Cruise route planning method and device, equipment and storage medium

Abstract

The invention relates to the technical field of intelligent driving, and discloses a cruise route planning method, device and equipment and a storage medium, and the method comprises the steps: obtaining cruise planning data, recognizing a road section where a vehicle is located, and determining an available lane; performing road right sorting on each available lane based on the cruise planning data to generate a lane sorting result; selecting a target lane from the available lanes according to the lane sorting result; and controlling the vehicle to cruise based on the target lane. The road right analysis can be performed on the available lanes according to the real-time scene data required by the vehicle cruise, the lane sorting result is generated by sorting according to the road right analysis result, and then the proper target lane is selected based on the lane sorting result to perform cruise control, so that the cruise control can be performed even if the road condition is complex. And a proper lane can still be selected as far as possible for cruising, so that the cruising effect is ensured, and the cruising service quality is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a cruise route planning method, device, equipment and storage medium. Background Art

[0002] With the in-depth development of the intelligent network field, more and more vehicles are equipped with ADAS advanced driving assistance functions. Vehicles can perceive and integrate information through a variety of sensors (lidar, millimeter-wave radar, ultrasonic radar, camera, etc.), thereby achieving automatic cruise driving, that is, the vehicle autonomously cruises to the vicinity of the destination under intelligent driving.

[0003] However, during the cruising process, due to factors such as road conditions and complex environment, it may be difficult to plan a suitable cruising route, resulting in poor cruising effects. Summary of the invention

[0004] The main purpose of this application is to provide a cruise route planning method, device, equipment and storage medium, aiming to solve the technical problem that cruise technology is affected by road conditions and complex environment, which easily leads to difficulty in planning a suitable cruise route and poor cruise effect.

[0005] To achieve the above objectives, the present application proposes a cruise route planning method, the method comprising:

[0006] Obtaining cruise planning data, identifying the road section where the vehicle is located, and determining available lanes, wherein the cruise planning data is real-time scene data required for controlling the vehicle cruise;

[0007] Sort the available lanes by right of way based on the cruise planning data to generate a lane sorting result;

[0008] Selecting a target lane from the available lanes according to the lane sorting result;

[0009] The vehicle is controlled to cruise based on the target lane.

[0010] Optionally, the performing right-of-way sorting on each available lane based on the cruise planning data to generate a lane sorting result includes:

[0011] Determine, based on the cruise planning data, a dimensional ranking score corresponding to each of the available lanes relative to a preset ranking dimension;

[0012] The dimensional ranking scores corresponding to each preset ranking dimension of the same available lane are merged to generate the total road right ranking score corresponding to each available lane;

[0013] The available lanes are sorted based on the total road right ranking score to generate a lane ranking result.

[0014] Optionally, the preset sorting dimension includes a cruise state;

[0015] The determining, based on the cruise planning data, the dimensional ranking scores of the available lanes corresponding to the preset ranking dimensions respectively includes:

[0016] Determine the interval distance of the vehicle relative to the state change position based on the cruise planning data, wherein the state change position is the road section exit position, road section entrance position or vehicle driving destination closest to the current position of the vehicle;

[0017] The interval distance is compared with a general warning distance and a limit lane change distance to determine the type of the cruise state, wherein the general warning distance is an interval distance for judging that the vehicle needs to wait for an opportunity to change lanes, and the limit lane change distance is an interval distance for judging that the vehicle needs to change lanes urgently;

[0018] According to the scoring rules corresponding to the cruising state type, dimensional ranking scores corresponding to the preset ranking dimensions are generated for each available lane.

[0019] Optionally, the preset sorting dimension includes path optimization;

[0020] The determining, based on the cruise planning data, the dimensional ranking scores of the available lanes corresponding to the preset ranking dimensions respectively includes:

[0021] Determining an upcoming intersection and a vehicle navigation route based on the cruise planning data;

[0022] Get the lane connection sections corresponding to each available lane;

[0023] Selecting a matching lane from the available lanes according to the upcoming intersection, the vehicle navigation route and the lane connection section, the matching lane being an available lane whose corresponding lane connection section after the upcoming intersection matches the vehicle navigation route;

[0024] If there is only one matching lane, the dimensional sorting score corresponding to the preset sorting dimension of the matching lane is set to a first preset score, and the dimensional sorting scores corresponding to the preset sorting dimension of other available lanes are set to a second preset score, and the first preset score is greater than the second preset score.

[0025] Optionally, after selecting a matching lane from the available lanes according to the upcoming intersection, the vehicle navigation route, and the lane connecting section, the method further includes:

[0026] If there are multiple matching lanes, the next arrival intersection is obtained, where the next arrival intersection is the closest intersection after the vehicle passes the upcoming arrival intersection;

[0027] Selecting a preferred lane from the matching lanes according to the next arrival intersection, the vehicle navigation route, and the lane connecting section corresponding to the target lane, the preferred lane being a matching lane whose corresponding lane connecting section after the next arrival intersection matches the vehicle navigation route;

[0028] The dimensional sorting score corresponding to the preset sorting dimension of the preferred lane is set to the third preset score, the dimensional sorting scores corresponding to the preset sorting dimension of other matching lanes are set to the first preset score, and the dimensional sorting scores corresponding to the preset sorting dimension of other available lanes are set to the second preset score, and the third preset score is greater than the first preset score.

[0029] Optionally, the preset sorting dimension includes real vehicle environment monitoring;

[0030] The determining, based on the cruise planning data, the dimensional ranking scores of the available lanes corresponding to the preset ranking dimensions respectively includes:

[0031] Determine the congestion determination speed according to the speed limit value of the road section where the vehicle is located and the congestion coefficient, and obtain the average speed of the traffic flow corresponding to each available lane;

[0032] The available lanes whose corresponding average traffic speed is less than the congestion determination speed are used as lanes to be analyzed;

[0033] Obtaining the average position of the traffic flow of each lane to be analyzed, and determining the blocked area with the average position of the traffic flow as the origin;

[0034] Matching and fusing the blocking region with the fused blocking region to obtain a new fused blocking region, where the fused blocking region is a region generated by fusing the previously constructed blocking regions;

[0035] Based on the regional braking statistics corresponding to the new fused blocked area, a dimensional sorting score corresponding to each lane to be analyzed relative to a preset sorting dimension is determined.

