Automatic driving method for roundabouts and related device

Abstract

The application provides a roundabout automatic driving method and related equipment, the method comprises the following steps: determining the first intersection where the vehicle enters the roundabout, the first roundabout lane where the vehicle enters the roundabout and the second intersection where the vehicle exits the roundabout based on the navigation information of the vehicle; obtaining the intersection information of the roundabout, and determining the second roundabout lane where the vehicle changes lanes when driving in the roundabout according to the intersection information of the roundabout; determining the first speed of the vehicle driving on the first roundabout lane, and determining the second speed of the vehicle driving on the second roundabout lane; when the difference between the first speed and the second speed meets a preset condition, the driving lane is changed from the first roundabout lane to the second roundabout lane; after the vehicle completes the lane change, the third intersection is determined, and when the vehicle drives to the third intersection, the driving lane is changed from the second roundabout lane to the first roundabout lane. The application can complete the automatic driving path planning of the roundabout, and change lanes in combination with the driving environment during driving in the roundabout, so as to improve the efficiency of driving in the roundabout.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to an autonomous driving method and related equipment for a roundabout. Background Technology

[0002] A roundabout, also known as a circular traffic junction, is a special form of traffic node and belongs to the category of at-grade road intersections. Roundabouts are also commonly referred to as islands or roundabouts. A roundabout consists of a circular lane and a central island. This configuration ensures that traffic entering the roundabout from any direction must rotate in a single direction around the central circle until it turns to its desired exit. Current navigation technology, while providing simple icon and voice guidance to help users navigate complex driving scenarios like roundabouts, only gives users a general idea of ​​possible exit directions, often leading to missed exits and inconvenience. Furthermore, to improve roundabout traffic efficiency, lane changes are required. However, for complex scenarios like lane changes at roundabouts, it's difficult to incorporate real-time environmental information to provide accurate driving routes.

[0003] How to provide users with an efficient method for autonomous driving around islands to improve their driving experience is an urgent problem to be solved. Summary of the Invention

[0004] In view of this, this application provides an autonomous driving method and related equipment for roundabouts, which can accurately complete roundabout path planning, thereby ensuring that vehicles can pass smoothly, safely and quickly through roundabouts.

[0005] A first aspect of this application provides an autonomous driving method for a roundabout, comprising: determining, based on vehicle navigation information, a first intersection where the vehicle enters the roundabout, a first roundabout lane where the vehicle enters the roundabout, and a second intersection where the vehicle exits the roundabout, wherein the roundabout includes multiple roundabout lanes, the roundabout lanes being circular lanes outside the center circle of the roundabout, and the first roundabout being the outermost roundabout lane of the roundabout; acquiring intersection information of the roundabout, and determining, based on the intersection information, a second roundabout lane for the vehicle to change lanes while driving in the roundabout; determining a first speed of the vehicle in the first roundabout lane, and predicting a second speed of the vehicle in the second roundabout lane, wherein the first speed is the real-time speed of the vehicle, and the second speed is the target lane-changing speed of the vehicle; when the difference between the first speed and the second speed meets a preset condition, changing the vehicle's driving lane from the first roundabout lane to the second roundabout lane to allow the vehicle to enter the roundabout; after the vehicle completes the lane change, determining a third intersection, and when the vehicle reaches the third intersection, changing the driving lane from the second roundabout lane back to the first roundabout lane, and the vehicle exiting the roundabout based on the first roundabout lane.

[0006] Compared with related technologies, the embodiments of this application have at least the following advantages:

[0007] This application determines the first intersection, the first roundabout lane, and the second intersection by identifying route information. Based on the first intersection, the first roundabout lane, and the second intersection, it determines the second roundabout lane to enter the roundabout, thus determining the shortest path through the roundabout. Simultaneously, this application uses vehicle speed changes to determine lane-changing conditions and the appropriate timing for changing lanes from the first roundabout lane to the second roundabout lane. This lane-changing improves the efficiency of vehicle passage through the roundabout and reduces traffic conflicts with other vehicles entering and exiting the roundabout. This application also allows for earlier exits at the third intersection of the roundabout, resulting in a smoother driving trajectory that more closely resembles human driving behavior and habits. This improves both the efficiency of lane selection within the roundabout and the user's driving experience.

