Driving route determination method and device, equipment and storage medium

Abstract

The invention relates to a driving route determination method and device, equipment and a storage medium, and relates to the technical field of intelligent driving. The method comprises the following steps: acquiring a relative position of a vehicle and an adjacent vehicle in a current time period; determining the steering angle of the vehicle according to the relative position of the vehicle and the adjacent vehicle under the condition that the current driving road is detected to have no lane line; according to the steering angle of the vehicle and the relative position of the vehicle and the target vehicle, the driving route of the vehicle in the next time period of the current time period is determined; the target vehicle is the nearest vehicle in front of the vehicle in the adjacent vehicles. Therefore, the safe driving route of the vehicle can be determined according to the relative position of the vehicle and the adjacent vehicle under the condition that the current driving road has no lane line.

Description

Technical Field

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

[0002] With the application and development of intelligent and networked technologies in the traditional automotive industry, intelligent networks have increasingly served car users, providing them with more convenient and intelligent travel services. Among them, intelligent driving technology, as the technology that can best enhance the driving experience and reduce the driving intensity of drivers, has partially replaced the driver's operation and directly affected driving safety.

[0003] However, in the case of regular driving lanes, intelligent driving technology is already relatively mature. But in places without lane lines, intelligent driving technology cannot guarantee the safe driving of vehicles. Summary of the invention

[0004] One of the purposes of the present invention is to provide a method, device, equipment and storage medium for determining a driving route to solve the technical problem of how to ensure the safe driving of a vehicle in an area without lane lines in the prior art using intelligent driving technology.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] According to the first aspect of the present application, a method for determining a driving route is provided, the method comprising: obtaining the relative position of the own vehicle and adjacent vehicles in a current time period; determining the steering angle of the own vehicle according to the relative position of the own vehicle and adjacent vehicles when detecting that there is no lane line on the current driving road; determining the driving route of the own vehicle in the next time period of the current time period according to the steering angle of the own vehicle and the relative position of the own vehicle and a target vehicle; the target vehicle is the vehicle located directly in front of the own vehicle and closest to the adjacent vehicles.

[0007] According to the above technical means, the present application can obtain the relative position of the vehicle and the adjacent vehicles in the current time period, and determine the steering angle of the vehicle according to the relative position of the vehicle and the adjacent vehicles when it is detected that there is no lane line on the current driving road. Then, according to the steering angle of the vehicle and the relative position of the vehicle and the target vehicle, the driving route of the vehicle in the next time period of the current time period is determined. Thus, when there is no lane line on the current driving road, the steering angle of the vehicle can be determined according to the relative position of the vehicle and the adjacent vehicles to avoid collision between the vehicle and the adjacent vehicles, and the safe driving route for the next time period can be determined according to the steering angle of the vehicle and the relative position of the vehicle and the target vehicle. In this way, the safe driving of the vehicle can be guaranteed in places without lane lines.

[0008] In a possible implementation, the above-mentioned method of "determining the steering angle of the own vehicle based on the relative position of the own vehicle and the adjacent vehicles" includes: determining the dangerous vehicle among the adjacent vehicles based on the relative position of the own vehicle and the adjacent vehicles; the distance between the dangerous vehicle and the own vehicle is less than or equal to a preset distance; determining the steering angle of the own vehicle based on the lateral distance between the dangerous vehicle and the own vehicle.

[0009] According to the above technical means, the present application can determine the dangerous vehicle among the adjacent vehicles according to the relative position of the own vehicle and the adjacent vehicles, and determine the steering angle of the own vehicle according to the lateral distance between the dangerous vehicle and the own vehicle. Thus, the dangerous vehicle can be determined among the adjacent vehicles, and the steering angle of the own vehicle can be more accurately determined by the lateral distance between the dangerous vehicle and the own vehicle, so as to avoid collision with the adjacent vehicles.

[0010] In a possible implementation, the above-mentioned method of "determining the steering angle of the own vehicle based on the lateral distance between the dangerous vehicle and the own vehicle" includes: determining the first steering angle of the own vehicle based on the position, wheelbase and transmission ratio of the own vehicle; when the lateral distance is greater than or equal to a preset value, determining the first steering angle as the steering angle of the own vehicle; when the lateral distance is less than a preset value, determining the second steering angle as the steering angle of the own vehicle; the second steering angle is the steering angle determined when the lateral distance is equal to the preset value.

[0011] According to the above technical means, the present application can accurately determine the steering angle of the vehicle according to the lateral distance between the vehicle and the dangerous vehicle, thereby avoiding vehicle collision problems caused by excessive steering angles.

[0012] In a possible implementation manner, the position of the vehicle includes a lateral distance and a longitudinal distance of the vehicle relative to an initial position; and the first steering angle of the vehicle satisfies a first preset formula, which is:

[0013]

[0014] Among them, δ represents the first steering angle of the vehicle, i represents the transmission ratio of the vehicle, L represents the wheelbase of the vehicle, x represents the lateral distance of the vehicle relative to the initial position, and y represents the longitudinal distance of the vehicle relative to the initial position.

[0015] According to the above technical means, the present application can accurately determine the first steering angle of the vehicle through a first preset formula.

