning.

[0074] Exemplarily, the planned speed includes a yielding speed. The above step S203 determines the planned speed of the vehicle on the main road according to the virtual interactive vehicle, which may include the following steps:

[0075] When the virtual interactive vehicle is in front of the traveling vehicle, calculating and determining the expected acceleration of the traveling vehicle according to the distance difference between the current following distance and the expected following distance between the traveling vehicle and the virtual interactive vehicle, and the speed difference between the traveling vehicle and the virtual interactive vehicle;

[0076] The yielding speed of the moving vehicle is calculated and determined according to the expected acceleration and the preset acceleration time.

[0077] Exemplarily, the following distance between the moving vehicle and the virtual interactive vehicle is first obtained through a sensor, and compared with the expected following distance, wherein the expected following distance is adaptively determined by a person skilled in the art, and the expected following distance represents the safe distance between the moving vehicle and the virtual interactive vehicle (corresponding interactive vehicle). This embodiment adopts the concept of time distance, for example, the expected distance to be maintained is x_des=v1*t0, wherein v1 is the speed of the vehicle, and t0 is the preset time distance, which is 2 seconds in this example. It can be understood that the time distance refers to the time interval required for the following vehicle to reach a certain point after the leading vehicle passes through the point.

[0078] Next, the distance difference x_error=x_0-x_des between the current following distance and the expected following distance is calculated, where x_0 is the distance from the front of the vehicle to the rear of the virtual interactive vehicle, and the speed difference v_error=v2-v1 between the vehicle and the virtual interactive vehicle is calculated, where v2 is the speed of the virtual interactive vehicle and v1 is the speed of the vehicle.

[0079] The speed planning algorithm is designed according to the above distance difference and speed difference. For example, the current expected acceleration is a_des=(v_error+λ*x_error) / t0, where λ is the parameter adjustment coefficient. The larger λ is, the faster the following distance converges, and the more aggressive the speed planning algorithm is. The smaller λ is, the slower the following distance converges, and the more moderate the speed planning algorithm is. In this example, λ can be 0.2. Then, the current expected speed v_des=v_last+dt*a_des is calculated based on the calculated expected acceleration, where v_last is the expected speed calculated in the previous cycle, and dt is the cycle (i.e., the preset acceleration time, i.e., the program running cycle, which can be determined adaptively by technicians in this field in combination with actual applications). In this example, it can be 0.04 seconds. In summary, the current expected acceleration and expected speed are calculated, and the yielding speed planning can be efficiently implemented.

[0080] Through the above technical solution, the kinematic principle is utilized to efficiently plan a high-precision yielding speed for the moving vehicles, effectively reducing the risk of collision between the moving vehicles and the vehicles merging into the ramp.

[0081] It should be noted that this embodiment is not limited to determining the yield speed. In some embodiments, the moving vehicle can also be accelerated in combination with actual applications. For example, the time it takes for a moving vehicle to reach the spatial intersection point is much shorter than (for example, 60s, which can be adaptively adjusted according to actual applications) the interacting vehicle. Through planned acceleration, the moving vehicle can leave the intersection point as quickly as possible to avoid a collision between the two vehicles.

[0082] Figure 6This is a flow chart of another speed processing method based on ramp merging provided by an embodiment of the present application. By visually displaying the planned speed, the user or the intelligent driving system can quickly make a decision based on the planned speed to control the moving vehicle to quickly turn into the yielding or leaving state, thereby further improving driving safety. Specifically, based on the above embodiment, in addition to the above steps S201-S203, this embodiment can also include steps S601 and S602:

[0083] Step S601: displaying the moving vehicle, the interactive vehicle and the virtual interactive vehicle on a vehicle screen, wherein the planned speed is synchronously displayed at the display position of the moving vehicle.