[0008] Optionally, obtaining the intersection information of the roundabout and determining the second roundabout lane for the vehicle to change lanes when driving in the roundabout based on the intersection information includes: determining the number of intersections m from the first intersection to the second intersection and the total number of intersections n of the roundabout; when m is not 0, n is even and m is not less than n / 2, or when m is not 0, n is odd and m is not less than (n-1) / 2, the second roundabout lane is the innermost lane of the roundabout lanes, and the innermost lane is the lane closest to the first intersection in the roundabout lanes. The circular lane on one side of the island; when m is not 0, n is even and m is less than n / 2, or when m is not 0, n is odd and m is less than (n-1) / 2, the n / 2th lane in the circular lane is selected as the candidate lane in the direction from the outside towards the center point of the circular island; when the candidate lane is the innermost lane, the second circular lane is the adjacent lane of the innermost lane in the direction away from the center of the circular island; when the candidate lane is not the innermost lane, the second circular lane is the candidate lane.

[0009] Optionally, when the difference between the first speed and the second speed meets a preset condition, the vehicle's driving lane is changed from the first roundabout lane to the second roundabout lane, which includes: detecting obstacles in the first roundabout lane and the second roundabout lane, determining a lane change speed threshold based on the obstacles, and when the difference is greater than the lane change speed threshold, the difference meets the preset condition.

[0010] Optionally, determining the lane change speed threshold based on the obstacle includes: obtaining a preset difference speed; determining the obstacle category of the obstacle; determining a difference coefficient based on the obstacle category; and determining a difference threshold speed based on the difference coefficient and the preset difference speed.

[0011] Optionally, determining the obstacle category of the obstacle and determining the difference coefficient based on the obstacle category includes: acquiring obstacle information and lane change speed of adjacent lanes within a historical time period; classifying the obstacle information to acquire obstacle information corresponding to the same obstacle category; and determining the difference coefficient based on the obstacle information corresponding to the same obstacle category and the lane change speed.

[0012] Optionally, determining the third intersection includes: determining the number of lane changes the vehicle makes when exiting the roundabout based on the first roundabout lane and the second roundabout lane; and determining the third intersection based on the number of lane changes and the lane information.

[0013] Optionally, determining the third intersection based on the number of lane changes and the lane information includes: obtaining the correspondence between the number of lane changes and the intersections, and determining the third intersection based on the correspondence; wherein the correspondence includes: selecting a first intersection when the number of lane changes is greater than a first lane change value; selecting a second roundabout intersection when the number of lane changes is less than the first lane change value but greater than the second roundabout lane value; and selecting a third intersection when the number of lane changes is not greater than the second roundabout lane value.

[0014] Secondly, embodiments of this application also provide an island-roundabout autonomous driving device, including:

[0015] The first unit is used to determine, based on the vehicle's navigation information, the first intersection where the vehicle enters the roundabout, the first roundabout lane where the vehicle enters the roundabout, and the second intersection where the vehicle exits the roundabout. The roundabout lane is a circular lane, and the roundabout includes multiple roundabout lanes. The first roundabout is the outermost roundabout lane of the roundabout.

[0016] The second unit is used to obtain the intersection information of the roundabout and determine the second roundabout lane for the vehicle to change lanes when driving in the roundabout based on the intersection information of the roundabout.

[0017] The third unit is used to determine the first speed of the vehicle in the first roundabout lane and predict the second speed of the vehicle in the second roundabout lane, wherein the first speed is the real-time speed of the vehicle and the second speed is the target lane-changing speed of the vehicle.