[0016] In a possible implementation, the above-mentioned method of "determining the driving route of the own vehicle in the next time period of the current time period based on the steering angle of the own vehicle and the relative position of the own vehicle and the target vehicle" includes: determining the driving route of the own vehicle in the current time period; determining the driving route of the own vehicle in the next time period of the current time period based on the steering angle of the own vehicle, the driving route of the own vehicle in the current time period, and the relative position of the own vehicle and the target vehicle.

[0017] According to the above technical means, the present application can determine the driving route of the vehicle in the next time period of the current time period according to the steering angle of the vehicle, the driving route of the vehicle in the current time period, and the relative position between the vehicle and the target vehicle. Thus, it can avoid a large deviation of the driving route of the vehicle in the current time period and the next time period.

[0018] In a possible implementation, the above-mentioned method of "determining the driving route of the vehicle in the current time period" includes: determining the driving route of the vehicle in the current time period according to the wheelbase, steering angle, transmission ratio and position of the vehicle in the current time period.

[0019] According to the above technical means, the present application can determine the driving route of the vehicle in the current time period according to the wheelbase, steering angle, transmission ratio and position of the vehicle in the current time period, and timely monitor the driving route of the vehicle in the current time period.

[0020] In a possible implementation, the driving route includes the longitudinal distance of the vehicle relative to the initial position, and the driving route of the vehicle in the current time period satisfies a second preset formula, which is:

[0021]

[0022] Among them, y represents the longitudinal distance of the ego vehicle relative to the initial position, x represents the lateral distance of the ego vehicle relative to the initial position, L represents the wheelbase of the ego vehicle, i represents the transmission ratio of the ego vehicle, and δ represents the steering angle of the ego vehicle.

[0023] According to the above technical means, the present application can accurately determine the driving route of the vehicle in the current time period through the second preset formula.

[0024] According to the second aspect provided by the present application, a driving route determination device is provided, comprising an acquisition unit and a determination unit. The acquisition unit is used to acquire the relative position of the vehicle and the adjacent vehicle in the current time period; the determination unit is used to determine the steering angle of the vehicle according to the relative position of the vehicle and the adjacent vehicle when it is detected that there is no lane line on the current driving road; the determination unit is also used to determine the driving route of the vehicle in the next time period of the current time period according to the steering angle of the vehicle and the relative position of the vehicle and the target vehicle; the target vehicle is the vehicle located directly in front of the vehicle and the closest to the adjacent vehicle.

[0025] In a possible implementation, the above-mentioned determination unit is specifically used to determine a dangerous vehicle among the adjacent vehicles based on the relative positions of the own vehicle and the adjacent vehicles; the distance between the dangerous vehicle and the own vehicle is less than or equal to a preset distance; and the steering angle of the own vehicle is determined based on the lateral distance between the dangerous vehicle and the own vehicle.

[0026] In a possible implementation, the above-mentioned determination unit is further specifically used to determine a first steering angle of the own vehicle based on the position, wheelbase and transmission ratio of the own vehicle; when the lateral distance is greater than or equal to a preset value, the first steering angle is determined to be the steering angle of the own vehicle; when the lateral distance is less than the preset value, the second steering angle is determined to be the steering angle of the own vehicle; the second steering angle is the steering angle determined when the lateral distance is equal to the preset value.

[0027] In a possible implementation, the determination unit is further used to determine a first steering angle of the vehicle. The first steering angle of the vehicle satisfies a first preset formula, which is:

[0028]

[0029] Among them, δ represents the first steering angle of the vehicle, i represents the transmission ratio of the vehicle, L represents the wheelbase of the vehicle, x represents the lateral distance of the vehicle relative to the initial position, and y represents the longitudinal distance of the vehicle relative to the initial position.

[0030] In a possible implementation, the above-mentioned determination unit is specifically used to determine the driving route of the vehicle in the current time period; based on the steering angle of the vehicle, the driving route of the vehicle in the current time period, and the relative position of the vehicle and the target vehicle, determine the driving route of the vehicle in the next time period of the current time period.

[0031] In a possible implementation manner, the above-mentioned determination unit is further specifically used to determine the driving route of the vehicle in the current time period according to the wheelbase, steering angle, transmission ratio and position of the vehicle in the current time period.

[0032] In a possible implementation, the determination unit is further used to determine the driving route of the vehicle in the current time period. The driving route of the vehicle in the current time period satisfies a second preset formula, which is:

[0033]

[0034] Among them, y represents the longitudinal distance of the vehicle relative to the initial position, x represents the lateral distance of the vehicle relative to the initial position, L represents the wheelbase of the vehicle, i represents the transmission ratio of the vehicle, and δ represents the steering angle of the vehicle.

[0035] According to the third aspect provided by the present application, an electronic device is provided, comprising: a processor; a memory for storing processor executable instructions; wherein the processor is configured to execute instructions to implement the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0036] According to a fourth aspect provided by the present application, a vehicle is provided, comprising the electronic device provided by the third aspect above.

[0037] According to the fifth aspect provided by the present application, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the method in the above-mentioned first aspect and any possible implementation method thereof.

