Control method, device and equipment for vehicle to enter main road, storage medium and product

Abstract

The invention discloses a control method, device and equipment for a vehicle to merge into a main road, a storage medium and a product. The method comprises the following steps: predicting a first vehicle lane changing track of a first vehicle converging into a main lane according to first vehicle driving information of the first vehicle; second vehicle driving information of a second vehicle driving from the rear of the main road is acquired, and a second vehicle driving track is predicted according to the second vehicle driving information; estimating a vehicle body collision position of the first vehicle according to the lane changing track of the first vehicle and the driving track of the second vehicle; and controlling the first vehicle to enter the main road according to the vehicle body collision position, the first vehicle driving information and the second vehicle driving information. And the confluence opportunity can be grasped in time under the condition that vehicles come behind the main road, so that the vehicles can rapidly and safely confluence into the main road, the time for the vehicles to confluence into the main road from the ramp is saved, and the automatic driving or auxiliary driving ability of the vehicles is improved.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving control technology, and in particular to a control method, device, equipment, storage medium and product for a vehicle merging into a main road. Background Art

[0002] The highway ramp entrance control capability is an important component of the highway active management system. Due to the complex road environment where the ramp merges, it is difficult to achieve effective control of the safety and order of the highway ramp entrance. Especially when the ramp entrance traffic volume is too large, it is easy to cause traffic congestion and frequent accidents.

[0003] When currently autonomous vehicles are merging into a main road, when they sense vehicles coming from behind on the main road, they are unable to accurately determine whether their lane change will conflict with the vehicle coming from behind. Blind lane changes will seriously interfere with the driving behavior of the vehicle coming from behind, and may even cause the vehicle coming from behind to brake suddenly or fail to respond in time, resulting in a collision. Therefore, in order to be conservative, lane changes are generally only made when there are no vehicles coming from behind. This may result in frequent missed opportunities to merge into the main road when there is heavy traffic and frequent vehicles coming from behind, and may even lead to the serious consequence of having to replan the route due to failure to merge into the main road. Summary of the invention

[0004] The present invention provides a control method, device, equipment, storage medium and product for a vehicle merging into a main road, so as to solve the problem that a vehicle cannot accurately judge whether its lane change will conflict with the vehicle coming from behind when merging into the main road, which may cause serious interference to the vehicle coming from behind or miss the best merging opportunity.

[0005] In a first aspect, an embodiment of the present invention provides a method for controlling a vehicle merging into a main road, which is applied to a first vehicle traveling on a ramp in a vehicle-road-cloud system. The method includes:

[0006] predicting a first vehicle lane change trajectory of the first vehicle merging into a main road according to first vehicle driving information of the first vehicle;

[0007] Acquire second vehicle driving information of a second vehicle coming from behind the main road, and predict the driving trajectory of the second vehicle according to the second vehicle driving information;

[0008] estimating a body collision position of the first vehicle according to the lane change trajectory of the first vehicle and the driving trajectory of the second vehicle;

[0009] The first vehicle is controlled to merge into the main road according to the vehicle body collision position, the first vehicle driving information and the second vehicle driving information.

[0010] In a second aspect, an embodiment of the present invention provides a control device for a vehicle merging into a lane, which is applied to a first vehicle traveling on a ramp in a vehicle-road-cloud system, and the device includes:

[0011] A first trajectory prediction module, configured to predict a first vehicle lane change trajectory of the first vehicle merging into a main road according to first vehicle driving information of the first vehicle;

[0012] A second trajectory prediction module is used to obtain second vehicle driving information of a second vehicle coming from behind the main road, and predict the second vehicle driving trajectory according to the second vehicle driving information;

[0013] a collision position estimation module, configured to estimate a body collision position of the first vehicle according to the lane change trajectory of the first vehicle and the driving trajectory of the second vehicle;

[0014] The vehicle control module is used to control the first vehicle to merge into the main road according to the collision position of the vehicle body, the driving information of the first vehicle and the driving information of the second vehicle.

[0015] In a third aspect, an embodiment of the present invention provides a vehicle, the vehicle comprising:

[0016] at least one processor; and

[0017] a memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the control method for a vehicle merging into a main road described in any embodiment of the present invention.

[0019] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for controlling a vehicle merging into a main road as described in any embodiment of the present invention when executed.

[0020] In a fifth aspect, an embodiment of the present invention provides a computer program product including a computer program, and when the computer program is executed by a processor, the method for controlling a vehicle merging into a main road as described in any embodiment of the present invention is implemented.

[0021] The technical solution of the embodiment of the present invention predicts the first vehicle lane change trajectory of the first vehicle merging into the main road according to the first vehicle driving information of the first vehicle; obtains the second vehicle driving information of the second vehicle coming from the rear of the main road, and predicts the second vehicle driving trajectory according to the second vehicle driving information; estimates the body collision position of the first vehicle according to the first vehicle lane change trajectory and the second vehicle driving trajectory; and controls the first vehicle to merge into the main road according to the body collision position, the first vehicle driving information and the second vehicle driving information. By predicting the position where the vehicle collides with the vehicle driving on the merged main road in the current driving state, the driving behavior of the vehicle accelerating to change lanes and merge into the main road can be controlled, and when there is a vehicle coming from behind on the main road, the merging opportunity can be seized in time to ensure that the vehicle merges into the main road quickly and safely, and solves the problem that the vehicle cannot accurately judge whether the lane change of the vehicle will conflict with the vehicle coming from behind when merging into the main road, which may cause serious interference to the vehicle coming from behind or miss the best merging opportunity; and achieves the beneficial effect of saving the time of the vehicle merging into the main road from the ramp and improving the automatic driving or assisted driving ability of the vehicle.