[0018] The fourth unit is used to change the vehicle's driving lane from the first roundabout lane to the second roundabout lane when the difference between the first speed and the second speed meets a preset condition, so that the vehicle can enter the roundabout;

[0019] The determining unit is used to determine a third intersection after the vehicle completes the lane change. When the vehicle travels to the third intersection, the driving lane is changed from the second roundabout lane to the first roundabout lane, and the vehicle exits the roundabout based on the first roundabout lane.

[0020] Thirdly, embodiments of this application also provide an electronic device, which includes a processor and a memory. The memory is used to store instructions, and the processor is used to call the instructions in the memory, causing the electronic device to execute the roundabout autonomous driving method as described in the first aspect.

[0021] Fourthly, embodiments of this application also provide a computer-readable storage medium that stores computer instructions that, when executed on an electronic device, cause the electronic device to perform the roundabout autonomous driving method as described in the first aspect.

[0022] The technical effects achieved by the second, third, and fourth aspects mentioned above are similar to those achieved by the corresponding technical means in the first aspect, and will not be repeated here. Attached Figure Description

[0023] Figure 1 A flowchart illustrating the steps of an autonomous driving method for a roundabout provided in an embodiment of this application.

[0024] Figure 2 A flowchart illustrating the steps of an autonomous driving method for a roundabout provided in an embodiment of this application.

[0025] Figure 3 This application provides a schematic diagram of an automated driving system for a roundabout, based on one embodiment.

[0026] Figure 4 A functional block diagram of an island automated driving device provided in an embodiment of this application.

[0027] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0028] To better understand the above-mentioned objectives, features, and advantages of this application, the application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0029] The following description sets forth many specific details to provide a full understanding of this application. The described embodiments are only some, not all, of the embodiments of this application.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application.

[0031] It should be further noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0032] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.

[0033] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0034] For ease of understanding, some concepts related to the embodiments of this application are illustrated and explained by way of example for reference.

[0035] Roundabouts are traffic facilities set up at the intersection of multiple traffic routes to reduce vehicle conflicts. They are mostly circular and make vehicles travel in the same direction, turning conflict points into passage points. This can alleviate some traffic congestion and effectively reduce the occurrence of traffic accidents.

[0036] Autonomous driving refers to the ability of vehicles to operate autonomously without human intervention, achieved through artificial intelligence, sensors, and other technologies. Autonomous vehicles rely on the collaborative efforts of artificial intelligence, computer vision, radar, monitoring devices, and global positioning systems to operate motor vehicles safely and automatically without any active human intervention.

[0037] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating the steps of an embodiment of the autonomous driving method for roundabouts in this application.

[0038] Step 110: Based on the vehicle's navigation information, determine the first intersection where the vehicle enters the roundabout, the first roundabout lane where the vehicle enters the roundabout, and the second intersection where the vehicle exits the roundabout. The roundabout includes multiple roundabout lanes, which are the circular lanes outside the center circle of the roundabout. The first roundabout is the outermost roundabout lane of the roundabout.

[0039] The route information in this step can be provided by cloud-based navigation systems, indicating the approximate route and roundabouts for the user's vehicle. However, for complex road conditions such as roundabouts, existing navigation systems can only provide default routes or driving instructions, and cannot flexibly change lanes based on actual road conditions. Specifically, a partial map of the roundabout can be constructed first using real-time road information collected by the vehicle. Then, a roundabout road network can be established based on the partial map and the corresponding navigation route information, allowing for the optimal driving route to be achieved within the roundabout through planned lane changes.

[0040] Step 120: Obtain the intersection information of the roundabout and determine the second roundabout lane for the vehicle to change lanes when driving in the roundabout based on the intersection information.