[0038] According to the sixth aspect provided by the present application, a computer program product is provided, the computer program product comprising computer instructions, and when the computer instructions are executed on an electronic device, the electronic device executes the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0039] Beneficial effects of the present invention:

[0040] (1) The relative position of the vehicle and the adjacent vehicle in the current time period can be obtained. When it is detected that there is no lane line on the current driving road, the steering angle of the vehicle can be determined based on the relative position of the vehicle and the adjacent vehicle. Then, the driving route of the vehicle in the next time period after the current time period can be determined based on the steering angle of the vehicle and the relative position of the vehicle and the target vehicle. In this way, when there is no lane line on the current driving road, the steering angle of the vehicle can be determined based on the relative position of the vehicle and the adjacent vehicle to avoid collision between the vehicle and the adjacent vehicle, and the safe driving route for the next time period can be determined based on the steering angle of the vehicle and the relative position of the vehicle and the target vehicle. In this way, the safe driving of the vehicle can be ensured in places without lane lines.

[0041] (2) The dangerous vehicle can be identified among the adjacent vehicles based on the relative position of the vehicle and the adjacent vehicles, and the steering angle of the vehicle can be determined based on the lateral distance between the dangerous vehicle and the vehicle. In this way, the dangerous vehicle can be identified among the adjacent vehicles, and the steering angle of the vehicle can be more accurately determined based on the lateral distance between the dangerous vehicle and the vehicle, thereby avoiding collision between the vehicle and the adjacent vehicles.

[0042] (3) The steering angle of the vehicle can be accurately determined based on the lateral distance between the vehicle and the dangerous vehicle to avoid vehicle collision caused by excessive steering angle.

[0043] (4) The first steering angle of the vehicle can be accurately determined using the first preset formula.

[0044] (5) The driving route of the vehicle in the next time period after the current time period can be determined based on the steering angle of the vehicle, the driving route of the vehicle in the current time period, and the relative position between the vehicle and the target vehicle. In this way, a large deviation of the driving route of the vehicle in the current time period and the next time period can be avoided.

[0045] (6) The driving route of the vehicle in the current time period can be determined based on the wheelbase, steering angle, transmission ratio and position of the vehicle in the current time period, and the driving route of the vehicle in the current time period can be monitored in a timely manner.

[0046] (7) The driving route of the vehicle in the current time period can be accurately determined by the second preset formula. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a schematic diagram of a framework of a system for determining a driving route according to an exemplary embodiment;

[0048] Figure 2 is a flow chart of a method for determining a driving route according to an exemplary embodiment;

[0049] Figure 3 is a schematic diagram of a driving route of a vehicle according to an exemplary embodiment;

[0050] Figure 4 is a flow chart of another method for determining a driving route according to an exemplary embodiment;

[0051] Figure 5 is a block diagram of a device for determining a driving route according to an exemplary embodiment;

[0052] Figure 6 The figure is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0053] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0054] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0055] At present, intelligent driving technology is relatively mature in the case of regular driving routes. However, in places without lane lines such as intersections, the solution to determine the vehicle following trajectory is mainly to record the trajectory of each vehicle and find the vehicle closest to the own vehicle trajectory to follow. It does not consider whether the own vehicle has a large turn when following a similar vehicle, resulting in a collision with the vehicle next to it.

[0056] In order to solve the technical problem of how to ensure safe driving of vehicles in places without lane lines in the prior art, the present application provides a method for determining a driving route. The method includes: obtaining the relative position of the vehicle and the adjacent vehicle in the current time period; determining the steering angle of the vehicle according to the relative position of the vehicle and the adjacent vehicle when detecting that there are no lane lines on the current driving road; determining the driving route of the vehicle in the next time period of the current time period according to the steering angle of the vehicle and the relative position of the vehicle and the target vehicle; the target vehicle is the adjacent vehicle that is located directly in front of the vehicle and closest to it. In this way, when there are no lane lines on the current driving road, the safe driving route of the vehicle can be determined according to the relative position of the vehicle and the adjacent vehicle.

[0057] For ease of understanding, a method for determining a driving route provided in the present application is specifically introduced below with reference to the accompanying drawings.

[0058] Figure 1 FIG. 1 is a schematic diagram of a system for determining a driving route according to an exemplary embodiment. Figure 1 As shown, the framework diagram includes an environment perception module 101, a vehicle information module 102, a relative position calculation module 103, a dangerous state calculation module 104, a target decision module 105, a trajectory planning module 106 and a vehicle control module 107.

[0059] Among them, the environment perception module 101 is used to determine the information of adjacent vehicles through the panoramic camera installed on the vehicle. The information of adjacent vehicles may include position, steering angle, etc., which is not limited in the embodiment of the present application.

[0060] The vehicle information module 102 is used to obtain information such as the vehicle's speed, steering angle, and size through the vehicle's controller area network (CAN). The vehicle information module 102 can also be used to obtain the vehicle's location through a global positioning system (GPS) installed on the vehicle.

[0061] The relative position calculation module 103 is used to process the position of the adjacent vehicle obtained by the environment perception module 101 and the position of the own vehicle obtained by the vehicle information module 102 to determine the relative position of the adjacent vehicle and the own vehicle.