[0084] Exemplarily, icons for moving vehicles, interactive vehicles, and virtual interactive vehicles can be designed according to user needs to ensure that the display of the vehicles on the car screen has good visibility and recognition. For example, a moving vehicle can be represented by a blue icon, an interactive vehicle can be represented by a red icon, and a virtual interactive vehicle can be represented by a green icon. By rendering the map or background where the vehicle is located, an intuitive driving environment display is provided, which can make the map or background consistent with the actual road environment, provide accurate location information, and render the icons of moving vehicles, interactive vehicles, and virtual interactive vehicles to the corresponding positions on the car screen based on the real-time location information. Next, the planned speed display is designed, which may include speed text design, such as designing a text box or label for displaying the planned speed of the moving vehicle, to ensure that its display on the car screen has good readability. The planned speed information can be displayed on a blue background with white fonts. The planned speed information can be displayed above or below the moving vehicle icon as "Planned speed: v_target km / h". The car screen example can be as follows Figure 7 shown.

[0085] Step S602: In response to the control operation on the information displayed on the vehicle screen, control the moving vehicle to decelerate or accelerate to give way to or drive away the interactive vehicle.

[0086] In this embodiment, the control operation may be acceleration control or deceleration control, and the user may trigger the relevant control operation through the vehicle screen.

[0087] Through the above technical solution, the relevant information of the current road section is displayed on the car screen, and decisions are made on the driving vehicle through interaction with the user's operations. This process can provide intuitive and accurate driving information, improve the efficiency of vehicles giving way or leaving, and thus improve driving safety and user experience.

[0088] Figure 8is a structural schematic diagram of a speed processing device based on ramp merging provided in an embodiment of the present application, such as Figure 8 As shown, the device 800 includes an acquisition module 801, a projection module 802 and a speed planning module 803, wherein:

[0089] An acquisition module 801 is configured to acquire a spatial intersection point between a main road and a ramp corresponding to the current road section in response to the current road section of the traveling vehicle being located at a ramp merging section;

[0090] A projection module 802 is configured to project the interactive vehicle on the ramp into a virtual interactive vehicle on the main road according to a preset projection rule when the spatial intersection point is detected as a conflict point for ramp merging, and the vehicle information of the virtual interactive vehicle matches that of the interactive vehicle;

[0091] The speed planning module 803 is configured to determine the planned speed of the vehicle traveling on the main road according to the virtual interactive vehicle.

[0092] In one embodiment, the device further comprises:

[0093] a detection module, configured to detect whether the spatial intersection point is a conflict point for ramp merging according to a first time required for a vehicle on the main road to reach the spatial intersection point and a second time required for an interchanging vehicle on the ramp to reach the spatial intersection point;

[0094] The conflict point is used to indicate that speed planning is required for the current ramp merging section.

[0095] In one implementation, the projection module 802 includes:

[0096] a projection point determination unit, configured to determine the point on the main road that is closest to the center point of the interactive vehicle as the projection point of the interactive vehicle on the main road;

[0097] An outer envelope determining unit is configured to determine the outer envelope of the virtual interactive vehicle based on the relative position relationship between the envelope point of the interactive vehicle and the center point of the interactive vehicle, with the projection point as the center;

[0098] a speed determination unit configured to determine the speed of the virtual interactive vehicle according to the speed of the interactive vehicle;

[0099] A projection unit is configured to project the interactive vehicle on the ramp into a virtual interactive vehicle on the main road according to the projection point, the outer envelope and the speed.

[0100] In one implementation, the first time is calculated based on the speed of the traveling vehicle and the distance from the traveling vehicle to the spatial intersection point, and the second time is calculated based on the speed of the interacting vehicle and the distance from the interacting vehicle to the spatial intersection point;

[0101] The detection module is specifically configured to detect that the spatial intersection point is a conflict point for ramp merging when the sum of the first time and the preset conflict yield time is greater than the second time.

[0102] In one embodiment, the vehicle information includes at least one of the following: the size, speed and position of the vehicle, wherein the position of the vehicle is obtained according to the position of the projection point, and the size of the vehicle is obtained according to the outer envelope of the vehicle.

