Vehicle merging control method, apparatus, equipment and computer-readable storage medium

Abstract

This invention provides a vehicle merging control method, apparatus, device, and computer-readable storage medium. The method includes: acquiring the current vehicle state information of the vehicle; acquiring the desired state information of the vehicle at each merging point in the target merging lane; solving a preset polynomial function based on the current vehicle state information and the desired state information to obtain the longitudinal trajectory of the vehicle from its current position to each merging point; selecting the longitudinal trajectory that satisfies the preset vehicle state constraints to obtain the target driving area; and controlling the vehicle to enter the target merging lane along the target driving area. This invention does not require interpretation of the driving style or intention of the vehicle or other vehicles, but starts from the vehicle's own state and constrains its state when reaching the merging point. It can effectively and accurately determine the reachable driving area and the merging timing that meets the requirements, effectively improving the success rate and safety of vehicle merging.

Description

Technical Field

[0001] This invention application relates to the field of autonomous driving, and more particularly to a vehicle merging control method, apparatus, device, and computer-readable storage medium. Background Technology

[0002] Merging scenarios are complex in the fields of autonomous driving and assisted driving, and also pose a significant challenge for vehicle drivers. Currently, common decision-making methods in merging scenarios include game theory. However, while this method is often used to explain different driving styles or intentions and determine the merging decision from a probabilistic perspective, it is difficult to grasp the location and timing of the merging, thus introducing a certain probability of merging failure. Summary of the Invention

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

[0004] To address the aforementioned technical problems, this invention provides a vehicle merging control method, comprising:

[0005] Obtain the current vehicle status information of the vehicle; obtain the expected status information of the 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 the longitudinal trajectory of the vehicle from its current position to each of the merging points.

[0007] The longitudinal trajectory that meets the preset vehicle state constraints is selected to obtain the target driving area; and the vehicle is controlled to enter the target merging lane along the target driving area.

[0008] By implementing this invention, based on the current vehicle state information and the expected state information of each merging point in the target merging lane, a preset polynomial is solved to obtain the longitudinal trajectory of the vehicle from its current position to each merging point. The longitudinal trajectories that meet the constraints are then selected, thereby determining the merging timing of these longitudinal trajectories and obtaining the target driving area. This method does not require interpretation of the driving style or intention of the vehicle or other vehicles, but rather starts from the vehicle's own state and constrains its state when it arrives at the merging point. It can effectively and accurately determine the reachable driving area and the merging timing that meets the requirements, effectively improving the success rate and safety of vehicle merging.

[0009] As a preferred embodiment, the desired state information includes desired acceleration, merging point position, and desired velocity, and the current vehicle state information includes current position, current velocity, and current acceleration;

[0010] The step of solving a preset polynomial function based on the current vehicle state information and the desired state information to obtain the longitudinal trajectory of the vehicle from its 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 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] Based on the current vehicle state information and the desired state information, the preset polynomial function is solved to obtain the vehicle's displacement at each time. Then, based on the vehicle's displacement at each time, the longitudinal trajectory of the vehicle from its current position to each of the merging points is obtained.

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

[0016] The process of selecting longitudinal trajectories that satisfy preset vehicle state constraints to obtain the target driving area includes:

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

[0018] The area covered by each selected longitudinal trajectory is determined as the target driving area.

[0019] As a preferred embodiment, before obtaining the desired state information of the vehicle at each merging point in the target merging lane, the method further includes:

[0020] The desired speed is calculated based on the average speed of vehicles within a preset range of the target merging lane.