[0062] In an embodiment of the present application, the relative position of the adjacent vehicle to the vehicle may include the adjacent vehicle being located in one of the following locations: directly in front of, directly behind, in front left, to the left, to the rear left, in front right, to the right, or to the rear right of the vehicle.

[0063] The dangerous state calculation module 104 is used to determine the dangerous state of the adjacent vehicle according to the relative position of the adjacent vehicle and the vehicle obtained by the relative position calculation module 103 and the collision time algorithm. The dangerous state of the adjacent vehicle can be divided into dangerous vehicles and safe vehicles.

[0064] The target decision module 105 is used to determine the following vehicle according to the longitudinal closest principle, and determine the steering angle required by the vehicle according to the position of the adjacent vehicle. The following vehicle refers to the vehicle that is located directly in front of the vehicle and is closest to it.

[0065] The trajectory planning module 106 is used to plan the driving route according to the positions of the following vehicle and the ego vehicle and the steering angle required by the ego vehicle.

[0066] The vehicle control module 107 is used to control the vehicle's driving according to the vehicle's driving route.

[0067] The above are the functions of each module in the driving route determination system. The following will explain in detail the relationship between each module.

[0068] In the embodiment of the present application, the environment perception module 101 inputs the information of the neighboring vehicle obtained and the information of the own vehicle obtained by the vehicle information module 102 into the relative position calculation module 103. The relative position calculation module 103 determines the relative position between the neighboring vehicle and the own vehicle, and inputs the relative position into the danger state calculation module 104. The danger state calculation module 104 determines the danger state of the neighboring vehicle according to the relative position, and inputs the danger state of the neighboring vehicle into the target decision module 105.

[0069] The target decision module 105 determines the following vehicle and the steering angle of the own vehicle according to the dangerous state of the adjacent vehicle, and inputs the steering angles of the following vehicle and the own vehicle to the trajectory planning module 106. The trajectory planning module 106 plans the driving route according to the positions of the following vehicle and the own vehicle and the steering angle required by the own vehicle, and inputs the driving route to the vehicle control module 107. The vehicle control module 107 controls the vehicle to drive according to the driving route.

[0070] The execution subject in the embodiment of the present application may be a vehicle controller, and the embodiment is described in detail below.

[0071] like Figure 2 As shown, a flowchart of a method for determining a driving route provided in an embodiment of the present application includes the following S201-S203.

[0072] S201. The vehicle controller obtains the relative position of the vehicle and adjacent vehicles in the current time period.

[0073] The relative position of the vehicle and the adjacent vehicle may include the adjacent vehicle being located directly in front of, directly behind, in front of the left, to the left, to the rear, in front of the right, to the right, to the rear, etc., or the relative position of the vehicle and the adjacent vehicle may include the relative distance and angle between the adjacent vehicle and the vehicle. For example, the relative position of the vehicle and the adjacent vehicle may be the coordinates of the adjacent vehicle in the vehicle coordinate system. The vehicle coordinate system may refer to the vehicle as the origin, the direction of travel of the vehicle as the longitudinal axis, and the direction perpendicular to the direction of travel of the vehicle as the transverse axis.

[0074] In a possible implementation, the vehicle controller can obtain the position of the vehicle through GPS. The vehicle controller can also collect images of adjacent vehicles through a panoramic camera, and determine the relative position of the vehicle and the adjacent vehicle based on the position of the adjacent vehicle in the image and the position of the vehicle.

[0075] Exemplarily, the adjacent vehicles may include multiple vehicles. The vehicle controller determines through the collected image that the adjacent vehicle 1 is located directly in front of the vehicle, and the vehicle controller determines that the relative position between the vehicle and the adjacent vehicle 1 is that the adjacent vehicle 1 is located directly in front of the vehicle. The vehicle controller determines through the collected image that the adjacent vehicle 2 is located in front of the right side of the vehicle, and the vehicle controller determines that the relative position between the vehicle and the adjacent vehicle 2 is that the adjacent vehicle 2 is located in front of the right side of the vehicle.

[0076] S202: When the vehicle controller detects that there is no lane line on the current driving road, it determines the steering angle of the vehicle according to the relative position of the vehicle and the adjacent vehicle.

[0077] The steering angle refers to the angle formed by the front wheels of the vehicle and the center line of the vehicle when the front wheels turn left or right.

[0078] In a possible implementation, the vehicle controller can collect images of the current road through a panoramic camera. The vehicle controller detects whether the current road has lane lines by comparing the collected images with images with lane lines and images without lane lines stored in the vehicle database.

[0079] When the vehicle controller detects that there is no lane line on the current road, it can determine the dangerous vehicle among the adjacent vehicles based on the relative positions of the vehicle and the adjacent vehicles.

[0080] In the embodiment of the present application, the vehicle controller can classify adjacent vehicles into dangerous vehicles and safe vehicles according to the relative positions of the vehicle and the adjacent vehicles. The distance between the dangerous vehicle and the vehicle is less than or equal to the preset distance. The distance between the safe vehicle and the vehicle is greater than the preset distance.