[0036] Optionally, after taking the available lanes corresponding to the traffic average speed less than the congestion determination speed as the lanes to be analyzed, the method further includes:

[0037] When a lane change behavior of a vehicle in the lane to be analyzed is detected, the lane change position is obtained;

[0038] Determining a lane change occurrence area with the lane change position as an origin;

[0039] Matching and fusing the lane change occurrence area with the fused lane change area to obtain a new fused lane change area, where the fused lane change area is an area generated by fusing the previously constructed lane change occurrence areas;

[0040] Based on the regional lane change statistics corresponding to the new fused lane change area, a dimensional ranking score corresponding to each lane to be analyzed relative to a preset ranking dimension is determined.

[0041] Optionally, controlling the vehicle to cruise based on the target lane includes:

[0042] Get the current lane of the vehicle;

[0043] Determining a right-of-way difference between the target lane and the current lane;

[0044] If the right-of-way difference is greater than a preset difference threshold, controlling the vehicle to switch to the target lane for cruising;

[0045] If the right-of-way difference is less than or equal to a preset difference threshold, the vehicle is controlled to maintain cruising in the current lane.

[0046] In addition, to achieve the above-mentioned purpose, the present application also proposes a cruise route planning device, the device comprising:

[0047] An acquisition module is used to acquire cruise planning data, identify the road section where the vehicle is located, and determine the available lanes. The cruise planning data is real-time scene data required to control the vehicle cruise;

[0048] A sorting module, used to sort the right of way of each available lane based on the cruise planning data and generate a lane sorting result;

[0049] A selection module, used for selecting a target lane from the available lanes according to the lane sorting result;

[0050] A control module is used to control the vehicle to cruise based on the target lane.

[0051] In addition, to achieve the above-mentioned purpose, the present application also proposes a cruise route planning device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the cruise route planning method as described above.

[0052] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the cruise route planning method as described above are implemented.

[0053] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the cruise route planning method described above.

[0054] One or more technical solutions proposed in this application have at least the following technical effects:

[0055] Since the right of way analysis can be performed on each available lane based on the real-time scene data required for vehicle cruising, and the lanes can be sorted according to the results of the right of way analysis to generate a lane sorting result, and then the appropriate target lane can be selected for cruise control based on the lane sorting result, it is ensured that even if the road conditions are complicated, the appropriate lane can still be selected for cruising as much as possible, thereby ensuring the cruising effect and improving the quality of cruise service. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0057] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0058] Figure 1 A flowchart of the cruise route planning method embodiment 1 of the present application is provided;

[0059] Figure 2 A flow chart of the second embodiment of the cruise route planning method of the present application;

[0060] Figure 3 A schematic diagram of a vehicle cruising state according to an embodiment of the present application;

[0061] Figure 4 A schematic diagram of path optimization evaluation according to an embodiment of the present application;

[0062] Figure 5 This is a schematic diagram of a vehicle obstruction longitudinal analysis scenario according to an embodiment of the present application;

[0063] Figure 6 This is a schematic diagram of a vehicle blocking lateral analysis scenario according to an embodiment of the present application;

[0064] Figure 7 This is a schematic diagram of the module structure of the cruise route planning device according to an embodiment of the present application;

[0065] Figure 8 This is a schematic diagram of the device structure of the hardware operating environment involved in the cruise route planning method in the embodiment of the present application.

[0066] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0067] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0068] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0069] Based on this, the present application embodiment provides a cruise route planning method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the cruise route planning method of the present application.

[0070] In this embodiment, the cruise route planning method includes steps S10 to S40:

[0071] Step S10: Obtain cruise planning data, identify the road section where the vehicle is located, and determine the available lanes.

[0072] It should be noted that the executor of this embodiment can be the vehicle itself or a cruise route planning device arranged in the vehicle. The cruise route planning device can be a controller arranged in the vehicle, such as an Advanced Driver Assistance System (ADAS) controller, or other devices that can achieve the same or similar functions. This embodiment is not limited to this. In this embodiment and the following embodiments, the cruise route planning method of the present application is explained by taking the cruise route planning device as an example.

[0073] It should be noted that the cruise planning data may be real-time scene data required for controlling the vehicle's cruise, which may at least include mapping data, navigation data, real-time environmental perception data, etc., wherein the mapping data may be images, models, and other data constructed by the vehicle based on surrounding images acquired by various image acquisition devices (such as cameras), the navigation data may be high-precision vehicle navigation data provided by a high-precision navigation system or software, and the real-time environmental perception data may include surrounding environmental data acquired by various perception devices (such as radars, sensors, etc.) in the vehicle.

[0074] In actual use, the vehicle can capture images of the road section where the vehicle is located, and identify lane lines on the captured images, so as to determine the lanes that the vehicle can use when traveling on the current road section, thereby obtaining available lanes. For example: by identifying the lane lines, it is determined that the road section where the vehicle is located is a two-way four-lane section. At this time, the available lanes include two lanes in the direction of vehicle travel.

[0075] Step S20: sorting the available lanes according to their right of way based on the cruise planning data to generate a lane sorting result.

[0076] In actual use, in order to ensure reasonable route planning and cruise effect, the lane routes of each available lane can be evaluated based on the cruise planning data, and the right of way can be sorted to generate lane sorting results.

[0077] Among them, when sorting right of way, the higher the right of way indicates the priority of lane use. The higher the right of way, the higher the priority of lane use during cruising.

[0078] Step S30: selecting a target lane from the available lanes according to the lane sorting result.

[0079] It should be noted that in the lane sorting results, the higher the lane's right of way is, the higher the ranking is; the lower the lane's right of way is, the lower the ranking is. The right of way indicates the priority of lane use. Based on this, the lane selection is actually to determine the most suitable lane for use at the moment. Based on this, the first available lane in the lane sorting results can be selected as the target lane.

[0080] Step S40: Controlling the vehicle to cruise based on the target lane.

[0081] It should be noted that after the target lane is determined, the vehicle may be controlled to cruise based on the target lane, for example, the vehicle may be controlled to switch to the target lane for cruising.