[0041] In this embodiment, the intersection information can be pre-stored in the vehicle's autonomous driving system. When the vehicle enters the roundabout area, it can automatically obtain the intersection information corresponding to the current roundabout area. The lane information of the roundabout lane includes: lane line attributes, lane line ID, and lane line orientation. It should be noted that the first roundabout lane is the outermost lane for entering vehicles. For example, if there are four lanes for entering the roundabout, and along the driving direction, from right to left, they are right lane 1, right lane 2, right lane 3, and right lane 4, then the first roundabout lane is right lane 1, and the vehicle enters the roundabout from the right first roundabout lane. Alternatively, the direction away from the center of the roundabout is the outermost lane, and the first roundabout lane is the outermost roundabout lane. A specific embodiment of step 120, determining the second roundabout lane, is shown below.

[0042] Step 130: Determine the first speed of the vehicle in the first roundabout lane and predict the second speed of the vehicle in the second roundabout lane. The first speed is the real-time speed of the vehicle, and the second speed is the target lane change speed of the vehicle.

[0043] In this embodiment, the first speed is the vehicle's current speed, and the second speed is the target speed for lane changing detected by the vehicle. The target speed for lane changing can be determined by radar speed measurement of the vehicle in front, or it can be obtained through vehicle-to-everything (V2X) communication. Optionally, the second speed can also be less than the speed of the vehicle in front in the adjacent lane and greater than the speed of the vehicle behind, so as to facilitate the vehicle following the vehicle in front.

[0044] Step 140: When the difference between the first speed and the second speed meets the preset conditions, the vehicle's driving lane is changed from the first roundabout lane to the second roundabout lane so that the vehicle can enter the roundabout.

[0045] In this embodiment, according to traffic rules, vehicles cannot change lanes when the traffic light at an intersection is red. Before step 140, environmental information needs to be collected to determine whether the traffic lights meet the lane-changing conditions; that is, at each intersection, vehicles cannot change lanes when the traffic light is red.

[0046] In this embodiment, collecting environmental information about vehicle operation includes: acquiring the real-time status and countdown timer status of traffic lights at each intersection via vehicle-mounted cameras, V2X, and other methods. It also includes locating the speed information of the vehicle ahead using vehicle sensors.

[0047] It should be noted that if the collected environmental information does not meet the conditions for lane changing, the vehicle will maintain its current speed, that is, remain in the first roundabout lane until exiting the roundabout. Within a roundabout, going straight means driving normally within a single lane, while turning typically involves merging into or out of the lane. Because vehicles going straight travel at relatively higher speeds and turning vehicles travel at lower speeds, turning vehicles must yield to vehicles going straight.

[0048] Step 150: After the vehicle completes the lane change, the third intersection is determined. When the vehicle reaches the third intersection, the driving lane is changed from the second roundabout lane to the first roundabout lane, and the vehicle exits the roundabout based on the first roundabout lane.

[0049] In this embodiment, it is necessary to determine whether the vehicle needs to change lanes based on the environmental information of the vehicle's driving. When the vehicle needs to change lanes, the vehicle's driving lane is changed from the first roundabout lane to the second roundabout lane, and then from the second roundabout lane to the exit lane. It should be noted that when driving in a roundabout, the lane exiting the roundabout and the lane entering the roundabout are the same, both being the first roundabout lane.

[0050] Some roundabouts have entrances and exits that are very close together. At the intersection of traffic entering and exiting the roundabout, vehicles entering the roundabout must yield to vehicles exiting the roundabout. Therefore, it is necessary to determine the exit point in advance. This embodiment determines the number of lane changes required by the second roundabout lane, and then determines the exit point for lane changes based on the required number of lane changes, thereby enabling vehicles to change lanes in advance and achieving smooth lane changes.

[0051] In one embodiment, step 120 involves obtaining lane information of the roundabout and determining a second roundabout lane based on the lane information, the first intersection, and the second intersection. The second roundabout lane is the lane for vehicles to change lanes when entering the roundabout. This includes obtaining the mapping relationship corresponding to the roundabout through the lane information and finding the second roundabout lane corresponding to the first intersection and the second intersection through the mapping relationship.

