Vehicle afflux control method, device and equipment and computer readable storage medium

Abstract

The invention provides a vehicle afflux control method, device and equipment and a computer readable storage medium. The method comprises the steps that current vehicle state information of a vehicle is acquired; respectively acquiring expected state information of the own vehicle at each convergence point of the target convergence lane; on the basis of the current vehicle state information and the expected state information, a preset polynomial function is solved, and corresponding longitudinal tracks of the vehicle from the current position to the afflux points are obtained; a longitudinal track meeting preset vehicle state constraints is screened out, and a target driving area is obtained; and controlling the vehicle to enter the target afflux lane along the target driving area. According to the method, driving styles or intentions of the vehicle and other vehicles do not need to be explained, starting from the state of the vehicle, the state of the vehicle driving to the confluence point is restrained, the driving area which can be reached and the confluence opportunity meeting the requirement can be effectively and accurately determined, and the success rate and safety of vehicle confluence are effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving, and more particularly to a vehicle merging control method, device, equipment and computer-readable storage medium. Background Art

[0002] The merging scenario is a complex scenario in the field of autonomous driving or assisted driving, and it is also an important challenge for vehicle drivers. At present, in the merging scenario, the commonly used decision-making methods include game theory and other methods. However, this method is often used to explain different driving styles or intentions and determine the merging decision from a probabilistic level. However, this method is difficult to grasp the position and timing of the merging, so there is a certain probability of merging failure. Summary of the invention

[0003] The present invention application provides a vehicle merging control method, device, equipment and computer-readable storage medium to solve the technical problem of how to improve the success rate of vehicle merging.

[0004] In order to solve the above technical problems, the present invention provides a vehicle merging control method, comprising:

[0005] Acquire current vehicle state information of the ego vehicle; respectively acquire expected state information of the ego vehicle at each merging point of the target merging lane;

[0006] Based on the current vehicle state information and the desired state information, a preset polynomial function is solved to obtain longitudinal trajectories corresponding to the vehicle from the current position to each of the merging points;

[0007] A longitudinal trajectory that satisfies a preset vehicle state constraint is selected to obtain a target driving area; and the ego vehicle is controlled to enter the target merging lane along the target driving area.

[0008] In the implementation of the present invention, based on the current vehicle state information of the own vehicle and the expected state information of each merging point when arriving at the target merging lane, a preset polynomial is solved to obtain the longitudinal trajectory of the own vehicle from the current position to each merging point, and the longitudinal trajectories that meet the constraint requirements are screened out, so as to determine that these longitudinal trajectories meet the merging timing and obtain the target driving area. There is no need to interpret the driving style or intention of the own vehicle and other vehicles. Instead, starting from the vehicle's own state and constraining the state of its driving to the merging point, the achievable driving area and the merging timing that meet the requirements can be effectively and accurately determined, which effectively improves the success rate and safety of vehicle merging.

[0009] As a preferred solution, the expected state information includes expected acceleration, merging point position and expected speed, and the current vehicle state information includes current position, current speed and current acceleration;

[0010] The method of solving a preset polynomial function based on the current vehicle state information and the expected state information to obtain longitudinal trajectories corresponding to the vehicle from the current position to each of the merging points includes:

[0011] The preset polynomial function includes:

[0012] f(t)=a×t 5 +b×t 4 +c×t 3 +d×t 2 +e×t+f;

[0013] Where t is the time, f(t) is the displacement of the vehicle at time t, and a, b, c, d, e and f are the parameters to be solved;

[0014] According to the current vehicle state information and the expected state information, the preset polynomial function is solved to obtain the displacement of the vehicle at each moment, and then based on the displacement of the vehicle at each moment, the longitudinal trajectory of the vehicle from the current position to each of the merging points is obtained.

[0015] As a preferred solution, the preset vehicle state constraints include time constraints, speed constraints, acceleration constraints and acceleration change rate constraints;

[0016] The step of screening out the longitudinal trajectory that satisfies the preset vehicle state constraint to obtain the target driving area includes:

[0017] Filtering out longitudinal trajectories that satisfy the preset vehicle state constraints;

[0018] The area covered by each of the filtered longitudinal trajectories is determined as the target driving area.