[0022] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 A flow chart of a method for controlling a vehicle merging into a main road provided in the first embodiment of the present invention;

[0025] Figure 2A A schematic diagram of a scenario of predicting a collision position of a vehicle body in a control method for merging a vehicle into a main road provided in the first embodiment of the present invention;

[0026] Figure 2B A schematic diagram of a scenario of predicting a vehicle body collision position in another method for controlling a vehicle merging into a main road provided in Embodiment 1 of the present invention;

[0027] Figure 3 A schematic diagram of the structure of a control device for merging a vehicle into a main road provided in a second embodiment of the present invention;

[0028] Figure 4 It is a schematic diagram of the structure of a vehicle for implementing the control method of a vehicle merging into a main road according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] Embodiment 1

[0032] Figure 1 This is a flow chart of a method for controlling a vehicle merging into a main lane provided in the first embodiment of the present invention. This embodiment can be applied to controlling an autonomous driving vehicle merging into other lanes under a vehicle-road-cloud system. The method can be executed by a control device for merging a vehicle into a lane. The control device for merging a vehicle into a lane can be implemented in the form of hardware and / or software. The control device for merging a vehicle into a lane can be configured in a vehicle. Figure 1 As shown, the method includes:

[0033] S110, predicting a first vehicle lane change trajectory of the first vehicle merging into the main road according to first vehicle driving information of the first vehicle.

[0034] The first vehicle may be a vehicle traveling in the current lane and waiting to merge into other lanes. The first vehicle is an intelligent connected vehicle in the vehicle-road-cloud system, which can realize automatic driving or assisted driving by integrating advanced sensors, controllers, actuators, communication modules and other equipment, and can perceive the surrounding environment and status in real time, and exchange information with other components in the vehicle-road-cloud system, such as road base stations and cloud platforms.

[0035] The driving information of the first vehicle can be understood as the information of the first vehicle during the driving process, for example, it can include the speed of the first vehicle, the acceleration of the first vehicle, the body posture of the first vehicle, the lane of the first vehicle and the collision position of the first vehicle; it can also include the navigation route of the first vehicle, etc. The lane change trajectory of the first vehicle can be understood as the trajectory of the first vehicle changing lanes from the ramp to the main road. Exemplarily, the lane change trajectory of the first vehicle can include the coordinates of the first trajectory point corresponding to each moment, the first body posture of the first vehicle and the first vehicle speed, etc.; the coordinates of the first trajectory point can be the coordinates of the center point of the body of the first vehicle or the center point of the rear axle of the body.

[0036] Specifically, when it is determined according to the navigation route of the first vehicle that the vehicle needs to change lanes to the main road, the lane change trajectory of the first vehicle from the current ramp to the main road is predicted based on the speed, lane and position of the first vehicle at the current moment and in combination with the navigation route.

[0037] Exemplarily, a method of obtaining the driving information of the first vehicle may include collecting vehicle information such as the vehicle speed, acceleration and body posture by setting a perception module on the first vehicle, and obtaining the vehicle's navigation route by setting a navigation module on the first vehicle; it may also include obtaining the vehicle's lane information through the cloud in the vehicle-road cloud system, and the lane information may be uploaded to the cloud by a base station set up next to the road.

[0038] It should be noted that the method of predicting the lane change trajectory of the first vehicle may include: using polynomial interpolation, Bezier curve or neural network model to predict the lane change trajectory of the first vehicle, and the embodiment of the present invention does not impose any limitation on this.

[0039] S120: Acquire second vehicle driving information of a second vehicle coming from behind the main road, and predict the driving trajectory of the second vehicle according to the second vehicle driving information.

[0040] The second vehicle can be understood as a vehicle traveling on the main road and coming from behind the first vehicle. When the second vehicle changes lanes from the ramp to the main road, it is easy to collide with the second vehicle on the main road.

[0041] The second vehicle driving information can be understood as the information of the second vehicle during driving, for example, it may include: the speed of the second vehicle, the acceleration of the second vehicle, the collision position of the second vehicle, the lane of the second vehicle, etc.; it may also include the navigation route of the second vehicle, etc. The second vehicle driving trajectory can be understood as the predicted driving trajectory of the second vehicle. Exemplarily, the second vehicle driving trajectory may include the coordinates of the second trajectory points corresponding to each moment, the second vehicle body posture and the second vehicle speed, etc.; the coordinates of the second trajectory points may also be the coordinates of the center point of the second vehicle body or the center point of the rear axle of the body.

[0042] Specifically, the first vehicle can obtain the second vehicle's driving information such as the second vehicle speed, the second vehicle acceleration, the second vehicle collision position, and the lane the second vehicle is in during driving, and predict the second vehicle's driving trajectory based on the second vehicle's driving information. The embodiment of the present invention also does not limit the method for predicting the second vehicle's driving trajectory.

[0043] Exemplarily, the method for obtaining the driving information of the second vehicle may be to sense the surrounding environment and detect the second vehicle's driving information such as the position and speed of the second vehicle through the on-board sensor system of the current vehicle, such as radar, lidar and camera; or it may be to enable vehicles to communicate with each other and exchange driving information through an on-board self-organizing network to obtain the driving information of the second vehicle; or it may be to obtain the driving information of the second vehicle from the cloud under a vehicle-road-cloud system; or it may be to obtain the driving information of the second vehicle through roadside equipment through vehicle networking technology.

[0044] S130. Estimate a body collision position of the first vehicle according to the lane change trajectory of the first vehicle and the driving trajectory of the second vehicle.