[0082] This embodiment provides a cruise route planning method. Since the available lanes can be analyzed for right of way according to the real-time scene data required for vehicle cruising, and are sorted according to the result of the right of way analysis, a lane sorting result is generated, and then a suitable target lane is selected for cruise control based on the lane sorting result, it is ensured that even if the road conditions are complicated, the suitable lane can still be selected for cruising as much as possible, thereby ensuring the cruising effect and improving the quality of cruise service.

[0083] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 2 , step S20 includes steps S201 to S203:

[0084] Step S201: Determine, based on the cruise planning data, the dimensional ranking scores of the available lanes corresponding to the preset ranking dimensions.

[0085] It should be noted that the preset sorting dimension can be set by the manager of the cruise route planning equipment according to the factors that will affect the level of road right when the vehicle is cruising. The preset sorting dimension may include at least one of cruise status, path optimization, and actual vehicle environment monitoring.

[0086] In actual use, for each available lane, the dimensional ranking score corresponding to each preset ranking dimension of the available lane can be calculated based on the cruise planning data.

[0087] Among them, the dimension ranking score corresponding to the preset sorting dimension is used to represent the road right of each lane under the preset sorting dimension. The larger the dimension ranking score, the higher the corresponding road right under the preset sorting dimension.

[0088] In a specific implementation, when a vehicle is cruising, according to the cruising route, the vehicle may need to change lanes or enter a specific road section more or less (for example, when the vehicle is driving, it needs to drive to an elevated road, a highway, an express road section, or reach the driving destination, etc.). In this case, the vehicle needs to drive to the corresponding road section entrance or pull over to the side of the road to the destination. At this time, the distance between the vehicle and the exit and entrance of this section will actually affect the change of the cruising state. Based on this, the preset sorting dimension is the cruising state. At this time, step S201 described in this embodiment may include:

[0089] Determine the interval distance of the relative state change position of the vehicle based on the cruise planning data;

[0090] Comparing the separation distance with the general warning distance and the limit lane change distance to determine the type of cruise state;

[0091] According to the scoring rules corresponding to the cruising state type, dimensional ranking scores corresponding to the preset ranking dimensions are generated for each available lane.

[0092] It should be noted that the state change position is the road section exit position, road section entrance position or vehicle driving destination closest to the current position of the vehicle, such as the road section exit position of the elevated road section, the road section exit position of the expressway, or the driving destination located on the roadside. The general warning distance is the interval distance for determining that the vehicle needs to wait for an opportunity to change lanes, and the extreme lane change distance is the interval distance for determining that the vehicle needs to change lanes urgently.

[0093] In actual use, the interval distance can be compared with the general warning distance and the extreme lane change distance to determine the type of cruise state that the vehicle should currently use. Then, based on the scoring rules corresponding to the cruise state type, each available lane is scored to generate a dimensional ranking score corresponding to the preset sorting dimension for each available lane.

[0094] For example: Assuming the interval distance is D, the general warning distance is D0, and the limit lane change distance is D1, if D>D0, it means that the distance between the vehicle and the next state change position is far enough, and there is enough distance for cruising. At this time, the cruising state type can be maintained cruising, and there is no need to change lanes intentionally. Therefore, according to the road traffic rules, the left fast lane can be given priority. At this time, the scoring rule is that the dimensional ranking scores of the available lanes from left to right decrease in sequence. For example, if there are 3 available lanes from left to right, then the dimensional ranking scores of the lanes from left to right are m1>m2>m3;

[0095] If D≤D0, but D>D1, it means that the distance between the vehicle and the next state change position is already close, but there is still a certain distance. At this time, the cruising state type is to maintain cruising and wait for an opportunity to change lanes. At this time, the dimensional ranking score of the lane corresponding to the state change position can be set to the highest, and the dimensional ranking scores of other lanes can be gradually reduced according to the distance from the lane corresponding to the state change position. For example, the lane corresponding to the elevated entrance position is the middle lane of the three-lane lane. At this time, the dimensional ranking score of the middle lane is the highest, and the dimensional ranking scores of other lanes are gradually reduced according to the distance from the middle lane. At the same time, the highest value of the dimensional ranking score, that is, the dimensional ranking score of the lane corresponding to the state change position, will gradually increase as the interval distance shortens. At this time, the dimensional ranking score of the lane corresponding to the state change position can be represented as m=f(Di, Li), Li is the lane corresponding to the state change position, Di is the current interval distance, and m is the dimensional ranking score;

[0096] If D≤D1, it means that the vehicle is very close to the next state change position. At this time, the cruising state type may be an urgent lane change. At this time, there is no need to consider other lanes, and the dimensional sorting score of the lane corresponding to the state change position is directly set to the highest value. At the same time, the dimensional sorting scores of other lanes are set to 0.

[0097] For ease of understanding, now combined Figure 3 This is for illustration only, but not for limitation. Figure 3 FIG. 4 is a schematic diagram of the vehicle cruising state of this embodiment.

[0098] Assuming that the red line depicts the vehicle in cruise control, when it is cruising normally, Figure 3 As shown in a, in some cases, vehicles need to change lanes to enter other sections (such as Figure 3 b), it will involve the entrance of other sections of the road, and in some cases, the vehicle needs to change lanes to exit the current section (such as Figure 3c), it will involve the exits of other road sections. For this situation, when the vehicle is cruising normally, the interval distance of the relative state change position of the vehicle can be obtained in advance, and then the cruising state type is determined according to the interval distance, so as to evaluate the road right of each lane.

[0099] In a specific implementation, when a vehicle is cruising, if it encounters complex road conditions such as forks, traffic lights, intersections, and ramps, it will be difficult to plan a reasonable route. Based on this, the preset sorting dimension may also include path optimization. In this case, step S201 in this embodiment may include:

[0100] Determining an upcoming intersection and a vehicle navigation route based on the cruise planning data;

[0101] Get the lane connection sections corresponding to each available lane;

[0102] Selecting a matching lane from the available lanes according to the upcoming intersection, the vehicle navigation route, and the lane connecting section;

[0103] If there is only one matching lane, the dimensional sorting score corresponding to the preset sorting dimension of the matching lane is set to a first preset score, and the dimensional sorting scores corresponding to the preset sorting dimension of other available lanes are set to a second preset score.