[0019] As a preferred solution, before acquiring the expected state information of the vehicle at each merging point of the target merging lane, the method further includes:

[0020] The expected speed is calculated according to the average speed of vehicles within a preset range of the target merging lane.

[0021] As a preferred solution, the controlling the vehicle to enter the target merging lane along the target driving area includes:

[0022] Obtaining a predicted position of each vehicle on a target merging lane; obtaining a merging gap based on the predicted position of each vehicle;

[0023] Respectively obtaining intersection areas of the target driving area and each of the merging gaps;

[0024] One of the intersection areas is determined as a target merging area, and the vehicle is controlled to enter the target merging lane along the target merging area.

[0025] As a preferred solution, determining one of the intersection areas as the target merging area includes:

[0026] Acquire the merging gap information corresponding to the intersection area, wherein the merging gap information includes the merging gap length and duration;

[0027] When the merging gap length and duration meet the preset gap requirements, an intersection area where the vehicle takes the least time to enter the target merging lane is selected as the target merging area.

[0028] As a preferred solution, the preset vehicle state constraint includes a time constraint, and the time constraint includes a target time; and obtaining the predicted position of each vehicle on the target merging lane includes:

[0029] According to the current position of each vehicle on the target merging lane and the target time, the predicted position of each vehicle on the target merging lane is obtained by linear difference calculation.

[0030] Accordingly, the present invention also provides a vehicle merging control device, including an acquisition module, a solution module and a control module; wherein:

[0031] The acquisition module is used to acquire the current vehicle state information of the vehicle; and respectively acquire the expected state information of the vehicle at each merging point of the target merging lane;

[0032] The solving module is used to solve a preset polynomial function based on the current vehicle state information and the expected state information to obtain longitudinal trajectories corresponding to the vehicle from the current position to each of the merging points;

[0033] The control module is used to screen out a longitudinal trajectory that meets a preset vehicle state constraint to obtain a target driving area; and control the vehicle to enter the target merging lane along the target driving area.

[0034] As a preferred solution, the expected state information includes expected acceleration, merging point position and expected speed, and the current vehicle state information includes current position, current speed and current acceleration;

[0035] The solving module solves a preset polynomial function based on the current vehicle state information and the expected state information to obtain longitudinal trajectories corresponding to the vehicle from the current position to each of the merging points, including:

[0036] The preset polynomial function includes:

[0037] f(t)=a×t 5 +b×t 4 +c×t 3 +d×t 2 +e×t+f;

[0038] Where t is the time, f(t) is the displacement of the vehicle at time t, and a, b, c, d, e and f are the parameters to be solved;

[0039] The solution module solves the preset polynomial function according to the current vehicle state information and the expected state information to obtain the displacement of the ego vehicle at each time, and then obtains the longitudinal trajectory of the ego vehicle from the current position to each of the merging points based on the displacement of the ego vehicle at each time.

[0040] As a preferred solution, the preset vehicle state constraints include time constraints, speed constraints, acceleration constraints and acceleration change rate constraints;

[0041] The control module selects a longitudinal trajectory that satisfies a preset vehicle state constraint to obtain a target driving area, including:

[0042] The control module selects each longitudinal trajectory that satisfies the preset vehicle state constraint;

[0043] The area covered by each of the filtered longitudinal trajectories is determined as the target driving area.

[0044] As a preferred embodiment, the vehicle merging control device also includes a calculation module, which is used to calculate the expected speed based on the average speed of vehicles within a preset range of the target merging lane before the acquisition module acquires the expected state information of the vehicle at each merging point of the target merging lane.

[0045] As a preferred solution, the control module controls the vehicle to enter the target merging lane along the target driving area, including:

[0046] The control module obtains the predicted position of each vehicle on the target merging lane; and obtains the merging gap based on the predicted position of each vehicle;

[0047] Respectively obtaining intersection areas of the target driving area and each of the merging gaps;

[0048] One of the intersection areas is determined as a target merging area, and the vehicle is controlled to enter the target merging lane along the target merging area.

[0049] As a preferred solution, the control module determines one of the intersection areas as the target merging area, including:

[0050] The control module obtains the merging gap information corresponding to the intersection area, wherein the merging gap information includes the merging gap length and duration;

[0051] When the merging gap length and duration meet the preset gap requirements, an intersection area where the vehicle takes the least time to enter the target merging lane is selected as the target merging area.