[0045] The body collision position can be understood as the position where the first vehicle collides with the second vehicle. The body collision position may include: the front area and the rear area. If the body collision position is the front area, it means that the first vehicle may rear-end the second vehicle during the lane change process; if the body collision position is the rear area, it means that if the second vehicle does not slow down or slows down in time during the lane change process, the first vehicle may be rear-ended by the second vehicle.

[0046] For example, the front area can be the range from the center point of the vehicle to the front edge of the vehicle, and the rear area can be the range from the center point of the vehicle to the rear edge of the vehicle. In order to further ensure vehicle safety, a vehicle safety distance (d lat_safe ,d log_safe ), the range of the vehicle safety distance from the center point of the vehicle to the front direction is set as the front area, and the range of the vehicle safety distance from the center point of the vehicle to the front direction is set as the rear area.

[0047] Specifically, the body collision position on the body of the first vehicle where the collision occurs with the second vehicle is predicted based on the trajectory point position information and body posture information included in the lane changing trajectory of the first vehicle and the driving trajectory of the second vehicle.

[0048] S140 , controlling the first vehicle to merge into the main road according to the collision position of the vehicle body, the driving information of the first vehicle, and the driving information of the second vehicle.

[0049] In this embodiment, since the lane change trajectory of the first vehicle is predicted based on the current vehicle driving information of the first vehicle, and the driving trajectory of the second vehicle is predicted based on the current vehicle driving information of the second vehicle, the vehicle body collision position can reflect the situation in which the first vehicle and the second vehicle may collide according to the current driving conditions. Combined with the driving information of the first vehicle and the driving information of the second vehicle, it is determined whether the first vehicle has the conditions to control the acceleration of the first vehicle so that the first vehicle can safely merge into the main road before the collision occurs; if so, the first vehicle is controlled to accelerate and merge into the main road.

[0050] The technical solution of the embodiment of the present invention predicts the first vehicle lane change trajectory of the first vehicle merging into the main road according to the first vehicle driving information of the first vehicle; obtains the second vehicle driving information of the second vehicle coming from the rear of the main road, and predicts the second vehicle driving trajectory according to the second vehicle driving information; estimates the body collision position of the first vehicle according to the first vehicle lane change trajectory and the second vehicle driving trajectory; controls the first vehicle to merge into the main road according to the body collision position, the first vehicle driving information and the second vehicle driving information. By predicting the position where the vehicle collides with the vehicle traveling on the merging main road in the current driving state, the driving behavior of the vehicle accelerating to change lanes and merge into the main road is controlled. When there is a vehicle coming from behind on the main road, the merging opportunity can be seized in time to ensure that the vehicle merges into the main road quickly and safely, saving the time for the vehicle to merge into the main road from the ramp, and improving the vehicle's automatic driving or assisted driving capabilities.

[0051] As an optional embodiment of the embodiment of the present application, the first vehicle driving information includes: a first vehicle speed and a first vehicle body posture angle, and S130, the step of estimating the body collision position of the first vehicle according to the first vehicle lane change trajectory and the second vehicle driving trajectory includes:

[0052] S131. Obtain a trajectory collision moment when the distance between trajectory points of the first vehicle's lane changing trajectory and the second vehicle's driving trajectory at the same time is less than a vehicle safety distance.

[0053] Among them, the trajectory collision moment can be understood as the moment when the lane changing trajectory of the first vehicle collides with the driving trajectory of the second vehicle. The trajectory collision moment indicates the moment when the first vehicle merges into the main road according to the lane changing trajectory of the vehicle and may collide with the second vehicle traveling on the main road.

[0054] Specifically, the distance between the trajectory points of the lane-changing trajectory of the first vehicle and the driving trajectory of the second vehicle at each same time is calculated. If the distance is less than the vehicle safety distance, the corresponding time is determined as the trajectory collision time.

[0055] Exemplarily, if the lane changing trajectory of the first vehicle and the driving trajectory of the second vehicle can be expressed by trajectory equations, a set of simultaneous equations can also be established for the trajectory equation of the lane changing trajectory of the first vehicle and the trajectory equation of the driving trajectory of the second vehicle, and the trajectory coincidence moment is obtained by solving the set of simultaneous equations, and the discrete trajectory point moment closest to the trajectory coincidence moment is determined as the trajectory collision moment.

[0056] In an optional embodiment, the step of obtaining the trajectory collision moment when the distance between the trajectory points of the first vehicle lane changing trajectory and the second vehicle driving trajectory at the same moment is less than the vehicle safety distance includes: determining a first collision moment when the distance between the trajectory points of the first vehicle lane changing trajectory and the second vehicle driving trajectory at the same moment is less than the lateral vehicle safety distance along the lateral direction of the main road; determining a second collision moment when the distance between the trajectory points of the first vehicle lane changing trajectory and the second vehicle driving trajectory at the same moment is less than the longitudinal vehicle safety distance along the longitudinal direction of the main road; and determining a target collision moment based on the first collision moment and the second collision moment.

[0057] Among them, the first collision moment can be understood as the moment when the lane changing trajectory of the first vehicle collides with the driving trajectory of the second vehicle along the lateral direction of the main road; the second collision moment can be understood as the moment when the lane changing trajectory of the first vehicle collides with the driving trajectory of the second vehicle along the longitudinal direction of the main road.