[0081] For example, the preset distance may be 0.5 meters. Assuming that the relative position of the vehicle and the adjacent vehicle is that the adjacent vehicle is located to the left of the vehicle, and the distance from the rightmost side of the adjacent vehicle to the leftmost side of the vehicle is 0.6 meters, the vehicle controller determines that the adjacent vehicle is a safe vehicle. Assuming that the distance from the rightmost side of the adjacent vehicle to the leftmost side of the vehicle is 0.4 meters, the vehicle controller determines that the adjacent vehicle is a dangerous vehicle.

[0082] In a possible implementation, after determining the dangerous vehicle, the vehicle controller determines the steering angle of the vehicle according to the lateral distance between the dangerous vehicle and the vehicle.

[0083] The vehicle controller can obtain the wheelbase and transmission ratio of the vehicle through the CAN bus, and then determine the first steering angle of the vehicle according to the position, wheelbase and transmission ratio of the vehicle. The position of the vehicle includes the lateral distance and longitudinal distance of the vehicle relative to the initial position.

[0084] In the embodiment of the present application, the initial position of the vehicle is used as the coordinate origin, the driving direction of the vehicle is used as the longitudinal axis, and the direction perpendicular to the driving direction of the vehicle is used as the horizontal axis. The first steering angle of the vehicle satisfies Formula 1:

[0085]

[0086] Among them, δ represents the first steering angle of the vehicle, i represents the transmission ratio of the vehicle, L represents the wheelbase of the vehicle, x represents the lateral distance of the vehicle relative to the initial position, and y represents the longitudinal distance of the vehicle relative to the initial position.

[0087] Furthermore, the vehicle controller determines the first steering angle as the steering angle of the vehicle when the lateral distance between the dangerous vehicle and the vehicle is greater than or equal to a preset value. The vehicle controller determines the second steering angle as the steering angle of the vehicle when the lateral distance between the dangerous vehicle and the vehicle is less than a preset value. The second steering angle is the steering angle of the vehicle calculated based on the lateral distance being equal to the preset value.

[0088] Among them, the second steering angle can determine the position of the own vehicle according to the lateral distance between the own vehicle and the adjacent vehicle being a preset value, and is determined by formula 1 according to the position of the own vehicle, the transmission ratio of the own vehicle, and the wheelbase.

[0089] S203: The vehicle controller determines the driving route of the vehicle in the next time period of the current time period according to the steering angle of the vehicle and the relative position between the vehicle and the target vehicle.

[0090] The target vehicle is the vehicle that is located directly in front of the vehicle and closest to it among the adjacent vehicles.

[0091] In a possible implementation, the vehicle controller may determine the driving route of the vehicle in the current time period according to the wheelbase, steering angle, transmission ratio and position of the vehicle in the current time period.

[0092] After determining the driving route of the current time period, the vehicle controller determines the driving route of the vehicle in the next time period of the current time period according to the steering angle of the vehicle, the driving route of the current time period, and the relative position of the vehicle and the target vehicle.

[0093] The driving route includes the longitudinal distance of the vehicle relative to the initial position. The driving route of the vehicle in the current time period satisfies Formula 2:

[0094]

[0095] Among them, y represents the longitudinal distance of the vehicle relative to the initial position, x represents the lateral distance of the vehicle relative to the initial position, L represents the wheelbase of the vehicle, i represents the transmission ratio of the vehicle, and δ represents the steering angle of the vehicle.

[0096] In an embodiment of the present application, the vehicle controller can determine the driving route of the vehicle based on the steering angle determined in step S202 when the vehicle is driving to the position of the target vehicle, and control the vehicle to drive based on the driving route.

[0097] For example, Figure 3 As shown, the vehicle directly in front of the vehicle is the target vehicle, and the driving route of the vehicle to the position of the target vehicle is the driving route of the vehicle in the next time period.

[0098] Through the above technical solution, the present application can determine the steering angle of the vehicle according to the relative position of the vehicle and adjacent vehicles when there is no lane line on the current driving road, so as to avoid collision between the vehicle and adjacent vehicles, and determine the safe driving route for the next time period according to the steering angle of the vehicle and the relative position of the vehicle and the target vehicle.

[0099] like Figure 4 As shown, a flowchart of another method for determining a driving route provided in an embodiment of the present application includes the following S401-S405.

[0100] S401, the vehicle controller obtains the speed of the vehicle.

[0101] In one possible implementation, the vehicle controller can obtain the speed of the vehicle through the CAN bus.

[0102] S402: The vehicle controller determines the speed of the adjacent vehicle.

[0103] In one possible implementation, the vehicle controller can collect images of adjacent vehicles through the panoramic camera of the vehicle and determine the position of the adjacent vehicle based on the images. The vehicle controller can also determine the speed of the adjacent vehicle based on the change in the position of the adjacent vehicle.

[0104] S403: The vehicle controller determines the relative position between the adjacent vehicle and the vehicle according to the speed of the vehicle and the speed of the adjacent vehicle.

[0105] In one possible implementation, the vehicle controller can determine the driving trajectory of the vehicle, as shown in step S203. After determining the driving trajectory of the vehicle, the vehicle controller shifts to the left by a preset distance according to the driving trajectory to determine the left virtual lane, and shifts to the right by a preset distance according to the driving trajectory to determine the right virtual lane.

[0106] The vehicle controller determines the relative position of the adjacent vehicle and the vehicle through the image of the adjacent vehicle collected by the vehicle, the left virtual lane and the right virtual lane.