[0052] As a preferred solution, the preset vehicle state constraint includes a time constraint, and the time constraint includes a target time; the control module obtains the predicted position of each vehicle on the target merging lane, including:

[0053] The control module obtains the predicted position of each vehicle on the target merging lane by linear difference calculation according to the current position of each vehicle on the target merging lane and the target time.

[0054] Correspondingly, the present application also provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor implements the vehicle merging control method when executing the computer program.

[0055] Correspondingly, the present application also provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the vehicle merging control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 : A flow chart of an embodiment of the vehicle merging control method provided in the present application.

[0057] Figure 2 : A schematic diagram of a scenario of an embodiment of the vehicle merging control method provided in the present application.

[0058] Figure 3 : A schematic diagram of the principles of an embodiment of a vehicle merging control method provided in the present application.

[0059] Figure 4 : A schematic structural diagram of an embodiment of a vehicle merging control device provided in the present application. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0061] Embodiment 1

[0062] Please refer to Figure 1 , Figure 1 The present invention provides a vehicle merging control method, comprising steps S101 to S103; wherein:

[0063] Step S101, obtaining current vehicle state information of the vehicle; and respectively obtaining expected state information of the vehicle at each merging point of the target merging lane.

[0064] For ease of explanation, Figure 2 As shown, Figure 2 This is an example of a forced merging scenario. The vehicle at the bottom is the vehicle itself, which is traveling on the ramp and needs to enter the main road before the merging point shown in the figure. In this embodiment, the main road is called the target merging lane.

[0065] like Figure 3 As shown, the current position of the vehicle is taken as the origin of the coordinate system, point A can be called point P0, and point B can be called P n , a position point can be inserted at a certain distance (for example, 1 meter) in the middle, which is represented as P1, P2, P3, ..., P n-1 Points P0, P1, P2, P3, ..., P n-1 , P n These are the merging points of the target merging lane in this embodiment.

[0066] In this step, the current vehicle state information of the vehicle includes the current position, current speed and current acceleration of the vehicle, and the expected state information of each merging point of the target merging lane is mainly the merging points P0, P1, P2, P3, ..., P n-1 , P n The position of the merging points (which can be obtained through high-precision maps and positioning), as well as the expected acceleration and expected speed of the vehicle when it reaches these merging points.

[0067] Among them, in order to ensure that the vehicle merges into the target merging lane smoothly and safely, the expected acceleration can be zero, and the expected speed can be the average speed of vehicles within a preset range of the target merging lane, such as the average speed of vehicles within fifty meters before and after points A and B.

[0068] The expected speed may be calculated in real time, or may be calculated before step S101 (a preset value for step S101 ).

[0069] Step S102, based on the current vehicle state information and the expected state information, a preset polynomial function is solved to obtain longitudinal trajectories corresponding to the vehicle from the current position to each of the merging points.

[0070] In this step, when the current vehicle state information and the expected state information of the vehicle at each merging point in the target merging lane are obtained, the longitudinal trajectory of the vehicle reaching each merging point can be obtained by solving a preset polynomial function.

[0071] It should be noted that the longitudinal trajectory refers to the longitudinal trajectory of the vehicle. Figure 3 It can be understood as the straight line trajectory of the vehicle from the origin (current position) to each of the above-mentioned confluence points.

[0072] Exemplarily, in some preferred implementations, solving a preset polynomial function based on the current vehicle state information and the desired state information to obtain longitudinal trajectories corresponding to the vehicle from the current position to each of the merging points respectively includes:

[0073] The preset polynomial function includes:

[0074] f(t)=a×t 5 +b×t 4 +c×t 3 +d×t 2 +e×t+f;

[0075] Where t is the time, f(t) is the displacement of the vehicle at time t, and a, b, c, d, e and f are the parameters to be solved;

[0076] According to the current vehicle state information and the expected state information, the preset polynomial function is solved to obtain an analytical solution; the analytical solution includes the displacement of the ego vehicle at each moment, and then based on the displacement of the ego vehicle at each moment, the longitudinal trajectory of the ego vehicle from the current position to each of the merging points is obtained.

[0077] Step S103, screening out longitudinal trajectories that satisfy preset vehicle state constraints to obtain a target driving area; and controlling the vehicle to enter the target merging lane along the target driving area.