[0058] Specifically, when the horizontal coordinate of the first trajectory point in the lane changing trajectory of the first vehicle and the horizontal coordinate of the second trajectory point in the driving trajectory of the second vehicle are less than the lateral vehicle safety distance, the trajectory moment corresponding to the first trajectory point and the second trajectory point is determined as the first collision moment. When the vertical coordinate of the first trajectory point in the lane changing trajectory of the first vehicle and the vertical coordinate of the second trajectory point in the driving trajectory of the second vehicle are less than the longitudinal vehicle safety distance, the trajectory moment corresponding to the first trajectory point and the second trajectory point is determined as the second collision moment. It can be understood that due to different lateral and longitudinal safety distances, different lateral and longitudinal motion properties, and differences in lateral and longitudinal detection errors, the obtained first collision time and second collision time may be inconsistent. Therefore, the target collision moment is determined based on the first collision moment and the second collision moment.

[0059] Exemplarily, the target collision moment may be determined based on the first collision moment and the second collision moment by determining the minimum value of the first collision moment and the second collision moment as the target collision moment; or by determining the average value of the first collision moment and the second collision moment as the target collision moment.

[0060] S132: Determine a first vehicle collision position according to a position of a first collision trajectory point corresponding to the trajectory collision moment obtained from the first vehicle lane change trajectory and a first vehicle body posture.

[0061] The first collision trajectory point may be understood as the trajectory point where the first vehicle collides with the second vehicle in the lane change trajectory. The first vehicle body posture may be understood as the body posture of the first vehicle corresponding to the first collision trajectory point. The first vehicle collision position may be understood as the position of the body of the first vehicle when the collision occurs.

[0062] Specifically, the position of the first collision trajectory point corresponding to the trajectory collision moment and the first vehicle body posture corresponding to the first collision trajectory point are obtained from the lane change trajectory of the first vehicle, and the first vehicle collision position corresponding to the body of the first vehicle is calculated according to the position of the first collision trajectory point and the first vehicle body posture in combination with the body size. It can be understood that the body size can be the actual body size of the first vehicle, and in order to facilitate rapid estimation of the vehicle position, the maximum body size of commonly used vehicles can also be used.

[0063] S133: Determine a second vehicle collision position according to a position of a second collision trajectory point corresponding to the trajectory collision moment obtained from the second vehicle driving trajectory and a second vehicle body posture.

[0064] The second collision trajectory point may be understood as the trajectory point where the second vehicle collides with the first vehicle in the driving trajectory. The second vehicle body posture may be understood as the body posture of the second vehicle corresponding to the second collision trajectory point. The second vehicle collision position may be understood as the position of the second vehicle body when the collision occurs.

[0065] Specifically, the position of the second collision trajectory point corresponding to the collision moment of the trajectory and the second vehicle body posture corresponding to the second collision trajectory point are obtained from the driving trajectory of the second vehicle, and the second vehicle collision position corresponding to the body of the second vehicle is calculated according to the position of the second collision trajectory point and the second vehicle body posture, combined with the body size. It can also be understood that the body size can be the actual body size of the second vehicle, and in order to facilitate rapid estimation of the vehicle position, the maximum body size of commonly used vehicles can also be used.

[0066] S134. Determine a body collision position of the first vehicle according to the first vehicle collision position and the second vehicle collision position.

[0067] Specifically, the overlapping position of the collision position of the first vehicle and the occupied position of the collision position of the second vehicle is obtained, and the body collision position is determined according to the overlapping position in the area of ​​the body of the first vehicle. For example, if the overlapping position is in the front area of ​​the first vehicle, the body collision position of the first vehicle is determined to be the front area; if the overlapping position is in the rear area of ​​the first vehicle, the body collision position of the first vehicle is determined to be the rear area.

[0068] For example, Figure 2A A schematic diagram of a scenario for predicting a vehicle body collision position in a control method for a vehicle merging into a main road provided in Embodiment 1 of the present invention. Figure 2BA schematic diagram of a scenario for predicting a vehicle body collision position in another method for controlling a vehicle merging into a main road provided in Embodiment 1 of the present invention. Figure 2A The body collision position of the first vehicle is shown as the rear area: Figure 2B The collision position of the body of the first vehicle is shown as the front area. Figure 2A and Figure 2B In the figure, the triangle represents the first trajectory point in the lane change trajectory of the first vehicle, and the dotted rectangular box represents the first body position of the first vehicle at each first trajectory point; the circle represents the second trajectory point in the driving trajectory of the second vehicle, and the solid rectangular box represents the second body position of the second vehicle at each second trajectory point.

[0069] This embodiment determines the collision position of the first vehicle and the second vehicle according to the lane change trajectory of the first vehicle and the driving trajectory of the second vehicle, and determines the body collision position of the first vehicle according to the collision position of the first vehicle and the collision position of the second vehicle. It can predict the possible collision between the first vehicle and the second vehicle entering from behind on the main road when the first vehicle merges into the main road according to the current driving state, and provides a judgment basis for determining whether the first vehicle has priority right of way.

[0070] In a specific example, the current position of the first vehicle before changing lanes is determined as the starting trajectory point (x0, y0), and the target trajectory point (x0, y0) is determined according to the navigation route of the first vehicle. t ,y t ), the target trajectory point may be, for example, the location where the first vehicle successfully merges into the main road. t =x0+v1×t lane ;y t =y0+d lane ;t lane represents the lane-changing time of the first vehicle, d lane represents the lateral offset of the first vehicle lane change, and v1 represents the first vehicle speed. The first vehicle lane change trajectory obtained by linear interpolation between the starting trajectory point and the target trajectory point according to the first vehicle speed can be expressed as:

[0071]

[0072] Wherein, x1(t) represents the horizontal coordinate of the trajectory point of the first vehicle lane change trajectory at time t; y1(t) represents the vertical coordinate of the trajectory point of the first vehicle lane change trajectory at time t.