[0104] It should be noted that if you encounter complex road conditions such as forks, traffic lights, intersections, ramps, etc., it will actually involve whether the lanes are still in line with the vehicle's cruise route after the road section changes. Based on this, you can first determine the upcoming intersection and the vehicle's navigation route based on the cruise planning data. The lane connection section corresponding to the available lane can be used to extend the available lane for driving, and the reachable section can be determined based on the map data in the navigation software.

[0105] The vehicle navigation route may be a planned vehicle cruising route, and the upcoming intersection may be a fork in the road, a traffic light, an intersection, a ramp, etc. that the vehicle is about to reach when it is cruising. The matching lane is an available lane that matches the vehicle navigation route in the portion of the corresponding lane connection section after the upcoming intersection.

[0106] In actual use, in order to ensure that the planned route is consistent with the subsequent driving route, the part of each lane connection section after the upcoming intersection and the lane connection section can be determined, and then it is matched with the vehicle navigation route respectively to determine whether it can be successfully matched, and the available lanes corresponding to the successfully matched part of the lane connection sections are used as matching lanes.

[0107] In actual use, if there is only one matching lane, it means that the vehicle can only continue to travel along the vehicle navigation route by cruising along the matching lane. Therefore, the dimension sorting score corresponding to the preset sorting dimension of the matching lane can be set to the first preset score. At the same time, the dimension sorting scores corresponding to the preset sorting dimension of other available lanes can be set to the second preset scores.

[0108] Among them, the first preset score and the second preset score can be pre-set by the administrator of the cruise route planning equipment, and the first preset score is greater than the second preset score. For example: the second preset score is set to 0, and the first preset score is set to a positive number greater than 0. The specific numerical value can be adjusted according to actual needs.

[0109] In a specific implementation, in order to ensure that a more suitable lane can be selected for cruising, after the step of selecting a matching lane from the available lanes according to the upcoming intersection, the vehicle navigation route, and the lane connecting section in this embodiment, the following may also be included:

[0110] If there are multiple matching lanes, obtain the next arrival intersection;

[0111] Selecting a preferred lane from the matching lanes according to the next arrival intersection, the vehicle navigation route, and the lane connecting section corresponding to the target lane;

[0112] The dimensional sorting score corresponding to the preset sorting dimension of the preferred lane is set to the third preset score, the dimensional sorting scores corresponding to the preset sorting dimension of other matching lanes are set to the first preset score, and the dimensional sorting scores corresponding to the preset sorting dimension of other available lanes are set to the second preset score, and the third preset score is greater than the first preset score.

[0113] It should be noted that the next arrival intersection may be the nearest intersection after the vehicle passes the upcoming arrival intersection. The preferred lane may be a matching lane in which the portion of the corresponding lane connecting section after the next arrival intersection matches the vehicle navigation route.

[0114] In actual use, if there are multiple matching lanes, then at this time, the vehicle can travel along several matching lanes to ensure that the route is still consistent with the vehicle navigation route after passing the upcoming intersection. At this time, in order to reasonably select the lane, further judgment can be made in combination with the next intersection. Therefore, the next arrival intersection can be obtained, and then the lane connection section corresponding to each matching lane is determined after the next arrival intersection. After that, it is matched with the vehicle navigation route respectively to determine whether it can be successfully matched, and the matching lanes corresponding to the successfully matched lane connection sections are used as the preferred lanes.

[0115] Among them, the first preset score, the second preset score, and the third preset score can all be pre-set by the manager of the cruise route planning equipment. Since the preferred lane can ensure that there is no need to change lanes at multiple consecutive intersections, its right of way should be higher than other matching lanes. At the same time, the right of way of the matching lane is also higher than other available lanes. Based on this, the third preset score can be greater than the first preset score, and the first preset score can be greater than the second preset score. For example: the second preset score is set to 0, the first preset score is set to a positive number greater than 0, and the third preset score is set to a positive number greater than the first preset score. The specific numerical values ​​can be adjusted according to actual needs.

[0116] For ease of understanding, now combined Figure 4 This is for illustration only, but not for limitation. Figure 4 This is a schematic diagram of path optimization evaluation in this embodiment.

[0117] like Figure 4 As shown, the vehicle is currently on a highway, and the available lanes in this section include L1, L2, and L3. At this time, the vehicle continues to drive forward for T1 time, and will arrive at the intersection that is about to arrive. At this time, if the vehicle navigation route requires the vehicle to turn right, then there is only one matching lane, L3. At this time, the dimension sorting score corresponding to the relative preset sorting dimension of L3 can be set to 1, and the dimension sorting scores corresponding to the relative preset sorting dimensions of L1 and L2 can be set to 0;

[0118] If the vehicle navigation route is Figure 4 As shown by the blue line in the middle, the vehicle needs to turn left at time T1. Therefore, the matching lanes exist as L1 and L2. At this time, the next arrival intersection can be obtained, that is, the intersection corresponding to time T2. At this time, the lane connection section corresponding to L2 in the matching lane is after the next arrival intersection and matches the vehicle navigation route. Therefore, L2 can be used as the preferred lane. At this time, the relationship between the dimensional ranking scores of each lane is L2>L1>L3=0.

[0119] In a specific implementation, complex road conditions may also lead to road congestion. Based on this, the preset sorting dimension may also include real vehicle environment monitoring. In this case, step S201 in this embodiment may include:

[0120] Determine the congestion determination speed according to the speed limit value of the road section where the vehicle is located and the congestion coefficient, and obtain the average speed of the traffic flow corresponding to each available lane;

[0121] The available lanes whose corresponding average traffic speed is less than the congestion determination speed are used as lanes to be analyzed;

[0122] Obtaining the average position of the traffic flow of each lane to be analyzed, and determining the blocked area with the average position of the traffic flow as the origin;

[0123] Matching and fusing the blocking region with the fused blocking region to obtain a new fused blocking region, where the fused blocking region is a region generated by fusing the previously constructed blocking regions;

[0124] Based on the regional braking statistics corresponding to the new fused blocked area, a dimensional sorting score corresponding to each lane to be analyzed relative to a preset sorting dimension is determined.