[0078] In some preferred embodiments, the preset vehicle state constraint includes but is not limited to at least one of a time constraint, a speed constraint, an acceleration constraint, and an acceleration rate constraint.

[0079] In this embodiment, the time constraint refers to the target time tm , we can limit the vehicle to the target time t m t reaches the merging point within t, thereby determining the merging point p that the vehicle can reach. m The value range of can be [0,16 seconds], the speed constraint is [0,100 kph], and the vehicle acceleration constraint is [-3,3 m / s 2 ], the acceleration change rate constraint is [-4,4m / s 3 ].

[0080] Step S103 of selecting the longitudinal trajectory that meets the preset vehicle state constraints to obtain the target driving area includes:

[0081] The longitudinal trajectories satisfying the preset vehicle state constraint are screened out; and the area covered by the screened longitudinal trajectories is determined as the target driving area.

[0082] like Figure 3 As shown, the vehicle moves from the current position (origin) to Figure 3 The area of ​​the tractable space of the vehicle shown is the target driving area, which is the area covered by the selected longitudinal trajectory that meets the preset vehicle state constraints.

[0083] Furthermore, the step S103 of controlling the vehicle to enter the target merging lane along the target driving area includes:

[0084] Obtaining a predicted position of each vehicle on a target merging lane; obtaining a merging gap based on the predicted position of each vehicle;

[0085] Respectively obtaining intersection areas of the target driving area and each of the merging gaps;

[0086] One of the intersection areas is determined as a target merging area, and the vehicle is controlled to enter the target merging lane along the target merging area.

[0087] In some preferred embodiments, the predicted position of each vehicle on the target merging lane can be calculated by linear difference based on the target time and its current position.

[0088] like Figure 3 As shown in the figure, according to the predicted position of each vehicle on the target merging lane, based on the space between adjacent vehicles (predicted positions), the merging gap (such as Figure 3 slot_1, slot_2 and slot_3 as shown).

[0089] Obtain the intersection area of ​​the target driving area and each of the merging gaps (such as Figure 3The intersection 1 and the intersection 2 shown in the figure), one of the intersection areas is selected as the target merging area, and the ego vehicle is controlled to enter the target merging lane along the target merging area.

[0090] Specifically, the criteria for selecting the target merging area are still based on safety and success rate considerations. For example, in some preferred embodiments, determining one of the intersection areas as the target merging area includes: obtaining merging gap information corresponding to the intersection area, the merging gap information including the merging gap length and duration; when the merging gap length and duration meet the preset gap requirements, selecting the intersection area where the self-vehicle takes the least time to enter the target merging lane, and determining it as the target merging area.

[0091] Furthermore, the preset gap requirement includes a length threshold and a time threshold; when the length of the incoming gap is greater than the length threshold and the duration is greater than the time threshold, it is determined that the length and duration of the incoming gap meet the preset gap requirement.

[0092] In some other preferred embodiments, illustratively, the set gap conditions may also include:

[0093] Condition 1: The length of the slot is greater than 15 meters to prevent the slot from being too small to be merged.

[0094] Condition 2: The slot must exist for 3 consecutive seconds, because the lane change and merging process takes at least 3-4 seconds.

[0095] If there are two or more gaps that satisfy both conditions one and two, the intersection that takes the least time for the vehicle to travel to the corresponding merging point can be selected, and the corresponding intersection area can be determined as the target merging area. The vehicle can be controlled to enter the target merging lane along the target merging area, so as to ensure that the vehicle can accurately grasp the gap while safely and smoothly entering the target merging lane, further reducing the probability of collision with other vehicles.

[0096] Correspondingly, such as Figure 4 As shown, the present invention also provides a vehicle merging control device 400, including an acquisition module 401, a solution module 402 and a control module 403; wherein,

[0097] The acquisition module 401 is used to acquire the current vehicle state information of the vehicle; and respectively acquire the expected state information of the vehicle at each merging point of the target merging lane;

[0098] The solving module 402 is used to solve a preset polynomial function based on the current vehicle state information and the expected state information to obtain longitudinal trajectories corresponding to the vehicle from the current position to each of the merging points;

[0099] The control module 403 is used to filter out the longitudinal trajectory that meets the preset vehicle state constraints to obtain a target driving area; and control the vehicle to enter the target merging lane along the target driving area.