[0073] The driving trajectory of the second vehicle is predicted according to the current position of the second vehicle, the speed of the second vehicle and the steering angle of the second vehicle, for example, it can be expressed as:

[0074]

[0075] Wherein, x2(t) represents the horizontal coordinate of the trajectory point of the second vehicle's driving trajectory at time t; y2(t) represents the vertical coordinate of the trajectory point of the second vehicle's driving trajectory at time t; (x t0 ,y t0 ) represents the current position of the second vehicle; θ t is the heading angle of the second vehicle.

[0076] Taking into account the lateral vehicle safety distance and the longitudinal vehicle safety distance, the expression of the first vehicle lane change trajectory and the expression of the second vehicle driving trajectory are combined to obtain the equation group:

[0077]

[0078] Solving the equations, we get the first collision time t lat_c for:

[0079]

[0080] The second collision time t log_c for:

[0081]

[0082] Calculate the trajectory collision time t c for:

[0083] t c =min{t log_c ,t lat_c}.

[0084] The trajectory collision time t c Substitute the first vehicle lane change trajectory to obtain the first collision trajectory point (x1(t c ),y1(t c )) position, and determining the first vehicle collision position {(x1(A i ),y1(A i )),i=1,2,3,4},A i Represent the four corner points of the circumscribed rectangle of the first vehicle; the trajectory collision time t c Substitute the second vehicle's driving trajectory to obtain the second collision trajectory point (x2(t c ),y2(t c )) position, and determining the second vehicle collision position {(x1(B i ),y1(B i )),i=1,2,3,4},B iThe four corner points of the circumscribed rectangle of the second vehicle are represented. The body collision position of the first vehicle is determined according to the collision position of the first vehicle and the collision position of the second vehicle.

[0085] As an optional embodiment of the embodiment of the present application, S140, the step of controlling the first vehicle to merge into the main road according to the collision position of the vehicle body, the driving information of the first vehicle and the driving information of the second vehicle includes:

[0086] S141. Determine whether the first vehicle has the right of way based on the collision position of the vehicle body, the driving information of the first vehicle, and the driving information of the second vehicle.

[0087] Among them, priority right of way can be understood as the right of priority to pass through the road when two vehicles meet at an intersection where the ramp merges into the main road.

[0088] Specifically, the intention of the second vehicle traveling on the main road is predicted based on the driving information of the second vehicle, and combined with the body collision position of the first vehicle and the driving information of the first vehicle, it is predicted whether the first vehicle meets the conditions for merging into the main road with priority while ensuring the safety of the vehicle; if so, it is judged that the first vehicle has priority right of way; if not, it is judged that the first vehicle does not have priority right of way.

[0089] S142: If the first vehicle does not have the right of way priority, control the first vehicle to slow down and wait for the second vehicle to pass before re-determining whether the first vehicle has the right of way priority.

[0090] Specifically, if the first vehicle does not have the right of way, it means that the first vehicle cannot merge into the main road before the second vehicle passes. The first vehicle needs to be controlled to slow down and wait for the second vehicle to pass. After the second vehicle passes, it is necessary to re-determine whether the first vehicle has the right of way.

[0091] Exemplarily, the method of re-determining whether the first vehicle has the priority right of way can be: if there is a vehicle coming from behind on the main road, the process can return to step S110 and determine again whether the first vehicle has the priority right of way; if there is no vehicle coming from behind on the main road, the process can directly determine that the first vehicle has the priority right of way.

[0092] S143: If the first vehicle has the right of way, control the first vehicle to accelerate and merge into the main road.

[0093] Specifically, if the first vehicle has the priority right of way, it means that the first vehicle can merge into the main road safely before the second vehicle arrives, so the first vehicle is controlled to accelerate and merge into the main road according to the navigation route.

[0094] As an optional embodiment of the present application, the first vehicle driving information includes: the current position of the first vehicle; the second vehicle driving information includes: the second vehicle speed and the second vehicle acceleration. Accordingly, S141, the step of determining whether the first vehicle has the priority right of way according to the collision position of the vehicle body, the first vehicle driving information and the second vehicle driving information includes:

[0095] In the case where the vehicle body collision position is in the rear area of ​​the vehicle, if the distance between the current position of the first vehicle and the position of the first collision trajectory point exceeds a distance threshold, and the second vehicle speed and the second vehicle acceleration meet speed constraint conditions, it is determined that the first vehicle has priority right of way; the speed constraint conditions include: the difference between the second vehicle speed and the maximum speed limit of the main road does not exceed the speed threshold, and the second vehicle acceleration does not exceed the acceleration threshold; otherwise, it is determined that the first vehicle does not have priority right of way.

[0096] Among them, the distance threshold can be understood as a threshold for constraining the distance. The distance threshold can be set according to traffic rules, road conditions, etc., and the embodiment of the present invention does not limit this. The speed constraint condition can be understood as a condition for constraining the second vehicle speed and the second vehicle acceleration. The speed threshold can be understood as a threshold for constraining the speed, and the acceleration threshold can be understood as a threshold for constraining the acceleration. The speed threshold and the acceleration threshold can be determined according to the road conditions, and the embodiment of the present invention also does not limit this. The main road maximum speed limit can be understood as the maximum speed allowed for vehicles on the main road.

[0097] In order to avoid a rear-end collision caused by a second vehicle suddenly accelerating when the first vehicle merges into the main road from the ramp, it is necessary to constrain the speed and acceleration of the second vehicle.