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

[0022] Obtain the predicted positions of each vehicle in the target merging lane; based on the predicted positions of each vehicle, obtain the merging gap;

[0023] Obtain the intersection area of ​​the target driving area and each of the merging gaps respectively;

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

[0025] As a preferred embodiment, determining one of the intersection regions as the target merging region includes:

[0026] Obtain the inflow gap information corresponding to the intersection region, wherein the inflow gap information includes the inflow gap length and duration;

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

[0028] As a preferred embodiment, the preset vehicle state constraint includes a time constraint, which includes a target time; obtaining the predicted positions of each vehicle in the target merging lane includes:

[0029] Based on the current position of each vehicle in the target merging lane and the target time, the predicted position of each vehicle in the target merging lane is obtained by linear interpolation.

[0030] Accordingly, this invention application 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 status information of the vehicle; and to acquire the expected status information of the vehicle at each merging point of the target merging lane.

[0032] The solution module is used to solve a preset polynomial function based on the current vehicle state information and the desired state information to obtain the longitudinal trajectory of the vehicle from the current position to each of the merging points.

[0033] The control module is used to filter out longitudinal trajectories that meet preset vehicle state constraints to obtain a target driving area; and to control the vehicle to enter the target merging lane along the target driving area.

[0034] As a preferred embodiment, the desired state information includes desired acceleration, merging point position, and desired velocity, and the current vehicle state information includes current position, current velocity, and current acceleration;

[0035] The solution module solves a preset polynomial function based on the current vehicle state information and the desired state information to obtain the longitudinal trajectory of the vehicle from its 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 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 based on the current vehicle state information and the desired state information to obtain the vehicle's displacement at each time. Then, based on the vehicle's displacement at each time, it obtains the longitudinal trajectory of the vehicle from its current position to each of the merging points.

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

[0041] The control module filters out longitudinal trajectories that meet preset vehicle state constraints to obtain the target driving area, including:

[0042] The control module filters out each longitudinal trajectory that satisfies the preset vehicle state constraints.

[0043] The area covered by each selected longitudinal trajectory is determined as the target driving area.

[0044] As a preferred embodiment, the vehicle merging control device 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 acquires the expected state information of the vehicle at each merging point of the target merging lane.

[0045] As a preferred embodiment, 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 positions of each vehicle in the target merging lane; based on the predicted positions of each vehicle, it obtains the merging gap.

[0047] Obtain the intersection area of ​​the target driving area and each of the merging gaps respectively;

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

[0049] As a preferred embodiment, the control module determines one of the intersection regions as the target merging region, including:

[0050] The control module acquires the merging gap information corresponding to the intersection region, and the merging gap information includes the merging gap length and duration.

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

[0052] As a preferred embodiment, the preset vehicle state constraints include time constraints, the time constraints including a target time; the control module obtains the predicted positions of each vehicle in the target merging lane, including:

[0053] The control module calculates the predicted positions of each vehicle in the target merging lane based on the current position of each vehicle in the target merging lane and the target time using linear interpolation.

[0054] Accordingly, this 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, wherein the processor executes the computer program to implement the vehicle merging control method.

[0055] Accordingly, this application also provides a computer-readable storage medium, the computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to execute the vehicle merging control method. Attached Figure Description

[0056] Figure 1 : A schematic flowchart of an embodiment of the vehicle merging control method provided in this application.

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

[0058] Figure 3 : A schematic diagram illustrating the principle of an embodiment of the vehicle merging control method provided in this application.

[0059] Figure 4 : A schematic diagram of an embodiment of the vehicle merging control device provided in this application. Detailed Implementation

[0060] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0061] Example 1

[0062] Please refer to Figure 1 , Figure 1 A vehicle merging control method provided in this application includes steps S101 to S103; wherein,

[0063] Step S101: Obtain the current vehicle status information of the vehicle; obtain the expected status information of the vehicle at each merging point of the target merging lane.

[0064] For ease of explanation, such as Figure 2 As shown, Figure 2 This is an example of a forced merging scenario. The vehicle at the bottom is a private car traveling on the ramp. It needs to enter the main road before the merging point shown in the diagram. In this embodiment, the main road is referred to as 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 point P. n A location point can be inserted at regular intervals (e.g., 1 meter), denoted 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 vehicle's current vehicle status information includes its current position, current speed, and current acceleration. The desired status information for each merging point in the target merging lane mainly consists of merging points P0, P1, P2, P3, ..., P... n-1 P n The location (which can be obtained through high-precision maps and positioning), as well as the expected acceleration and expected velocity of the vehicle when it arrives at these merging points.