[0125] It should be noted that the speed limit value of the road section where the vehicle is located can be obtained through vehicle networking, high-definition maps, road sign recognition, etc., and the blocking coefficient can be set in advance by the manager of the cruise route planning equipment. When the road is blocked due to traffic jams and other situations, the vehicle's driving speed will generally be very low. Therefore, the blocking coefficient can be set to a smaller value, such as setting the blocking coefficient to 0.1 or 0.2.

[0126] In actual use, the product of the speed limit value of the road section and the blocking coefficient can be used as the blocking determination speed. The traffic flow corresponding to the available lane can be the vehicles currently in the available lane and whose distance from the cruising vehicle is less than a certain value, such as the vehicles whose distance from the cruising vehicle is less than 50 meters and are in the available lane. The average speed of the traffic flow can be the average speed of each vehicle included in the traffic flow, and the average position of the traffic flow can be the average position of each vehicle included in the traffic flow, which is used to characterize the blocking center of the blocking vehicles.

[0127] In actual application, if the average traffic speed corresponding to the available lane is less than the congestion scheduled speed, it means that congestion has occurred in the available lane. At this time, it is necessary to further analyze the impact of the congestion on the right of way of the available lane. Therefore, such available lanes can be used as lanes to be analyzed.

[0128] In actual use, the average position of the traffic flow represents the blocking center of the blocked vehicles in the available lanes. At this time, a blocking area can be constructed with the average position of the traffic flow as the origin. For example, a circular area is constructed with the average position of the traffic flow as the center and a preset length as the radius, and the circular area is used as the blocking area.

[0129] The preset length may be pre-set by the manager of the cruise route planning device, for example, the preset length may be set to 10 meters.

[0130] Of course, the fixed length may not match the actual driving conditions of the vehicle. Based on this, it is also possible not to set a preset length, but to set a preset time domain, and to construct a blocking area based on the preset time domain and the average position of the traffic flow. For example: assuming that the preset time domain lasts for 5 seconds, the movable distance of the vehicle in 5 seconds is calculated according to the current speed of the cruising vehicle, and a circular area is constructed with the movable distance as the radius and the average position of the traffic flow as the center, and the circular area is used as the blocking area.

[0131] The blocking area may also be an area of ​​other shapes, such as a rectangular area, etc., which is not limited in this embodiment.

[0132] In actual use, after the blocked area is constructed, the blocked area can be matched and merged with the previously constructed area to generate a new fused blocked area. Afterwards, the dimension ranking score corresponding to the preset ranking dimension of each lane to be analyzed can be determined according to the regional braking statistics corresponding to the new fused blocked area.

[0133] In actual application, regional braking statistics may include: the number of blocked areas contained in the fused blocked area, the degree of overall regional overlap, the number of vehicle braking times in the area, the distance at which low-speed traffic occurs (i.e., the regional length of the fused blocked area), and other data.

[0134] The number of blocked areas included in the fused blocked area indicates the number of low-speed traffic flow situations. The larger the value, the lower the dimension ranking score of the lane to be analyzed relative to the preset ranking dimension.

[0135] The overall area overlap degree indicates the frequency of low-speed traffic. The higher the value, the lower the dimension ranking score of the lane to be analyzed relative to the preset ranking dimension.

[0136] The number of vehicle braking times in the area indicates the braking situation of vehicles in the area. Generally, the more braking times there are, the more congested the traffic is. The more braking times there are, the lower the dimension ranking score of the lane to be analyzed relative to the preset ranking dimension.

[0137] The distance at which low-speed traffic occurs indicates the degree of traffic congestion. The larger the distance value, the more congested the traffic, the lower the overall traffic efficiency of the lane, and the lower the dimension ranking score of the lane to be analyzed corresponding to the preset ranking dimension.

[0138] For ease of understanding, now combined Figure 5 This is for illustration only, but not for limitation. Figure 5 Schematic diagram of the longitudinal analysis scenario of vehicle congestion in this embodiment.

[0139] like Figure 5As shown, the red vehicle is a cruise vehicle. At this time, there are 3 available lanes. In the available lane on the right side of the cruise vehicle, the average speed of the traffic is less than the blocking judgment speed. Therefore, the available lane on the right side of the cruise vehicle can be used as the lane to be analyzed. At this time, the traffic speed is slow, and the count k=k+1 (the initial value of k is 0), and the current average position of the traffic Pk is recorded;

[0140] In the lane to be analyzed Li, set LY, and set the blocking area TPk (Li, Pk, LY) with Pk as the origin, and you can get the following: Figure 5 The areas TP1, TP2, TP3, etc. shown in , where LY can be a length value or a duration (i.e., a preset time domain);

[0141] Afterwards, it can be determined whether the blocking area TPk overlaps with the fused blocking area Tck. If not, TPk is an independent blocking area and can be directly used as a new fused blocking area (e.g. Figure 5 Middle TP1);

[0142] When the vehicle passes the position PYk, the number of vehicle braking times γ1 and the section Lk with lower average traffic speed in the recording area Tpk are recorded. Then, the dimension ranking score q1=f(α1, β1, γ1, Lk) corresponding to the preset ranking dimension of the lane Li to be analyzed in the blocked area TPk is obtained.

[0143] Among them, PYk is the position obtained by extending LY forward from point Pk, as shown in Figure 5 The lowest point in the TP1 area is PY1, which is the point in the area that the vehicle first contacts when entering an independent area.

[0144] If the blocked area TPk overlaps with the fused blocked area Tck, it means that there is a continuous low traffic speed in a certain time domain. At this time, the area is merged into a new fused blocked area Tck (such as Figure 5 As shown, TP2 and TP3 are fused);

[0145] When the vehicle passes the position TYk, the number of blocked areas contained in Tck α1, the overlap degree of overlapping areas in Tck β1, the number of vehicle braking times in Tck γ1, and the section Lk with a low average traffic speed are confirmed. Then, the lane to be analyzed Li has a dimensional ranking score q1=f(α1, β1, γ1, Lk) corresponding to the preset ranking dimension in Tck;

[0146] Among them, TYk is the lowest point in the fused blocking area, such as Figure 5 In the figure, TP2 and TP3 are merged into Tc2, and its corresponding TY2 is the point at the bottom of TP2, that is, the point in the area that the vehicle first contacts when entering a fused blocking area.