[0107] For example, if in the captured image, the position of the adjacent vehicle is located on the left side of the left virtual lane, then the adjacent vehicle is determined to be located on the left side of the vehicle. If the position of the adjacent vehicle is located on the right side of the right virtual lane, then the adjacent vehicle is determined to be located on the right side of the vehicle. Similarly, if the position of the adjacent vehicle is located on the left side of the left virtual lane and the head position of the adjacent vehicle is in front of the head position of the vehicle, then the adjacent vehicle is determined to be located in front of the left side of the vehicle. If the position of the adjacent vehicle is located on the left side of the left virtual lane and the head position of the adjacent vehicle is behind the head position of the vehicle, then the adjacent vehicle is determined to be located behind the left side of the vehicle.

[0108] S404: The vehicle controller determines the dangerous state of the adjacent vehicle according to the speed of the own vehicle and the speed of the adjacent vehicle.

[0109] In a possible implementation, the vehicle controller can also determine whether the adjacent vehicle is a safe vehicle or a dangerous vehicle according to the speed of the own vehicle and the speed of the adjacent vehicle.

[0110] The vehicle controller can determine the minimum longitudinal safety distance between the vehicle and adjacent vehicles based on the vehicle's speed. The minimum longitudinal safety distance satisfies Formula 3:

[0111] dis min =0.5*speed+3.5 Formula 3

[0112] Among them, dis min It indicates the minimum longitudinal safety distance, and speed indicates the speed of the vehicle.

[0113] The vehicle controller can determine the relative acceleration of the adjacent vehicle relative to the vehicle based on the minimum longitudinal safety distance, the longitudinal distance of the vehicle, the speed, and the speed of the adjacent vehicle. The relative acceleration satisfies Formula 4:

[0114]

[0115] Among them, acc_relative represents the relative acceleration of the adjacent vehicle relative to the vehicle itself, speed represents the speed of the vehicle itself, and speed other represents the speed of the adjacent vehicle, pos represents the longitudinal distance of the vehicle, dis min Indicates the minimum longitudinal safety distance.

[0116] For example, when the neighboring vehicle is located directly in front of the own vehicle, when the speed of the neighboring vehicle is greater than the speed of the own vehicle, the neighboring vehicle is a safe vehicle. When the speed of the neighboring vehicle is less than the speed of the own vehicle, if the distance between the head of the own vehicle and the tail of the neighboring vehicle is less than the minimum longitudinal safety distance, it is a dangerous vehicle. When the speed of the neighboring vehicle is less than the speed of the own vehicle, the distance between the head of the own vehicle and the tail of the neighboring vehicle is greater than or equal to the minimum longitudinal safety distance, if the relative acceleration of the neighboring vehicle relative to the own vehicle is greater than the safety acceleration, it is a dangerous vehicle, and if the relative acceleration of the neighboring vehicle relative to the own vehicle is less than or equal to the safety acceleration, it is a safe vehicle.

[0117] Among them, the vehicle controller can determine the safety acceleration through a preset correspondence table between the speed of the vehicle and the safety acceleration.

[0118] The embodiment of the present application does not limit the storage format of the preset corresponding relationship between the vehicle speed and the safety acceleration, and can be stored in the form of text or in the form of a table. For example, Table 1 is a storage method in the form of a table.

[0119] Table 1 is a preset correspondence table between the speed of the vehicle and the safety acceleration.

[0120] Table 1

[0121] Vehicle speed / (km / h) 0 10 20 30 40 <![CDATA[Safe acceleration / (m / s 2 )]]> 4 3 2.5 2 1.5

[0122] In the case where the adjacent vehicle is located directly behind the own vehicle, when the speed of the adjacent vehicle is less than the speed of the own vehicle, the adjacent vehicle is a safe vehicle. When the speed of the adjacent vehicle is greater than or equal to the speed of the own vehicle, if the distance between the rear of the own vehicle and the head of the adjacent vehicle is less than the minimum longitudinal safety distance, it is a dangerous vehicle. When the speed of the adjacent vehicle is greater than or equal to the speed of the own vehicle, the distance between the rear of the own vehicle and the head of the adjacent vehicle is greater than or equal to the minimum longitudinal safety distance, if the relative acceleration of the adjacent vehicle to the own vehicle is greater than the safety acceleration, it is a dangerous vehicle, and if the relative acceleration of the adjacent vehicle to the own vehicle is less than or equal to the safety acceleration, it is a safe vehicle.

[0123] For example, when the adjacent vehicle is located on the left or right side of the vehicle and the speed of the adjacent vehicle is greater than the speed of the vehicle, the vehicle controller determines the parallel time between the adjacent vehicle and the vehicle. The parallel time satisfies Formula 5:

[0124]

[0125] Among them, time1 represents the parallel time, speed represents the speed of the vehicle, speed other It represents the speed of the adjacent vehicle, and pos represents the longitudinal distance of the vehicle.

[0126] After the vehicle controller determines the parallel time, if the parallel time is greater than the preset time value, it is a dangerous vehicle, and if the parallel time is less than or equal to the preset time value, it is a safe vehicle. The preset time value can be 1s.