[0067] In order to ensure that the vehicle merges smoothly and safely into the target merging lane, the desired acceleration can be zero, and the desired 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 50 meters before and after point A and point B.

[0068] The desired speed can be calculated in real time, or it can be calculated before step S101 (for step S101, it is a preset value).

[0069] Step S102: Based on the current vehicle state information and the desired state information, solve the preset polynomial function to obtain the longitudinal trajectory of the vehicle from the current position to each of the merging points.

[0070] In this step, given the current vehicle status information and the expected status information of the vehicle at each merging point in the target merging lane, 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 this longitudinal trajectory refers to the longitudinal trajectory of the vehicle's movement, according to... Figure 3 This can be understood as the straight-line trajectory of the vehicle from the origin (current position) to each of the aforementioned merging points.

[0072] For example, in some preferred embodiments, the step of solving a preset polynomial function based on the current vehicle state information and the desired state information to obtain the longitudinal trajectory of the vehicle from its current position to each of the merging points 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 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] Based on the current vehicle state information and the desired state information, the preset polynomial function is solved to obtain an analytical solution. The analytical solution includes the vehicle's displacement at each time step. Based on the vehicle's displacement at each time step, the longitudinal trajectory of the vehicle from its current position to each of the merging points is obtained.

[0077] Step S103: Select the longitudinal trajectory that meets the preset vehicle state constraints to obtain the target driving area; and control the vehicle to enter the target merging lane along the target driving area.

[0078] In some preferred embodiments, the preset vehicle state constraints include, but are not limited to, at least one of time constraints, speed constraints, acceleration constraints, and acceleration rate of change constraints.

[0079] In this embodiment, the time constraint refers to the target time t.m It can limit the time of the vehicle to the target time t. m The target time t is used to determine the merging point p that the vehicle can reach. For example, this target time is... m The value range can be [0, 16 seconds], the speed constraint is [0, 100 kph], and the vehicle acceleration constraint is [-3, 3 m / s²]. 2 The acceleration rate of change is constrained to [-4, 4 m / s²]. 3 ].

[0080] Step S103 involves filtering out longitudinal trajectories that satisfy preset vehicle state constraints to obtain the target driving area, including:

[0081] Select the longitudinal trajectories that satisfy the preset vehicle state constraints; determine the area covered by each selected longitudinal trajectory as the target driving area.

[0082] like Figure 3 As shown, the vehicle travels from its current position (origin) to... Figure 3 The area accessible to the vehicle shown is the target driving area. This target driving area is the area covered by the selected longitudinal trajectory that meets the preset vehicle state constraints.

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

[0084] Obtain the predicted positions of each vehicle in the target merging lane; based on the predicted positions of each vehicle, obtain the merging gap;

[0085] Obtain the intersection area of ​​the target driving area and each of the merging gaps respectively;

[0086] One of the intersection areas is identified as the 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 positions of each vehicle in the target merging lane can be calculated by linear interpolation based on the target time and its current position.

[0088] like Figure 3 As shown, based on the predicted positions of each vehicle in the target merging lane, and considering the space between adjacent vehicles (predicted positions), the merging gap (e.g., ...) can be obtained. Figure 3 (Slot_1, slot_2, and slot_3 are shown).

[0089] Obtain the intersection area of ​​the target driving area and each of the merging gaps (e.g.) Figure 3Intersection 1 and Intersection 2 shown, select one of the intersection areas as the target merging area, and control the vehicle to enter the target merging lane along the target merging area.