[0098] Specifically, if the collision position of the vehicle body is in the rear area, it means that the first vehicle may be rear-ended by the second vehicle coming from behind on the main road when merging into the main road at the current speed. Therefore, it is necessary to further determine whether the distance between the current position of the first vehicle and the position of the first collision trajectory point exceeds the distance threshold, and whether the second vehicle speed and the second vehicle acceleration meet the speed constraint condition. If the distance between the current position of the first vehicle and the position of the first collision trajectory point exceeds the distance threshold, it means that the first vehicle has a long enough distance to complete the acceleration and merge into the main road before the collision occurs. If the second vehicle speed and the second vehicle acceleration meet the speed constraint condition, it means that the speed of the second vehicle is stable and there is no acceleration condition. Among them, if the difference between the second vehicle speed and the maximum speed limit of the main road does not exceed the speed threshold, it means that the second vehicle does not have the objective acceleration condition; if the second vehicle acceleration does not exceed the acceleration threshold, it means that the second vehicle does not have the subjective acceleration intention.

[0099] Therefore, when the speed of the second vehicle is stable and the first vehicle has the conditions to accelerate and merge into the main road, if the first vehicle is controlled to accelerate and merge into the main road, it can be ensured that the first vehicle completely merges into the main road before being rear-ended by the second vehicle, thereby determining that the first vehicle has priority right of way. On the contrary, if the distance between the current position of the first vehicle and the position of the first collision trajectory point does not exceed the distance threshold, or the speed of the second vehicle or the acceleration of the second vehicle does not meet the speed constraint condition, in order to ensure the safety of the first vehicle and vehicles traveling on the main road, it is determined that the first vehicle does not have priority right of way.

[0100] As an optional embodiment of the embodiment of the present application, S141, the step of determining whether the first vehicle has the priority right of way according to the collision position of the vehicle body, the driving information of the first vehicle and the driving information of the second vehicle further includes:

[0101] In the case where the vehicle body collision position is in the front area, if the second vehicle speed and the second vehicle acceleration meet the speed constraint condition, the target position of the first vehicle to safely merge into the main road is determined according to the current position of the first vehicle, the position of the first collision trajectory point and the vehicle safety distance, and the minimum lane changing speed of the first vehicle is determined according to the target position and the trajectory collision time; if the minimum lane changing speed is less than the maximum speed limit of the main road, it is determined that the first vehicle has priority right of way; if the minimum lane changing speed is greater than the maximum speed limit of the main road, it is determined that the first vehicle does not have priority right of way.

[0102] Specifically, if the collision position of the vehicle body is in the front area, it means that the first vehicle may collide with the second vehicle coming from behind on the main road when merging into the main road at the current speed. It is necessary to further determine whether the speed of the second vehicle and the acceleration of the second vehicle meet the speed constraint conditions; if they do, it means that the speed of the second vehicle is stable and does not have acceleration conditions. To ensure that the first vehicle completes merging into the main road before colliding with the second vehicle, it is necessary to at least extend the position of the first collision trajectory point backward by the position of the vehicle's safe distance as the target position for the vehicle to safely merge into the main road, and ensure that the first vehicle reaches the target position at the time of trajectory collision, so as to avoid collision with the second vehicle. Therefore, the minimum lane change speed of the first vehicle from the current position to the target position before the trajectory collision moment is calculated.

[0103] If the minimum lane-changing speed is less than the maximum speed limit of the main road, it means that if the first vehicle is controlled to accelerate to the maximum speed limit to merge into the main road, it can be guaranteed that the first vehicle can merge into the main road safely without colliding with the second vehicle, so that the first vehicle is determined to have priority right of way. On the contrary, if the minimum lane-changing speed is greater than the maximum speed limit of the main road, it means that it is impossible to guarantee that the first vehicle can merge into the main road safely within the maximum speed limit, so it is determined that the first vehicle does not have priority right of way.

[0104] Embodiment 2

[0105] Figure 3 This is a schematic diagram of the structure of a control device for merging a vehicle into a main road provided in the second embodiment of the present invention. The device is integrated into the vehicle-road-cloud system and is a first vehicle traveling on a ramp. Figure 3 As shown, the device includes: a first trajectory prediction module 310, a second trajectory prediction module 320, a collision position estimation module 330 and a vehicle control module 340; wherein,

[0106] A first trajectory prediction module 310, configured to predict a first vehicle lane change trajectory of the first vehicle merging into a main road according to first vehicle driving information of the first vehicle;

[0107] A second trajectory prediction module 320 is used to obtain second vehicle driving information of a second vehicle coming from behind the main road, and predict the second vehicle driving trajectory according to the second vehicle driving information;

[0108] A collision position estimation module 330, configured to estimate a body collision position of the first vehicle according to the lane change trajectory of the first vehicle and the driving trajectory of the second vehicle;

[0109] The vehicle control module 340 is used to control the first vehicle to merge into the main road according to the collision position of the vehicle body, the driving information of the first vehicle and the driving information of the second vehicle.

[0110] The technical solution of the embodiment of the present invention predicts the first vehicle lane change trajectory of the first vehicle merging into the main road according to the first vehicle driving information of the first vehicle; obtains the second vehicle driving information of the second vehicle coming from the rear of the main road, and predicts the second vehicle driving trajectory according to the second vehicle driving information; estimates the body collision position of the first vehicle according to the first vehicle lane change trajectory and the second vehicle driving trajectory; controls the first vehicle to merge into the main road according to the body collision position, the first vehicle driving information and the second vehicle driving information. By predicting the position where the vehicle collides with the vehicle traveling on the merging main road in the current driving state, the driving behavior of the vehicle accelerating to change lanes and merge into the main road is controlled. When there is a vehicle coming from behind on the main road, the merging opportunity can be seized in time to ensure that the vehicle merges into the main road quickly and safely, saving the time for the vehicle to merge into the main road from the ramp, and improving the vehicle's automatic driving or assisted driving capabilities.