[0147] In a specific implementation, the blocking situation may also be determined according to the situation of the vehicle changing lanes. In this case, after the step of using the available lanes whose corresponding average vehicle speed is less than the blocking determination speed as the lane to be analyzed in this embodiment, the following may also be included:

[0148] When a lane change behavior of a vehicle in the lane to be analyzed is detected, the lane change position is obtained;

[0149] Determining a lane change occurrence area with the lane change position as an origin;

[0150] Matching and fusing the lane change occurrence area with the fused lane change area to obtain a new fused lane change area, where the fused lane change area is an area generated by fusing the previously constructed lane change occurrence areas;

[0151] Based on the regional lane change statistics corresponding to the new fused lane change area, a dimensional ranking score corresponding to each lane to be analyzed relative to a preset ranking dimension is determined.

[0152] It should be noted that the lane change position may be the position where the vehicle that changes lanes begins to change lanes. The lane change position is constructed in a similar manner to the above-mentioned blocking position, which will not be described in detail here. For specific implementation, please refer to the above description. The fused lane change area is the area generated by fusion of the previously constructed lane change area.

[0153] In actual use, the regional lane change statistics may include: the number of lane change occurrence areas in the synthetic fusion lane change area, the degree of overall regional overlap, the number of vehicles changing lanes from Li to other lanes, the number of vehicles changing lanes from other lanes to Li, and the distance at which vehicles change lanes (i.e., the regional length of the fusion lane change area).

[0154] The number of lane change occurrence areas in the synthetic fusion lane change area indicates the number of vehicle lane change situations. The larger the value, the lower the dimension ranking score of the lane to be analyzed relative to the preset ranking dimension.

[0155] The degree of overall area overlap indicates the frequency of vehicle lane changes. The larger the value, the lower the dimension ranking score of the lane to be analyzed relative to the preset ranking dimension.

[0156] The number of vehicles changing lanes from Li to other lanes. The larger the value, the worse the traffic condition of the Li lane. The larger the value, the lower the dimension ranking score of the lane to be analyzed relative to the preset ranking dimension.

[0157] The number of vehicles changing lanes from other lanes to Li. The larger the value, the more ideal the traffic condition of the Li lane is. The larger the value, the higher the dimension ranking score of the lane to be analyzed relative to the preset ranking dimension.

[0158] The longer the distance a vehicle changes lanes, the more congested the traffic; the longer the lane change lasts, the lower the overall traffic efficiency.

[0159] For ease of understanding, now combined Figure 6 This is for illustration only, but not for limitation. Figure 6 Schematic diagram of the vehicle blocking lateral analysis scenario of this embodiment.

[0160] like Figure 6 As shown, the red vehicle is a cruise vehicle. At this time, there are two available lanes. The average speed of the traffic in the two lanes is less than the blocking judgment speed. Therefore, the two lanes can be used as lanes to be analyzed. At this time, the traffic speed is slow, triggering the lateral detection logic, and setting the traffic lane change count w=0; the cruise route planning device obtains the driving behavior of nearby vehicles. When there is no vehicle changing lanes, the necessity of lane changing is not high and no subsequent processing is required;

[0161] When a vehicle changes lanes near the ego vehicle (i.e., the cruising vehicle), the lane Li where the lane-changing vehicle was originally located and the lane Ld to which the vehicle changes lanes are recorded. The lane-changing vehicle count w=w+1, and the lane-changing position is Qw;

[0162] In lane Li, set the continuation time domain LZ, and set the area TQw (Li, Qw, LZ) with Qw as the origin, where LZ can be a length value or a time length (i.e., a preset time domain), which can be adjusted according to the specific plan;

[0163] Afterwards, it is determined whether the area TQw overlaps with the fused lane change area Tcw. If not, TQw is an independent area and can be directly used as a new fused lane change area.

[0164] When the vehicle passes the position QZw, the number of times the vehicle changes lanes to other lanes in the area TQw is recorded γ2 and the length of the road section where the lane change occurs is Lw. Then, the dimension ranking score q2=f(α2, β2, γ2, Li, Ld, Lw) corresponding to the preset ranking dimension of the lane Li to be analyzed in the blocked area TQw is obtained.

[0165] Among them, QZw is the position obtained by extending LZ forward with point Qw as the reference, that is, the point in the area that the vehicle first contacts when entering area TQw.

[0166] If the area TQw overlaps with the fused lane change area Tcw, it means that there are continuous lane changes in a certain time domain. At this time, the area is merged into a new fused lane change area Tcw (such as Figure 6TQ1 and TQ2 are merged into Tcw), confirm the number of lane change areas TQw contained in Tcw α2, the overlap degree of the area where the set area overlaps β2, the number of vehicles Li changing lanes to other lanes Ld in the area γ2, and the length of the road section where the lane change occurs Lw (i.e., the length of the area of ​​Tcw);

[0167] When the vehicle passes the position TZw, the lane Li to be analyzed has a dimensional sorting score q2=f(α2, β2, γ2, Li, Ld, Lw) corresponding to the preset sorting dimension in Tcw.

[0168] Step S202: The dimensional ranking scores corresponding to the preset ranking dimensions of the same available lane are merged to generate the total road right ranking scores corresponding to each available lane.

[0169] It should be noted that the total score of the right of way ranking is used to represent the right of way of each lane. The larger the total score of the right of way ranking, the higher the right of way.

[0170] In a specific implementation, when merging the dimensional sorting scores, the addition or weighted summation method can be used. For example: assuming that there are three preset sorting dimensions, the dimensional sorting scores of the available lane A relative to each preset sorting dimension are A, B, and C respectively. At this time, the total road right ranking score of the available lane can be A+B+C or A*a+B*b+C*c, where a, b, and c can be weighting coefficients set in advance for each preset sorting dimension.

[0171] Of course, other methods may also be used for fusion, such as calculating an average value, calculating a product, etc., which is not limited in this embodiment.

[0172] In a specific implementation, the preset sorting dimensions may include at least one of cruising status, path optimization, and real vehicle environment monitoring, wherein the real vehicle environment monitoring may include longitudinal driving monitoring and lateral lane change monitoring. The specific preset sorting dimensions used may be pre-set according to actual needs, and depending on the set preset sorting dimensions, the generation method and generation algorithm of the total road right ranking score may also be different.