[0090] Specifically, the criteria for selecting the target merging area remain 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 merging gap length and duration; when the merging gap length and duration meet preset gap requirements, selecting the intersection area where the 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 of the incoming gap and the duration meet the preset gap requirement.

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

[0093] Condition 1: The length of the gap slot must be greater than 15 meters to prevent the gap from being too small to allow entry.

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

[0095] If two or more gaps simultaneously satisfy both conditions one and two, then the intersection that takes the least time for the vehicle to reach the corresponding merging point can be selected, and its corresponding intersection area can be determined as the target merging area. The vehicle can then be controlled to enter the target merging lane along the target merging area 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, this invention application 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 status information of the vehicle; and to acquire the expected status 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 desired state information to obtain the longitudinal trajectory of the vehicle from the current position to each of the merging points.

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

[0100] As a preferred embodiment, the desired state information includes desired acceleration, merging point position, and desired velocity, and the current vehicle state information includes current position, current velocity, 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 the longitudinal trajectory of the vehicle from its 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 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 solving module 402 solves the preset polynomial function based on the current vehicle state information and the desired state information to obtain the vehicle's displacement at each time. Then, based on the vehicle's displacement at each time, it obtains the longitudinal trajectory of the vehicle from its current position to each of the merging points.

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

[0107] The control module 403 filters out longitudinal trajectories that meet preset vehicle state constraints to obtain the target driving area, including:

[0108] The control module 403 filters out each longitudinal trajectory that satisfies the preset vehicle state constraints.

[0109] The area covered by each selected longitudinal trajectory 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 embodiment, the control module 403 controls the vehicle to enter the target merging lane along the target driving area, including:

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

[0113] Obtain the intersection area of ​​the target driving area and each of the merging gaps respectively;

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

[0115] As a preferred embodiment, the control module 403 determines one of the intersection regions as the target merging region, including:

[0116] The control module 403 acquires the merging gap information corresponding to the intersection region, 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, the intersection area where the vehicle takes the least time to enter the target merging lane is selected and determined as the target merging area.

[0118] As a preferred embodiment, the preset vehicle state constraints include time constraints, the time constraints including a target time; the control module 403 acquires the predicted positions of each vehicle on the target merging lane, including:

[0119] The control module 403 calculates the predicted positions of each vehicle in the target merging lane based on the current position of each vehicle in the target merging lane and the target time using linear interpolation.

[0120] Accordingly, this 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, wherein the processor executes the computer program to implement the vehicle merging control method.

[0121] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the terminal, connecting various parts of the terminal via various interfaces and lines.

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

[0123] Accordingly, this application also provides a computer-readable storage medium, the computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to execute the vehicle merging control method.

[0124] If the module integrated into the vehicle merging control device is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

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

[0126] This invention provides a vehicle merging control method, apparatus, device, and computer-readable storage medium. The vehicle merging control method includes: acquiring the current vehicle state information of a vehicle; acquiring the desired state information of the vehicle at each merging point in a target merging lane; solving a preset polynomial function based on the current vehicle state information and the desired state information to obtain the longitudinal trajectory of the vehicle from its current position to each merging point; selecting the longitudinal trajectory that satisfies the 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. By implementing the embodiments of this application, based on the current vehicle state information of the vehicle and its expected state information at each merging point of the target merging lane, a preset polynomial is solved to obtain the longitudinal trajectory of the vehicle from its current position to each merging point. The longitudinal trajectories that meet the constraints are selected, thereby determining that these longitudinal trajectories meet the merging timing and obtaining the target driving area. There is no need to interpret the driving style or intention of the vehicle or other vehicles. Instead, it starts from the vehicle's own state and constrains its state when it arrives at the merging point. This can effectively and accurately determine the reachable driving area and the merging timing that meets the requirements, effectively improving the success rate and safety of vehicle merging.