[0127] For example, when the adjacent vehicle is located on the left or right side of the vehicle and the speed of the adjacent vehicle is less than or equal to the speed of the vehicle, the vehicle controller determines the parallel time between the adjacent vehicle and the vehicle. The parallel time satisfies Formula 6:

[0128]

[0129] Among them, time2 represents the parallel time, speed represents the speed of the vehicle, speed other It represents the speed of the adjacent vehicle, and pos represents the longitudinal distance of the vehicle.

[0130] After the vehicle controller determines the parallel time, if the parallel time is greater than the preset time value, it is a dangerous vehicle, and if the parallel time is less than or equal to the preset time value, it is a safe vehicle. The preset time value can be 1s.

[0131] S405: The vehicle controller determines the driving trajectory according to the steering angles of the target vehicle and the own vehicle.

[0132] In a possible implementation, the vehicle controller may determine the steering angle of the vehicle according to the relative position of the dangerous vehicle and the vehicle, and specifically refer to step S202. After determining the steering angle of the vehicle, the vehicle controller controls the vehicle to travel to the target vehicle according to the relative position of the target vehicle and the vehicle.

[0133] Through the above technical solution, the present application can determine the driving trajectory of the vehicle in scenarios such as intersections where there are no lane lines, ensure the safety of the vehicle when passing through the intersection, and avoid collisions with nearby vehicles.

[0134] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to achieve the above functions, the driving route determination device or electronic device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0135] The embodiments of the present application can divide the functional modules of the driving route determination device or electronic device according to the above method. For example, the driving route determination device or electronic device can include various functional modules corresponding to the various functional divisions, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiments of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0136] Figure 5 FIG. 1 is a block diagram of a device for determining a driving route according to an exemplary embodiment. Figure 5 The driving route determination device 500 includes: an acquisition unit 501 and a determination unit 502.

[0137] The acquisition unit 501 is used to acquire the relative position of the vehicle and the adjacent vehicles in the current time period.

[0138] The determination unit 502 is used to determine the steering angle of the vehicle according to the relative position of the vehicle and the adjacent vehicle when it is detected that there is no lane line on the current driving road.

[0139] The determination unit 502 is also used to determine the driving route of the vehicle in the next time period of the current time period according to the steering angle of the vehicle and the relative position of the vehicle and the target vehicle; the target vehicle is the vehicle located directly in front of the vehicle and closest to the adjacent vehicles.

[0140] In a possible implementation, the determination unit 502 is specifically used to determine a dangerous vehicle among the adjacent vehicles based on the relative positions of the own vehicle and the adjacent vehicles; the distance between the dangerous vehicle and the own vehicle is less than or equal to a preset distance; and the steering angle of the own vehicle is determined based on the lateral distance between the dangerous vehicle and the own vehicle.

[0141] In a possible implementation, the determination unit 502 is further specifically used to determine a first steering angle of the vehicle according to the position, wheelbase and transmission ratio of the vehicle; when the lateral distance is greater than or equal to a preset value, the first steering angle is determined to be the steering angle of the vehicle; when the lateral distance is less than a preset value, the second steering angle is determined to be the steering angle of the vehicle; the second steering angle is the steering angle determined when the lateral distance is equal to the preset value.

[0142] In a possible implementation, the determination unit 502 is further configured to determine a first steering angle of the vehicle. The first steering angle of the vehicle satisfies a first preset formula, which is:

[0143]

[0144] Among them, δ represents the first steering angle of the vehicle, i represents the transmission ratio of the vehicle, L represents the wheelbase of the vehicle, x represents the lateral distance of the vehicle relative to the initial position, and y represents the longitudinal distance of the vehicle relative to the initial position.

[0145] In a possible implementation, the determination unit 502 is also specifically used to determine the driving route of the vehicle in the current time period; based on the steering angle of the vehicle, the driving route of the vehicle in the current time period, and the relative position of the vehicle and the target vehicle, determine the driving route of the vehicle in the next time period of the current time period.

[0146] In a possible implementation manner, the determination unit 502 is further configured to determine the driving route of the vehicle in the current time period according to the wheelbase, steering angle, transmission ratio and position of the vehicle in the current time period.

[0147] In a possible implementation, the determination unit 502 is further configured to determine the driving route of the vehicle in the current time period. The driving route of the vehicle in the current time period satisfies a second preset formula, which is:

[0148]

[0149] Among them, y represents the longitudinal distance of the vehicle relative to the initial position, x represents the lateral distance of the vehicle relative to the initial position, L represents the wheelbase of the vehicle, i represents the transmission ratio of the vehicle, and δ represents the steering angle of the vehicle.

[0150] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0151] Figure 6 FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment. Figure 6 As shown, the electronic device 600 includes but is not limited to: a processor 601 and a memory 602 .

[0152] The memory 602 is used to store executable instructions of the processor 601. It can be understood that the processor 601 is configured to execute instructions to implement a method for determining a driving route in the above embodiment.

[0153] It should be noted that those skilled in the art can understand that Figure 6 The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and the electronic device may include Figure 6 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0154] The processor 601 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 602, and calling data stored in the memory 602, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. The processor 601 may include one or more processing units. Optionally, the processor 601 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 601.