[0052] In this embodiment, obtaining the intersection information of the roundabout and determining the second roundabout lane for lane changing when a vehicle is driving in the roundabout based on the intersection information includes: determining the number of intersections m passed from the first intersection to the second intersection and the total number of intersections n in the roundabout; when m is not 0, n is even and m is not less than n / 2, or when m is not 0, n is odd and m is not less than (n-1) / 2, the second roundabout lane is the innermost lane of the roundabout lanes, and the innermost lane is the circular lane of the roundabout lanes closest to the roundabout side; when m is not 0, n is even and m is less than n / 2, or when m is not 0, n is odd and m is less than (n-1) / 2, the n / 2th lane of the roundabout lanes is selected as a candidate lane in the direction from the outside towards the center point of the roundabout; when the candidate lane is the innermost lane, the second roundabout lane is the adjacent lane of the innermost lane in the direction away from the center of the roundabout; when the candidate lane is not the innermost lane, the second roundabout lane is a candidate lane.

[0053] Specifically, in this embodiment, the number of intersections m that pass through from the first intersection to the second intersection and the total number of intersections n in the roundabout are determined. Determining the number of intersections m includes: numbering the first intersection in the order of the second intersection. For the first intersection, the first intersection is defined as the first intersection, and the second intersection is defined as the b-th intersection, m = b-1.

[0054] In this embodiment, the mapping relationships include: a first mapping relationship, a second mapping relationship, a third mapping relationship, a fourth mapping relationship, and a fifth mapping relationship.

[0055] The first mapping relationship includes: the number of intersections m is 0, and the second roundabout lane is the first roundabout lane, that is, the outermost lane of the roundabout.

[0056] The second mapping relationship includes: when m is not 0, n is even and m is not less than n / 2, or n is odd and m is not less than (n-1) / 2, the second roundabout lane is the innermost lane of the roundabout (i.e. the circular lane closest to the roundabout side in the roundabout lane).

[0057] The third mapping relationship includes: when m is not 0, n is odd and m is not less than (n-1) / 2, the second roundabout lane is the innermost lane of the roundabout.

[0058] The fourth mapping relationship includes: when m is not 0, when n is even and m is less than n / 2, the n / 2th lane on the right is selected as the candidate lane; when the candidate lane exceeds the second leftmost lane, the second roundabout lane is the second leftmost lane. (Where, the second leftmost lane is the adjacent lane of the innermost lane in the direction away from the center of the roundabout).

[0059] The fifth mapping relationship includes: when m is not 0, when n is odd and m is less than (n-1) / 2, the n / 2th lane on the right is selected as the candidate lane; when the candidate lane exceeds the second left lane, the second roundabout lane is the second left lane; when the candidate lane does not exceed the second left lane, the second roundabout lane is the candidate lane.

[0060] This embodiment ensures the shortest path through the roundabout by pre-determining the second roundabout lane, while also taking into account the lane change path for exiting the roundabout, thus ensuring a reasonable exit route.

[0061] In one embodiment, such as Figure 2 As shown in step 140 above, when the difference between the first speed and the second speed meets a preset condition, the vehicle's driving lane changes from the first roundabout lane to the second roundabout lane, as shown in steps 1410 to 1420:

[0062] Step 1410: Detect obstacles in the first roundabout lane and the second roundabout lane, and determine the lane change speed threshold based on the obstacles.

[0063] Before step S1410, traffic light signals need to be received to determine if the road ahead is not red-lighted, allowing vehicles to proceed. The lane-change speed threshold is determined by obstacle information in both lanes. Vehicles are allowed to change lanes only when the speed between the two lanes exceeds the lane-change speed threshold. It should be noted that when there is an obstacle in the second lane, the second speed is infinitesimally small. In this case, the difference between the first and second speeds is negative, and the difference cannot meet the lane-change speed threshold.