[0127] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A vehicle merging control method, characterized in that, include: Obtain the current vehicle status information of the vehicle; obtain the expected status information of the 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 the longitudinal trajectory of the vehicle from its current position to each of the merging points. The longitudinal trajectories that meet the preset vehicle state constraints are selected to obtain the target driving area; And control the vehicle to enter the target merging lane along the target driving area; The control of the vehicle to enter the target merging lane along the target driving area includes: Obtain the predicted positions of each vehicle in the target merging lane; based on the predicted positions of each vehicle, obtain the merging gap; Obtain the intersection area of ​​the target driving area and each of the merging gaps respectively; One of the intersection areas is identified as the target merging area, and the vehicle is controlled to enter the target merging lane along the target merging area. The step of identifying one of the intersection regions as the target merging region includes: Obtain the inflow gap information corresponding to the intersection region, wherein the inflow gap information includes the inflow gap length and duration; When the merging gap length and duration meet the preset gap requirements, the intersection area where the vehicle takes the least time to enter the target merging lane is selected and determined as the target merging area.

2. The vehicle merging control method as described in claim 1, characterized in that, The desired state information includes desired acceleration, merging point position, and desired velocity; the current vehicle state information includes current position, current velocity, and current acceleration. The step of solving a preset polynomial function based on the current vehicle state information and the desired state information to obtain the longitudinal trajectory of the vehicle from its 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 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; Based on the current vehicle state information and the desired state information, the preset polynomial function is solved to obtain the vehicle's displacement at each time. Then, based on the vehicle's displacement at each time, the longitudinal trajectory of the vehicle from its current position to each of the merging points is obtained.

3. The vehicle merging control method as described in claim 2, characterized in that, The preset vehicle state constraints include time constraints, speed constraints, acceleration constraints, and acceleration rate of change constraints. The process of selecting longitudinal trajectories that satisfy preset vehicle state constraints to obtain the target driving area includes: Select the longitudinal trajectories that satisfy the preset vehicle state constraints; The area covered by each selected longitudinal trajectory is determined as the target driving area.

4. The vehicle merging control method as described in claim 2, characterized in that, Before obtaining the desired state information of the vehicle at each merging point in the target merging lane, the method further includes: The desired speed is calculated based on the average speed of vehicles within a preset range of the target merging lane.

5. The vehicle merging control method as described in claim 1, characterized in that, The preset vehicle state constraints include time constraints, which include a target time. The process of obtaining the predicted positions of each vehicle in the target merging lane includes: Based on the current position of each vehicle in the target merging lane and the target time, the predicted position of each vehicle in the target merging lane is obtained by linear interpolation.

6. 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 status information of the vehicle; and to acquire the expected status information of the vehicle at each merging point of the target merging lane. The solution module is used to solve a preset polynomial function based on the current vehicle state information and the desired state information to obtain the longitudinal trajectory of the vehicle from the current position to each of the merging points. The control module is used to filter out longitudinal trajectories that meet preset vehicle state constraints to obtain a target driving area; and to control the vehicle to enter the target merging lane along the target driving area. The control module controls the vehicle to enter the target merging lane along the target driving area, including: The control module obtains the predicted positions of each vehicle in the target merging lane; based on the predicted positions of each vehicle, it obtains the merging gap. Obtain the intersection area of ​​the target driving area and each of the merging gaps respectively; One of the intersection areas is identified as the target merging area, and the vehicle is controlled to enter the target merging lane along the target merging area. The control module identifies one of the intersection regions as the target merging region, including: The control module obtains the merging gap information corresponding to the intersection region, and the merging gap information includes the merging gap length and duration. When the merging gap length and duration meet the preset gap requirements, the intersection area where the vehicle takes the least time to enter the target merging lane is selected and determined as the target merging area.

7. A terminal device, characterized in that, The system includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the vehicle merging control method as described in any one of claims 1 to 5.

8. 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, it controls the device on which the computer-readable storage medium is located to perform the vehicle merging control method as described in any one of claims 1 to 5.

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