[0100] As a preferred solution, the expected state information includes expected acceleration, merging point position and expected speed, and the current vehicle state information includes current position, current speed and current acceleration;

[0101] The solving module 402 solves a preset polynomial function based on the current vehicle state information and the desired state information to obtain longitudinal trajectories corresponding to the vehicle from the current position to each of the merging points, including:

[0102] The preset polynomial function includes:

[0103] f(t)=a×t 5 +b×t 4 +c×t 3 +d×t 2 +e×t+f;

[0104] Where t is the time, f(t) is the displacement of the vehicle at time t, and a, b, c, d, e and f are the parameters to be solved;

[0105] The solution module 402 solves the preset polynomial function according to the current vehicle state information and the expected state information to obtain the displacement of the ego vehicle at each time, and then obtains the longitudinal trajectory of the ego vehicle from the current position to each of the merging points based on the displacement of the ego vehicle at each time.

[0106] As a preferred solution, the preset vehicle state constraints include time constraints, speed constraints, acceleration constraints and acceleration change rate constraints;

[0107] The control module 403 selects the longitudinal trajectory that meets the preset vehicle state constraints to obtain the target driving area, including:

[0108] The control module 403 selects each longitudinal trajectory that satisfies the preset vehicle state constraint;

[0109] The area covered by each of the filtered longitudinal trajectories is determined as the target driving area.

[0110] As a preferred embodiment, the vehicle merging control device 400 further includes a calculation module, which is used to calculate the expected speed based on the average speed of vehicles within a preset range of the target merging lane before the acquisition module 401 acquires the expected state information of the vehicle at each merging point of the target merging lane.

[0111] As a preferred solution, the control module 403 controls the vehicle to enter the target merging lane along the target driving area, including:

[0112] The control module 403 obtains the predicted position of each vehicle on the target merging lane; and obtains the merging gap based on the predicted position of each vehicle;

[0113] Respectively obtaining intersection areas of the target driving area and each of the merging gaps;

[0114] One of the intersection areas is determined as a target merging area, and the vehicle is controlled to enter the target merging lane along the target merging area.

[0115] As a preferred solution, the control module 403 determines one of the intersection areas as the target merging area, including:

[0116] The control module 403 obtains the merging gap information corresponding to the intersection area, and the merging gap information includes the merging gap length and duration;

[0117] When the merging gap length and duration meet the preset gap requirements, an intersection area where the vehicle takes the least time to enter the target merging lane is selected as the target merging area.

[0118] As a preferred solution, the preset vehicle state constraint includes a time constraint, and the time constraint includes a target time; the control module 403 obtains the predicted position of each vehicle on the target merging lane, including:

[0119] The control module 403 obtains the predicted position of each vehicle on the target merging lane through linear difference calculation according to the current position of each vehicle on the target merging lane and the target time.

[0120] Correspondingly, the present application also provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor implements the vehicle merging control method when executing the computer program.

[0121] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the terminal, and various interfaces and lines are used to connect various parts of the entire terminal.

[0122] The memory can be used to store the computer program, and the processor realizes various functions of the terminal by running or executing the computer program stored in the memory and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0123] Correspondingly, the present application also provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the vehicle merging control method.

[0124] Wherein, if the module integrated in the vehicle merging control device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0125] Compared with the prior art, this embodiment has at least the following beneficial effects:

[0126] An embodiment of the present invention provides a vehicle merging control method, device, equipment and computer-readable storage medium. The vehicle merging control method includes: obtaining current vehicle state information of the own vehicle; respectively obtaining expected state information of the own vehicle at each merging point of a target merging lane; based on the current vehicle state information and the expected state information, solving a preset polynomial function to obtain longitudinal trajectories corresponding to the own vehicle from the current position to each of the merging points; screening out longitudinal trajectories that meet preset vehicle state constraints to obtain a target driving area; and controlling the own vehicle to enter the target merging lane along the target driving area. In implementing the embodiment of the present application, based on the current vehicle state information of the own vehicle and the expected state information of each merging point when it reaches the target merging lane, a preset polynomial is solved to obtain the longitudinal trajectory of the own vehicle from the current position to each merging point, and the longitudinal trajectories that meet the constraint requirements are screened out, so as to determine that these longitudinal trajectories meet the merging timing and obtain the target driving area. There is no need to interpret the driving style or intention of the own vehicle and other vehicles. Instead, starting from the vehicle's own state and constraining the state of its driving to the merging point, the achievable driving area and the merging timing that meet the requirements can be effectively and accurately determined, thereby effectively improving the success rate and safety of vehicle merging.