[0064] In one embodiment, determining a lane-changing speed threshold based on obstacles in the first roundabout lane and the second roundabout lane includes: obtaining a preset difference speed; obtaining the preset difference speed; determining the obstacle category of the obstacle; determining a difference coefficient based on the obstacle category; and determining a difference threshold speed based on the difference coefficient and the preset difference speed.

[0065] For a preset difference speed Δv, the difference coefficient is k, and the difference threshold speed is Δv`=k. Δv. The preset speed difference Δv is calculated based on historical traffic conditions. Lane changes within a roundabout are more effective when the speed difference between two lanes exceeds a threshold speed. For example, if the preset speed difference is 10 km / h, the coefficient is 1.5, and the speed difference threshold is 15 km / h, then lane changes within a roundabout will be more effective only when the speeds of both lanes exceed 15 km / h.

[0066] Furthermore, according to some embodiments, the preset differential speed Δv is negatively correlated with the speed of vehicles entering the road. That is, the higher the speed of vehicles entering the road, the smaller the preset differential speed Δv is set, resulting in higher cost-effectiveness for lane changes and higher efficiency in navigating roundabouts. This provides users with appropriate driving reaction time and distance for different road scenarios, facilitating the selection of the correct route and improving the driving experience.

[0067] Specifically, the preset speed difference Δv can be set as the product of the vehicle speed and a preset constant. For example, if the average vehicle speed on a certain section of a highway is 40 km / h and the preset constant is 0.6, then the threshold can be set to 40 × 0.6 = 24 km / h.

[0068] In one embodiment, determining the obstacle category of an obstacle and determining a difference coefficient based on the obstacle category includes: acquiring obstacle information and lane change speed of adjacent lanes within a historical time period; classifying the obstacle information to acquire obstacle information corresponding to the same obstacle category; and determining the difference coefficient based on the obstacle information corresponding to the same obstacle category and the lane change speed.

[0069] This embodiment statistically analyzes the obstacle information and lane-changing speed of adjacent lanes within a historical time period to determine the feasibility of lane changes. For example, statistical data for one historical time period is shown in Table 1.

[0070] Table 1 shows the starting lane as the first roundabout lane and the target lane as the second roundabout lane. Table 1 categorizes obstacles into vehicle information and accident information affecting traffic flow. Vehicle information is further divided into bus / truck information, and accident information is divided into cones and accident vehicles. For vehicle information, when there are vehicles in the first roundabout lane, the need for lane changing increases, reducing the difference coefficient k and making lane changing easier. When there are vehicles in the second roundabout lane but not in the first roundabout lane, the acceleration effect of changing lanes to the second roundabout lane is smaller for the vehicle, increasing the difference coefficient k and making lane changing more difficult. When there are vehicles in both the first and second roundabout lanes, lane changing is normal, and the difference coefficient is 1. For obstacles, when an obstacle is in the first roundabout lane, the need for lane changing increases, greatly reducing the difference coefficient k and making lane changing easier, allowing vehicles to change lanes immediately. When an obstacle is in the second roundabout lane, the need for lane changing remains unchanged.

[0071] Alternatively, the correspondence between the influence factor and the difference coefficient can be found using the Naive Bayes algorithm or a neural network algorithm.

[0072]

[0073] Table 1. Difference coefficient k-value and influencing factors

[0074] Step 1420: When the difference is greater than the lane change speed threshold, determine that the difference meets the preset conditions.

[0075] For example, based on the first speed V1 and the second speed V2, the difference V3 is calculated. When V3 is greater than the lane-changing speed threshold, the vehicle enters the roundabout. If V3 is not greater than the speed threshold, the vehicle remains in the current lane.

[0076] In one embodiment, step 140, determining a third intersection based on the second roundabout lane, where the driving lane changes from the second roundabout lane to the first roundabout lane to allow the vehicle to exit the roundabout, includes: obtaining the correspondence between the number of lane changes and the intersection, and determining the third intersection based on the correspondence; the correspondence includes: selecting the first intersection when the number of lane changes is greater than the first lane change value; selecting the second roundabout intersection when the number of lane changes is less than the first lane change value but greater than the second roundabout lane value; and selecting the third intersection when the number of lane changes is not greater than the second roundabout lane value.