[0111] Optionally, the collision position estimation module 330 includes:

[0112] a collision moment determination unit, configured to obtain a trajectory collision moment when a distance between trajectory points of the lane changing trajectory of the first vehicle and the driving trajectory of the second vehicle at the same moment is less than a vehicle safety distance;

[0113] a first collision position determination unit, configured to determine a first vehicle collision position according to a position of a first collision trajectory point corresponding to the trajectory collision moment obtained from the first vehicle lane change trajectory and a first vehicle body posture;

[0114] A second collision position determination unit, configured to determine a collision position of the second vehicle according to a position of a second collision trajectory point corresponding to the trajectory collision moment obtained from the second vehicle driving trajectory and a second vehicle body posture;

[0115] The vehicle body collision position determining unit is used to determine the vehicle body collision position of the first vehicle according to the first vehicle collision position and the second vehicle collision position.

[0116] Optionally, the collision moment determination unit is specifically used to:

[0117] Determine a first collision moment when a trajectory point of the first vehicle lane-changing trajectory and the second vehicle driving trajectory at the same time along the lateral direction of the main road is less than a lateral vehicle safety distance;

[0118] Determine a second collision moment at which the trajectory points of the first vehicle lane-changing trajectory and the second vehicle driving trajectory at the same moment are less than the longitudinal vehicle safety distance in the longitudinal direction of the main road;

[0119] A trajectory collision time is determined according to the first collision time and the second collision time.

[0120] Optionally, the vehicle control module 340 includes:

[0121] a priority right of way judgment unit, configured to judge whether the first vehicle has the priority right of way according to the collision position of the vehicle body, the driving information of the first vehicle and the driving information of the second vehicle;

[0122] A deceleration waiting control unit, configured to control the first vehicle to decelerate and wait for the second vehicle to pass before re-determining whether the first vehicle has the priority right of way if the first vehicle does not have the priority right of way;

[0123] The acceleration merging control unit is used to control the first vehicle to accelerate and merge into the main road if the first vehicle has the priority right of way.

[0124] Optionally, the first vehicle driving information includes: the current position of the first vehicle; the second vehicle driving information includes: the second vehicle speed and the second vehicle acceleration.

[0125] Optionally, the priority road right judgment unit is specifically used to:

[0126] In the case where the collision position of the vehicle body is in the rear area, if the distance between the current position of the first vehicle and the position of the first collision trajectory point exceeds a distance threshold, and the speed of the second vehicle and the acceleration of the second vehicle meet a speed constraint condition, it is determined that the first vehicle has the priority right of way; the speed constraint condition includes: the difference between the speed of the second vehicle and the maximum speed limit of the main road does not exceed a speed threshold, and the acceleration of the second vehicle does not exceed an acceleration threshold;

[0127] Otherwise, it is determined that the first vehicle does not have the right of way.

[0128] Optionally, the priority road right judgment unit is further used to:

[0129] In the case where the vehicle body collision position is in the front area, if the second vehicle speed and the second vehicle acceleration meet the speed constraint condition, a target position for the first vehicle to safely merge into the main road is determined according to the current position of the first vehicle, the position of the first collision trajectory point and the vehicle safety distance, and a minimum lane-changing speed of the first vehicle is determined according to the target position and the trajectory collision moment;

[0130] If the minimum lane-changing speed is less than the maximum speed limit of the main road, determining that the first vehicle has the priority right of way;

[0131] If the minimum lane-changing speed is greater than the maximum speed limit of the main road, it is determined that the first vehicle does not have the priority right of way.

[0132] The control device for merging a vehicle into a main road provided in the embodiment of the present invention can execute the control method for merging a vehicle into a main road provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0133] Embodiment 3

[0134] Figure 4 A schematic diagram of a vehicle 10 that can be used to implement an embodiment of the present invention is shown. The vehicle is intended to represent various forms of automobiles. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0135] like Figure 4As shown, the vehicle 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the vehicle 10 can also be stored. The processor 11, ROM 12 and RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0136] A number of components in the vehicle 10 are connected to the I / O interface 15, including: an input unit 16, such as a steering wheel, a brake device, etc.; an output unit 17, such as a drive component, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the vehicle 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0137] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a control method for a vehicle merging into a main road.

[0138] In some embodiments, the control method for merging a vehicle into a main lane may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the vehicle 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the control method for merging a vehicle into a main lane described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the control method for merging a vehicle into a main lane in any other appropriate manner (e.g., by means of firmware).

[0139] Various implementations 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 chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0140] In some embodiments, the control method for a vehicle merging into a main road may be implemented as a computer program, which is invisibly included in a computer program product. When the computer program is executed by a processor, the control method for a vehicle merging into a main road of the present invention is implemented. The computer program product may be understood as a software product that implements its solution mainly through a computer program. The computer program for implementing the method 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, so that when the computer program is executed by the processor, the functions / operations specified in the flowchart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine as an independent software package and partially on a remote machine, or entirely on a remote machine or server.

[0141] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0142] To provide interaction with a user, the systems and techniques described herein can be implemented on a vehicle 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 steering wheel and a brake device (e.g., a mouse or trackball) through which the user can control the vehicle. Other types of devices can also be used to provide interaction with the user; for example, the 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 acoustic input, voice input, or tactile input).