[0127] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A vehicle merging control method, characterized in that: include: Acquire current vehicle state information of the ego vehicle; respectively acquire expected state information of the ego vehicle at each merging point of the target merging lane; Based on the current vehicle state information and the desired state information, a preset polynomial function is solved to obtain longitudinal trajectories corresponding to the vehicle from the current position to each of the merging points; A longitudinal trajectory that satisfies a preset vehicle state constraint is selected to obtain a target driving area; and the ego vehicle is controlled to enter the target merging lane along the target driving area.

2. A vehicle merging control method as claimed in claim 1, characterized in that: The desired state information includes the desired acceleration, the position of the confluence point and the desired speed, and the current vehicle state information includes the current position, the current speed and the current acceleration; The method of solving a preset polynomial function based on the current vehicle state information and the expected state information to obtain longitudinal trajectories corresponding to the vehicle from the current position to each of the merging points includes: The preset polynomial function includes: f(t)=a×t 5 +b×t 4 +c×t 3 +d×t 2 +e×t+f; Where t is the time, f(t) is the displacement of the vehicle at time t, and a, b, c, d, e and f are the parameters to be solved; According to the current vehicle state information and the expected state information, the preset polynomial function is solved to obtain the displacement of the vehicle at each moment, and then based on the displacement of the vehicle at each moment, the longitudinal trajectory of the vehicle from the current position to each of the merging points is obtained.

3. A vehicle merging control method as claimed in claim 2, characterized in that: The preset vehicle state constraints include time constraints, speed constraints, acceleration constraints and acceleration change rate constraints; The step of screening out the longitudinal trajectory that satisfies the preset vehicle state constraint to obtain the target driving area includes: Filtering out longitudinal trajectories that satisfy the preset vehicle state constraints; The area covered by each of the filtered longitudinal trajectories is determined as the target driving area.

4. A vehicle merging control method as claimed in claim 2, characterized in that: Before acquiring the expected state information of the vehicle at each merging point of the target merging lane, the method further includes: The expected speed is calculated according to the average speed of vehicles within a preset range of the target merging lane.

5. The vehicle merging control method as claimed in claim 1, characterized in that: The controlling the vehicle to enter the target merging lane along the target driving area includes: Obtaining a predicted position of each vehicle on a target merging lane; obtaining a merging gap based on the predicted position of each vehicle; Respectively obtaining intersection areas of the target driving area and each of the merging gaps; One of the intersection areas is determined as a target merging area, and the vehicle is controlled to enter the target merging lane along the target merging area.

6. A vehicle merging control method as claimed in claim 5, characterized in that: Determining one of the intersection areas as a target inflow area includes: Acquire the merging gap information corresponding to the intersection area, wherein the merging gap information includes the merging gap length and duration; When the merging gap length and duration meet the preset gap requirements, an intersection area where the vehicle takes the least time to enter the target merging lane is selected as the target merging area.

7. A vehicle merging control method as claimed in claim 5, characterized in that: The preset vehicle state constraint includes a time constraint, and the time constraint includes a target time; The step of obtaining the predicted position of each vehicle on the target merging lane includes: According to the current position of each vehicle on the target merging lane and the target time, the predicted position of each vehicle on the target merging lane is obtained by linear difference calculation.

8. A vehicle merging control device, characterized in that: It includes an acquisition module, a solution module and a control module; among which, The acquisition module is used to acquire the current vehicle state information of the vehicle; and respectively acquire the expected state information of the vehicle at each merging point of the target merging lane; The solving module is used to solve a preset polynomial function based on the current vehicle state information and the expected state information to obtain longitudinal trajectories corresponding to the vehicle from the current position to each of the merging points; The control module is used to screen out a longitudinal trajectory that meets a preset vehicle state constraint to obtain a target driving area; and control the vehicle to enter the target merging lane along the target driving area.

9. A terminal device, characterized in that: The invention comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor implements the vehicle merging control method as claimed in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute the vehicle merging control method as described in any one of claims 1 to 7.

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