[0173] For example: suppose the dimension ranking scores corresponding to the cruising state, path optimization, longitudinal driving monitoring, and lateral lane change monitoring are represented as m, n, q1, and q2 respectively;

[0174] If the preset sorting dimensions used include cruising state and path optimization, the total right-of-way sorting score of the i-th available lane is θi=f(m i , n i , i);

[0175] If the preset ranking dimensions used include cruise state, path optimization, longitudinal driving monitoring, and lateral lane change monitoring, then the total right-of-way ranking score of the i-th available lane is θi=f(m i , n i ,q1 i ,q2 i , i).

[0176] Step S203: Sort the available lanes based on the total road right ranking score to generate a lane ranking result.

[0177] In actual use, since the total score of the right of way ranking is proportional to the right of way, when sorting, the available lanes can be sorted from high to low according to the corresponding total score of the right of way ranking, thereby generating a lane sorting result.

[0178] In a specific implementation, since there is a certain risk each time a vehicle changes lanes during cruising, in order to avoid unnecessary lane changes, in this embodiment, step S40 may include:

[0179] Get the current lane of the vehicle;

[0180] Determining a right-of-way difference between the target lane and the current lane;

[0181] If the right-of-way difference is greater than a preset difference threshold, controlling the vehicle to switch to the target lane for cruising;

[0182] If the right-of-way difference is less than or equal to a preset difference threshold, the vehicle is controlled to maintain cruising in the current lane.

[0183] It should be noted that the lane currently in which the vehicle is located may be the lane currently used by the vehicle during cruising. The preset difference threshold may be pre-set by the manager of the cruise route planning device.

[0184] In actual use, the right of way difference between the target lane and the current lane can be the absolute value of the difference in the total right of way ranking score. After the right of way ranking is completed, the difference between the total right of way ranking score corresponding to the target lane and the total right of way ranking score corresponding to the current lane can be calculated, and then the absolute value can be taken to obtain the right of way difference.

[0185] In actual application, if the road right difference is greater than the preset difference threshold, it means that the traffic conditions of the vehicle lane and the target lane are too different, or the vehicle has sufficient necessity to change lanes (if it does not change lanes, it cannot guarantee to follow the vehicle navigation route). At this time, it can be determined that lane switching is necessary, so the vehicle can be controlled to switch to the target lane for cruising;

[0186] If the road right difference is less than or equal to the preset difference threshold, it means that the traffic conditions of the own lane and the target lane are similar, and not changing lanes will not affect the vehicle's cruising (such as not changing lanes can still ensure that the vehicle's navigation route is followed). At this time, it can be determined that there is no need to switch lanes. Therefore, the vehicle can be controlled to maintain cruising in the current lane.

[0187] This embodiment provides a cruise route planning method. Since the analysis is performed based on preset sorting dimensions, and then the analysis results based on the preset sorting dimensions are summarized and integrated, the complexity of the road right analysis is reduced by splitting the route planning into multiple dimensions.

[0188] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the cruise route planning method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0189] This application also provides a cruise route planning device, please refer to Figure 7 , the cruise route planning device comprises:

[0190] The acquisition module 10 is used to acquire cruise planning data, identify the road section where the vehicle is located, and determine the available lanes. The cruise planning data is the real-time scene data required to control the cruise of the vehicle;

[0191] A sorting module 20, for sorting the right of way of each available lane based on the cruise planning data, and generating a lane sorting result;

[0192] A selection module 30, configured to select a target lane from the available lanes according to the lane sorting result;

[0193] The control module 40 is used to control the vehicle to cruise based on the target lane.

[0194] The cruise route planning device provided by the present application adopts the cruise route planning method in the above embodiment, which can solve the technical problem that the cruise technology is affected by road conditions and complex environments, which easily leads to difficulty in planning a suitable cruise route, resulting in poor cruise effect. Compared with the prior art, the beneficial effects of the cruise route planning device provided by the present application are the same as the beneficial effects of the cruise route planning method provided by the above embodiment, and the other technical features in the cruise route planning device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0195] The present application provides a cruise route planning device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the cruise route planning method in the above-mentioned embodiment one.

[0196] Reference below Figure 8 , which shows a schematic diagram of the structure of a cruise route planning device suitable for implementing an embodiment of the present application. The cruise route planning device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 8 The cruise route planning device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0197] like Figure 8As shown, the cruise route planning device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the cruise route planning device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the cruise route planning device to communicate wirelessly or wired with other devices to exchange data. Although the figure shows a cruise route planning device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0198] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0199] The cruise route planning device provided by the present application adopts the cruise route planning method in the above embodiment, which can solve the technical problem that the cruise technology is affected by road conditions and complex environments, which easily leads to difficulty in planning a suitable cruise route, resulting in poor cruise effect. Compared with the prior art, the beneficial effects of the cruise route planning device provided by the present application are the same as the beneficial effects of the cruise route planning method provided by the above embodiment, and the other technical features in the cruise route planning device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0200] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0201] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0202] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the cruise route planning method in the above-mentioned embodiment.

[0203] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, 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 above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0204] The computer-readable storage medium may be included in the cruise route planning device; or may exist independently without being assembled into the cruise route planning device.

[0205] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the cruise route planning device, the cruise route planning device: obtains cruise planning data, identifies the road section where the vehicle is located, and determines available lanes. The cruise planning data is real-time scene data required to control vehicle cruising; sorts the road rights of each available lane based on the cruise planning data and generates a lane sorting result; selects a target lane from the available lanes according to the lane sorting result; and controls the vehicle to cruise based on the target lane.

[0206] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0207] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0208] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0209] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned cruise route planning method, and can solve the technical problem that the cruise technology is affected by road conditions and complex environments, which easily leads to difficulty in planning a suitable cruise route, resulting in poor cruise effect. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the cruise route planning method provided by the above-mentioned embodiment, and will not be repeated here.

[0210] The present application also provides a computer program product, including a computer program, which implements the steps of the cruise route planning method as described above when executed by a processor.

[0211] The computer program product provided by the present application can solve the technical problem that the cruise technology is affected by road conditions and complex environments, which easily leads to difficulty in planning a suitable cruise route, resulting in poor cruise effect. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the cruise route planning method provided by the above embodiment, and will not be repeated here.