[0143] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0144] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0145] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0146] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling a vehicle merging into a main road, characterized in that: Applied to a first vehicle traveling on a ramp in a vehicle-road-cloud system, the method includes: predicting a first vehicle lane change trajectory of the first vehicle merging into a main road according to first vehicle driving information of the first vehicle; Acquire second vehicle driving information of a second vehicle coming from behind the main road, and predict the driving trajectory of the second vehicle according to the second vehicle driving information; estimating a body collision position of the first vehicle according to the lane change trajectory of the first vehicle and the driving trajectory of the second vehicle; The first vehicle is controlled to merge into the main road according to the vehicle body collision position, the first vehicle driving information and the second vehicle driving information.

2. The method according to claim 1, characterized in that The step of estimating the body collision position of the first vehicle according to the lane change trajectory of the first vehicle and the driving trajectory of the second vehicle comprises: Obtaining a trajectory collision moment when a distance between trajectory points of the lane-changing trajectory of the first vehicle and the driving trajectory of the second vehicle at the same moment is less than a vehicle safety distance; Determining a first vehicle collision position according to a position of a first collision trajectory point corresponding to the trajectory collision moment obtained from the first vehicle lane change trajectory and a first vehicle body posture; Determining a collision position of the second vehicle according to a position of a second collision trajectory point corresponding to the collision moment of the trajectory obtained from the driving trajectory of the second vehicle and a second vehicle body posture; A body collision position of the first vehicle is determined based on the first vehicle collision position and the second vehicle collision position.

3. The method according to claim 2, characterized in that The step of obtaining a trajectory collision moment when the distance between the trajectory points of the first vehicle lane changing trajectory and the second vehicle driving trajectory at the same moment is less than the vehicle safety distance comprises: Determine a first collision moment when a trajectory point of the first vehicle lane-changing trajectory and the second vehicle driving trajectory at the same time along the lateral direction of the main road is less than a lateral vehicle safety distance; Determine a second collision moment at which the trajectory points of the first vehicle lane-changing trajectory and the second vehicle driving trajectory at the same moment are less than the longitudinal vehicle safety distance in the longitudinal direction of the main road; A trajectory collision time is determined according to the first collision time and the second collision time.

4. The method according to claim 2, characterized in that: The step of controlling the first vehicle to merge into the main road according to the collision position of the vehicle body, the first vehicle driving information and the second vehicle driving information comprises: Determining whether the first vehicle has the right of way according to the collision position of the vehicle body, the driving information of the first vehicle and the driving information of the second vehicle; If the first vehicle does not have the priority right of way, control the first vehicle to slow down and wait for the second vehicle to pass before re-determining whether the first vehicle has the priority right of way; If the first vehicle has the priority right of way, the first vehicle is controlled to accelerate and merge into the main road.

5. The method according to claim 4, characterized in that The first vehicle driving information includes: the current position of the first vehicle; the second vehicle driving information includes: the second vehicle speed and the second vehicle acceleration; the step of determining whether the first vehicle has the priority right of way according to the vehicle body collision position, the first vehicle driving information and the second vehicle driving information includes: In the case where the collision position of the vehicle body is in the rear area, if the distance between the current position of the first vehicle and the position of the first collision trajectory point exceeds a distance threshold, and the speed of the second vehicle and the acceleration of the second vehicle meet a speed constraint condition, it is determined that the first vehicle has the priority right of way; the speed constraint condition includes: the difference between the speed of the second vehicle and the maximum speed limit of the main road does not exceed a speed threshold, and the acceleration of the second vehicle does not exceed an acceleration threshold; Otherwise, it is determined that the first vehicle does not have the right of way.

6. The method according to claim 5, characterized in that The step of determining whether the first vehicle has the priority right of way according to the collision position of the vehicle body, the driving information of the first vehicle and the driving information of the second vehicle further includes: In the case where the vehicle body collision position is in the front area, if the second vehicle speed and the second vehicle acceleration meet the speed constraint condition, a target position for the first vehicle to safely merge into the main road is determined according to the current position of the first vehicle, the position of the first collision trajectory point and the vehicle safety distance, and a minimum lane-changing speed of the first vehicle is determined according to the target position and the trajectory collision moment; If the minimum lane-changing speed is less than the maximum speed limit of the main road, determining that the first vehicle has the priority right of way; If the minimum lane-changing speed is greater than the maximum speed limit of the main road, it is determined that the first vehicle does not have the priority right of way.

7. A control device for a vehicle merging into a main road, characterized in that: Applied to a first vehicle traveling on a ramp in a vehicle-road-cloud system, the device comprises: A first trajectory prediction module, configured to predict a first vehicle lane change trajectory of the first vehicle merging into a main road according to first vehicle driving information of the first vehicle; A second trajectory prediction module is used to obtain second vehicle driving information of a second vehicle coming from behind the main road, and predict the second vehicle driving trajectory according to the second vehicle driving information; a collision position estimation module, configured to estimate a body collision position of the first vehicle according to the lane change trajectory of the first vehicle and the driving trajectory of the second vehicle; The vehicle control module is used to control the first vehicle to merge into the main road according to the collision position of the vehicle body, the driving information of the first vehicle and the driving information of the second vehicle.

8. A vehicle, characterized in that: The vehicle comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, 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 so that the at least one processor can execute the method for controlling a vehicle merging into a main road according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method for controlling a vehicle merging into a main road according to any one of claims 1 to 6 when executed.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the computer program implements the method for controlling a vehicle merging into a main road according to any one of claims 1 to 6.

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