[0103] In one embodiment, the acquisition module 801 is specifically configured to acquire the spatial intersection point between the main road and the ramp corresponding to the current road section according to the current positioning point of the moving vehicle and the high-precision map data.

[0104] In one implementation, the planned speed includes a yield speed; and the speed planning module includes:

[0105] an acceleration calculation module, configured to calculate and determine an expected acceleration of the traveling vehicle according to a distance difference between a current following distance and an expected following distance between the traveling vehicle and the virtual interactive vehicle, and a speed difference between the traveling vehicle and the virtual interactive vehicle when the virtual interactive vehicle is in front of the traveling vehicle;

[0106] The yielding speed calculation module is configured to calculate and determine the yielding speed of the moving vehicle according to the expected acceleration and a preset acceleration time.

[0107] In one embodiment, the method is applied to the moving vehicle, and the device further comprises:

[0108] A display module, which is configured to display the traveling vehicle, the interactive vehicle and the virtual interactive vehicle through a vehicle screen, wherein the planned speed is synchronously displayed at the display position of the traveling vehicle;

[0109] A control module is configured to control the moving vehicle to decelerate or accelerate in response to a control operation on the information displayed on the vehicle screen, so as to give way to or drive away the interactive vehicle.

[0110] The relevant instructions can be understood by referring to the relevant descriptions and effects corresponding to the steps in the method embodiments of the present application, and no further elaboration is made here.

[0111] Fig. 9is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application, such as Fig. 9 As shown, the vehicle includes a processor 901 and a memory 902 communicatively connected to the processor 901;

[0112] The memory 902 stores computer-executable instructions;

[0113] The processor 901 executes the computer-executable instructions stored in the memory 902 to implement the traffic congestion warning device method, wherein the memory 902 and the processor 901 are connected via a bus 903 .

[0114] The relevant instructions can be understood by referring to the relevant descriptions and effects corresponding to the steps in the method embodiments of the present application, and no further elaboration is made here.

[0115] The embodiment of the present application also provides a computer-readable storage medium storage, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the speed processing method based on ramp merging as provided in the above method embodiment.

[0116] Among them, the computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0117] The relevant instructions can be understood by referring to the relevant descriptions and effects corresponding to the steps in the method embodiments of the present application, and no further elaboration is made here.

[0118] The embodiments of the present application also provide a computer program product including a computer program. When the computer program is executed by a processor, the speed processing method based on ramp merging as provided in the above method embodiment is implemented.

[0119] The embodiment of the present application also provides a chip, including a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory to execute the speed processing method based on ramp merging.

[0120] The relevant instructions can be understood by referring to the relevant descriptions and effects corresponding to the steps in the method embodiments of the present application, and no further elaboration is made here.

[0121] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In a hardware implementation, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium).

[0122] As is well known to those skilled in the art, the term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information, such as computer-readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer.

[0123] Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0124] In the description of the embodiments of the present application, the term "and / or" merely indicates an association relationship that describes associated objects, indicating that three relationships may exist. For example, A and / or B may indicate the following three situations: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" indicates any combination of at least two of any one or more of a plurality of. For example, at least one of A, B, and C may indicate any one or more elements selected from a set that includes A, B, and C.

[0125] In the description of the embodiments of the present application, the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In addition, the term "plurality" means two or more, unless otherwise precisely and specifically specified.

[0126] In the description of the embodiment of the present application, the terms "first", "second", "third", "fourth", etc. (if present) are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0127] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A speed processing method based on ramp merging, characterized in that: include: In response to the current road section of the traveling vehicle being located at a ramp merging section, obtaining a spatial intersection point between a main road corresponding to the current road section and the ramp; When the spatial intersection point is detected as a conflict point where the ramp merges, the interactive vehicle on the ramp is projected as a virtual interactive vehicle on the main road according to a preset projection rule, and the vehicle information of the virtual interactive vehicle is matched with the interactive vehicle; A planned speed of the vehicle traveling on the main road is determined according to the virtual interactive vehicle.