[0212] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A cruise route planning method, characterized in that: The method comprises: Obtaining cruise planning data, identifying the road section where the vehicle is located, and determining available lanes, wherein the cruise planning data is real-time scene data required for controlling the vehicle cruise; Sort the available lanes by right of way based on the cruise planning data to generate a lane sorting result; Selecting a target lane from the available lanes according to the lane sorting result; The vehicle is controlled to cruise based on the target lane.

2. The cruise route planning method according to claim 1, characterized in that: The performing right-of-way sorting on each available lane based on the cruise planning data to generate a lane sorting result includes: Determine, based on the cruise planning data, a dimensional ranking score corresponding to each of the available lanes relative to a preset ranking dimension; The dimensional ranking scores corresponding to each preset ranking dimension of the same available lane are merged to generate the total road right ranking score corresponding to each available lane; The available lanes are sorted based on the total road right ranking score to generate a lane ranking result.

3. The cruise route planning method according to claim 2, characterized in that: The preset sorting dimensions include cruise status; The determining, based on the cruise planning data, the dimensional ranking scores of the available lanes corresponding to the preset ranking dimensions respectively includes: Determine the interval distance of the vehicle relative to the state change position based on the cruise planning data, wherein the state change position is the road section exit position, road section entrance position or vehicle driving destination closest to the current position of the vehicle; The interval distance is compared with a general warning distance and a limit lane change distance to determine the type of the cruise state, wherein the general warning distance is an interval distance for judging that the vehicle needs to wait for an opportunity to change lanes, and the limit lane change distance is an interval distance for judging that the vehicle needs to change lanes urgently; According to the scoring rules corresponding to the cruising state type, dimensional ranking scores corresponding to the preset ranking dimensions are generated for each available lane.

4. The cruise route planning method according to claim 2, characterized in that: The preset sorting dimension includes path optimization; The determining, based on the cruise planning data, the dimensional ranking scores of the available lanes corresponding to the preset ranking dimensions respectively includes: Determining an upcoming intersection and a vehicle navigation route based on the cruise planning data; Get the lane connection sections corresponding to each available lane; Selecting a matching lane from the available lanes according to the upcoming intersection, the vehicle navigation route and the lane connection section, the matching lane being an available lane whose corresponding lane connection section after the upcoming intersection matches the vehicle navigation route; If there is only one matching lane, the dimensional sorting score corresponding to the preset sorting dimension of the matching lane is set to a first preset score, and the dimensional sorting scores corresponding to the preset sorting dimension of other available lanes are set to a second preset score, and the first preset score is greater than the second preset score.

5. The cruise route planning method according to claim 4, characterized in that: After selecting a matching lane from the available lanes according to the upcoming intersection, the vehicle navigation route, and the lane connecting section, the method further includes: If there are multiple matching lanes, the next arrival intersection is obtained, where the next arrival intersection is the closest intersection after the vehicle passes the upcoming arrival intersection; Selecting a preferred lane from the matching lanes according to the next arrival intersection, the vehicle navigation route, and the lane connecting section corresponding to the target lane, the preferred lane being a matching lane whose corresponding lane connecting section after the next arrival intersection matches the vehicle navigation route; The dimensional sorting score corresponding to the preset sorting dimension of the preferred lane is set to the third preset score, the dimensional sorting scores corresponding to the preset sorting dimension of other matching lanes are set to the first preset score, and the dimensional sorting scores corresponding to the preset sorting dimension of other available lanes are set to the second preset score, and the third preset score is greater than the first preset score.

6. The cruise route planning method according to claim 1, characterized in that: The preset sorting dimensions include real vehicle environment monitoring; The determining, based on the cruise planning data, the dimensional ranking scores of the available lanes corresponding to the preset ranking dimensions respectively includes: Determine the congestion determination speed according to the speed limit value of the road section where the vehicle is located and the congestion coefficient, and obtain the average speed of the traffic flow corresponding to each available lane; The available lanes whose corresponding average traffic speed is less than the congestion determination speed are used as lanes to be analyzed; Obtaining the average position of the traffic flow of each lane to be analyzed, and determining the blocked area with the average position of the traffic flow as the origin; Matching and fusing the blocking region with the fused blocking region to obtain a new fused blocking region, where the fused blocking region is a region generated by fusing the previously constructed blocking regions; Based on the regional braking statistics corresponding to the new fused blocked area, a dimensional sorting score corresponding to each lane to be analyzed relative to a preset sorting dimension is determined.

7. The cruise route planning method according to claim 6, characterized in that: After selecting the available lanes whose corresponding average vehicle flow speed is less than the congestion determination speed as lanes to be analyzed, the method further includes: When a lane change behavior of a vehicle in the lane to be analyzed is detected, the lane change position is obtained; Determining a lane change occurrence area with the lane change position as an origin; Matching and fusing the lane change occurrence area with the fused lane change area to obtain a new fused lane change area, where the fused lane change area is an area generated by fusing the previously constructed lane change occurrence areas; Based on the regional lane change statistics corresponding to the new fused lane change area, a dimensional ranking score corresponding to each lane to be analyzed relative to a preset ranking dimension is determined.

8. The cruise route planning method according to any one of claims 1 to 7, characterized in that: The controlling the vehicle to cruise based on the target lane includes: Get the current lane of the vehicle; Determining a right-of-way difference between the target lane and the current lane; If the right-of-way difference is greater than a preset difference threshold, controlling the vehicle to switch to the target lane for cruising; If the right-of-way difference is less than or equal to a preset difference threshold, the vehicle is controlled to maintain cruising in the current lane.

9. A cruise route planning device, characterized in that: The device comprises: An acquisition module is used to acquire cruise planning data, identify the road section where the vehicle is located, and determine the available lanes. The cruise planning data is real-time scene data required to control the vehicle cruise; A sorting module, used to sort the right of way of each available lane based on the cruise planning data and generate a lane sorting result; A selection module, used for selecting a target lane from the available lanes according to the lane sorting result; A control module is used to control the vehicle to cruise based on the target lane.

10. A cruise route planning device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the cruise route planning method according to any one of claims 1 to 8.

11. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the cruise route planning method according to any one of claims 1 to 8 are implemented.

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