[0077] The more lane changes required, the more intersections require advance lane changes. For example, if the first lane change value is 4 and the second roundabout lane value is 2, when the number of lane changes required to exit the roundabout is greater than 4, the lane change should be initiated at exit b-3; when the number of lane changes required to exit the roundabout is ≤ 4, the lane change should be initiated at exit b-2; and when the number of lane changes required to exit the roundabout is ≤ 2, the lane change should be initiated at exit b-1.

[0078] Figure 3 This is a schematic diagram of a roundabout that enables automated driving in the roundabout according to embodiments of this disclosure, such as... Figure 3 As shown, the roundabout includes four lanes: right lane 1 (4), right lane 2 (3), left lane 2 (2), and left lane 1 (1); the intersections include: intersection 1, intersection 2, intersection 3, intersection 4, intersection 5, intersection 6, intersection 7, intersection 8, and intersection 9. Figure 3 There is also an outer lane leading into the roundabout outside the rightmost lane. Figure 3Not shown. In a specific driving scenario, the vehicle enters from the first intersection, which is intersection 1, and exits from the second intersection (intersection 6 is selected here), so the number of intersections passed is 4. That is, the number of intersections passed, m, is 4, and the total number of lane information, n, is 4. At this time, m is not less than n / 2, and the left lane (i.e., lane (1)) is selected as the second roundabout lane for lane changing. When entering the roundabout, the vehicle enters from the first roundabout lane, which is the right lane (4). Obtain environmental information. When the environmental information meets the lane changing conditions, the vehicle changes lanes from the first roundabout lane to the second roundabout lane. Among them, the environmental information includes: the traffic light is not red, and the speed between adjacent lanes meets the speed lane changing threshold. It should be noted that when changing lanes, vehicles cannot change lanes continuously and need to observe the speed of adjacent lanes at all times. When the vehicle needs to exit the roundabout, it changes from the second roundabout lane to the first roundabout lane. At this time, it needs to change lanes 3 times. The second correspondence is selected to find the 4th intersection, and then the lane change is performed at the 4th intersection. When changing lanes to the right, vehicles have priority in changing lanes, and the lane does not need to observe environmental information at this time. In this embodiment, by accurately and timely obtaining the speed difference between adjacent lanes, lane changes are made in a timely manner based on the speed difference, thereby improving the utilization efficiency of the roundabout and avoiding congested vehicles.

[0079] Compared with related technologies, the embodiments of this application have at least the following advantages:

[0080] This application determines the first intersection, the first roundabout lane, and the second intersection by identifying route information. Based on the first intersection, the first roundabout lane, and the second intersection, it determines the second roundabout lane to enter the roundabout, thus determining the shortest path through the roundabout. Simultaneously, this application uses vehicle speed changes to determine lane-changing conditions and the appropriate timing for changing lanes from the first roundabout lane to the second roundabout lane. This lane-changing improves the efficiency of vehicle passage through the roundabout and reduces traffic conflicts with other vehicles entering and exiting the roundabout. This application also allows for earlier exits at the third intersection of the roundabout, resulting in a smoother driving trajectory that more closely resembles human driving behavior and habits. This improves both the efficiency of lane selection within the roundabout and the user's driving experience.

[0081] like Figure 4 As shown, this application provides an automated driving device 40 for roundabouts, including: a first unit 410, a second unit 420, a third unit 430, a fourth unit 440, and a determining unit 450. The automated driving device 40 for roundabouts specifically includes:

[0082] The first unit 410 is used to determine the first intersection where the vehicle enters the roundabout, the first roundabout lane where the vehicle enters the roundabout, and the second intersection where the vehicle exits the roundabout based on the vehicle's navigation information. The roundabout includes multiple roundabout lanes, which are the circular lanes outside the center circle of the roundabout. The first roundabout is the outermost roundabout lane of the roundabout.