2. The method according to claim 1, characterized in that Also includes: Detecting whether the spatial intersection point is a conflict point for ramp merging according to a first time required for a vehicle traveling on the main road to reach the spatial intersection point and a second time required for an interchanging vehicle on the ramp to reach the spatial intersection point; The conflict point is used to indicate that speed planning is required for the current ramp merging section.

3. The method according to claim 1 or 2, characterized in that: The projecting the interactive vehicle on the ramp into a virtual interactive vehicle on the main road according to a preset projection rule includes: Determine the point on the main road that is closest to the center point of the interacting vehicle as the projection point of the interacting vehicle on the main road; Taking the projection point as the center, determining the outer envelope of the virtual interactive vehicle according to the relative position relationship between the envelope point of the interactive vehicle and the center point of the interactive vehicle; determining the speed of the virtual interactive vehicle according to the speed of the interactive vehicle; The interactive vehicle on the ramp is projected as a virtual interactive vehicle on the main road according to the projection point, the outer envelope and the speed.

4. The method according to claim 2, characterized in that: The first time is calculated according to the speed of the traveling vehicle and the distance from the traveling vehicle to the spatial intersection point, and the second time is calculated according to the speed of the interacting vehicle and the distance from the interacting vehicle to the spatial intersection point; The detecting whether the spatial intersection point is a conflict point for ramp merging according to a first time required for a vehicle on the main road to reach the spatial intersection point and a second time required for an interchanging vehicle on the ramp to reach the spatial intersection point comprises: When the sum of the first time and the preset conflict yield time is greater than the second time, the spatial intersection point is detected as a conflict point for ramp merging.

5. The method according to claim 3, characterized in that: The vehicle information includes at least one of the following: the size, speed and position of the vehicle, wherein the position of the vehicle is obtained according to the position of the projection point, and the size of the vehicle is obtained according to the outer envelope of the vehicle.

6. The method according to any one of claims 1 to 5, characterized in that: The obtaining of the spatial intersection point between the main road and the ramp corresponding to the current road section; According to the current positioning point of the traveling vehicle and the high-precision map data, the spatial intersection point between the main road and the ramp corresponding to the current road section is obtained.

7. The method according to any one of claims 1 to 5, characterized in that: The planned speed includes a yield speed; and determining the planned speed of the vehicle on the main road according to the virtual interactive vehicle includes: When the virtual interactive vehicle is in front of the traveling vehicle, calculating and determining the expected acceleration of the traveling vehicle according to the distance difference between the current following distance and the expected following distance between the traveling vehicle and the virtual interactive vehicle, and the speed difference between the traveling vehicle and the virtual interactive vehicle; The yielding speed of the moving vehicle is calculated and determined according to the expected acceleration and the preset acceleration time.

8. The method according to any one of claims 1 to 5, characterized in that: The method is applied to the traveling vehicle, and further comprises: The moving vehicle, the interactive vehicle and the virtual interactive vehicle are displayed on a vehicle screen, wherein the planned speed is synchronously displayed at the display position of the moving vehicle; In response to the control operation on the information displayed on the vehicle screen, the moving vehicle is controlled to decelerate or accelerate to give way to or drive away the interactive vehicle.

9. A speed processing device based on ramp merging, characterized in that: include: An acquisition module, configured to acquire a spatial intersection point between a main road and a ramp corresponding to the current road section in response to the current road section of the traveling vehicle being located at a ramp merging section; a projection module, configured to project the interactive vehicle on the ramp into a virtual interactive vehicle on the main road according to a preset projection rule when the spatial intersection point is detected as a conflict point for ramp merging, and the vehicle information of the virtual interactive vehicle matches that of the interactive vehicle; A speed planning module is configured to determine a planned speed of the vehicle traveling on the main road according to the virtual interactive vehicle.

10. A vehicle, characterized in that: include: Memory and processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the vehicle performs the speed processing method based on ramp merging according to any one of claims 1-8.

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