[0155] The memory 602 may be used to store software programs and various data. The memory 602 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one functional module (such as a determination unit, a processing unit, etc.), etc. In addition, the memory 602 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0156] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 602 including instructions, and the above instructions can be executed by a processor 601 of an electronic device 600 to implement the method in the above embodiment.

[0157] In actual implementation, Figure 5 The functions of the acquisition unit 501 and the determination unit 502 in Figure 6 The processor 601 in the embodiment calls the computer program stored in the memory 602. The specific execution process can refer to the description of the method part in the above embodiment, which will not be repeated here.

[0158] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0159] In an exemplary embodiment, the present application also provides a computer program product including one or more instructions, and the one or more instructions can be executed by the processor 601 of the electronic device to complete the method in the above embodiment.

[0160] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the electronic device, the various processes of the above-mentioned method embodiment are implemented, and the same technical effect as the above-mentioned method can be achieved. To avoid repetition, they will not be repeated here.

[0161] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0162] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0163] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0164] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0165] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the full classification part or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute the full classification part or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, disk or CD and other media that can store program code.

[0166] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application 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.

Claims

1. A method for determining a driving route, characterized in that: The method comprises: Get the relative position of the vehicle and adjacent vehicles in the current time period; When it is detected that there is no lane line on the current driving road, determining the steering angle of the vehicle according to the relative position of the vehicle and the adjacent vehicle; The driving route of the vehicle in the next time period of the current time period is determined according to the steering angle of the vehicle and the relative position of the vehicle and a target vehicle; the target vehicle is the vehicle located directly in front of the vehicle and closest to the adjacent vehicles.

2. The method according to claim 1, characterized in that Determining the steering angle of the vehicle according to the relative position of the vehicle and the adjacent vehicle includes: Determine a dangerous vehicle among the adjacent vehicles according to the relative positions of the own vehicle and the adjacent vehicles; the distance between the dangerous vehicle and the own vehicle is less than or equal to a preset distance; The steering angle of the vehicle is determined according to the lateral distance between the dangerous vehicle and the vehicle.

3. The method according to claim 2, characterized in that The step of determining the steering angle of the vehicle according to the lateral distance between the dangerous vehicle and the vehicle comprises: Determining a first steering angle of the vehicle according to the position, wheelbase and transmission ratio of the vehicle; When the lateral distance is greater than or equal to a preset value, determining the first steering angle as the steering angle of the vehicle; When the lateral distance is less than the preset value, the second steering angle is determined as the steering angle of the vehicle; the second steering angle is the steering angle determined when the lateral distance is equal to the preset value.

4. The method according to claim 3, characterized in that The position of the vehicle includes a lateral distance and a longitudinal distance of the vehicle relative to an initial position; the first steering angle of the vehicle satisfies a first preset formula, which is: Wherein, δ represents the first steering angle of the vehicle, i represents the transmission ratio of the vehicle, L represents the wheelbase of the vehicle, x represents the lateral distance of the vehicle relative to the initial position, and y represents the longitudinal distance of the vehicle relative to the initial position.

5. The method according to any one of claims 1 to 4, characterized in that The determining, according to the steering angle of the vehicle and the relative position between the vehicle and the target vehicle, the driving route of the vehicle in the next time period of the current time period comprises: Determining the driving route of the vehicle in the current time period; The driving route of the vehicle in the next time period of the current time period is determined according to the steering angle of the vehicle, the driving route of the vehicle in the current time period, and the relative position of the vehicle and the target vehicle.

6. The method according to claim 5, characterized in that Determining the driving route of the vehicle in the current time period includes: The driving route of the vehicle in the current time period is determined according to the wheelbase, steering angle, transmission ratio and position of the vehicle in the current time period.

7. The method according to claim 6, characterized in that The driving route includes the longitudinal distance of the vehicle relative to the initial position, and the driving route of the vehicle in the current time period satisfies a second preset formula, which is: Wherein, y represents the longitudinal distance of the vehicle relative to the initial position, x represents the lateral distance of the vehicle relative to the initial position, L represents the wheelbase of the vehicle, i represents the transmission ratio of the vehicle, and δ represents the steering angle of the vehicle.

8. A device for determining a driving route, characterized in that: The device comprises: An acquisition unit, used to acquire the relative position of the vehicle and adjacent vehicles in the current time period; A determination unit, configured to determine a steering angle of the vehicle according to a relative position between the vehicle and an adjacent vehicle when detecting that the current driving road has no lane line; The determination unit is further used to determine the driving route of the own vehicle in the next time period of the current time period based on the steering angle of the own vehicle and the relative position of the own vehicle and a target vehicle; the target vehicle is the vehicle located directly in front of the own vehicle and closest to the adjacent vehicles.

9. An electronic device, characterized in that: Including memory and processor: The memory is coupled to the processor; The memory is used to store computer program code, wherein the computer program code includes computer instructions; When the processor executes the computer instructions, the electronic device performs the method as claimed in any one of claims 1 to 7.

10. A vehicle, characterized in that: The vehicle comprises the electronic device as claimed in claim 9.

11. A computer-readable storage medium having instructions stored thereon, characterized in that: When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the method as claimed in any one of claims 1 to 7.

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