[0083] The second unit 420 is used to obtain the intersection information of the roundabout and determine the second roundabout lane for vehicles to change lanes when driving in the roundabout based on the intersection information.

[0084] The third unit 430 is used to determine the first speed of the vehicle in the first roundabout lane and predict the second speed of the vehicle in the second roundabout lane. The first speed is the real-time speed of the vehicle, and the second speed is the target lane change speed of the vehicle.

[0085] The fourth unit 440 is used to change the vehicle's driving lane from the first roundabout lane to the second roundabout lane when the difference between the first speed and the second speed meets a preset condition, so that the vehicle can enter the roundabout.

[0086] The determining unit 450 is used to determine the third intersection after the vehicle completes the lane change. When the vehicle travels to the third intersection, the driving lane changes from the second roundabout lane to the first roundabout lane, and the vehicle exits the roundabout based on the first roundabout lane.

[0087] Please refer to Figure 5 , Figure 5 This is a schematic diagram of an embodiment of the electronic device of this application.

[0088] The electronic device 100 includes a memory 20, a processor 30, and a computer program 40 stored in the memory 20 and executable on the processor 30. When the processor 30 executes the computer program 40, it implements the steps described in the above-described autonomous driving method embodiment for roundabouts, for example... Figure 1 Steps 110 to 140 as shown; or Figure 2 Steps 1410 to 1420 are shown.

[0089] For example, computer program 40 can also be divided into one or more modules / units, one or more of which are stored in memory 20 and executed by processor 30. One or more modules / units can be a series of computer program instruction segments capable of performing a specific function, the instruction segments describing the execution process of computer program 40 in electronic device 100. For example, it can be divided into the first unit 410, the second unit 420, the third unit 430, and the determining unit 440 shown.

[0090] Those skilled in the art will understand that the schematic diagram is merely an example of the electronic device 100 and does not constitute a limitation on the electronic device 100. It may include more or fewer components than shown, or combine certain components, or different components. For example, the electronic device 100 may also include input / output devices, network access devices, buses, etc.

[0091] Processor 30 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. General-purpose processors can be microprocessors, single-chip microcomputers, or any conventional processor.

[0092] The memory 20 can be used to store computer programs 40 and / or modules / units. The processor 30 implements various functions of the electronic device 100 by running or executing the computer programs and / or modules / units stored in the memory 20 and by calling data stored in the memory 20. The memory 20 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device 100 (such as audio data), etc. In addition, the memory 20 may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, RAM, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other non-volatile solid-state storage device.

[0093] If the modules / units integrated in the electronic device 100 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

Claims

1. An autonomous driving method for a roundabout, characterized in that, Applied to vehicles, including: Based on the vehicle's navigation information, the first intersection where the vehicle enters the roundabout, the first roundabout lane where the vehicle enters the roundabout, and the second intersection where the vehicle exits the roundabout are determined. The roundabout includes multiple roundabout lanes, which are circular lanes outside the center circle of the roundabout, and the first roundabout lane is the outermost roundabout lane of the roundabout. Obtain the intersection information of the roundabout, and determine the second roundabout lane for the vehicle to change lanes when driving in the roundabout based on the intersection information of the roundabout; Determine a first speed of the vehicle in the first roundabout lane, and predict a second speed of the vehicle in the second roundabout lane, wherein the first speed is the real-time speed of the vehicle, and the second speed is the target lane-changing speed of the vehicle; When the difference between the first speed and the second speed meets a preset condition, the vehicle's driving lane is changed from the first roundabout lane to the second roundabout lane, so that the vehicle can enter the roundabout; After the vehicle completes the lane change, a third intersection is determined. When the vehicle reaches the third intersection, the driving lane is changed from the second roundabout lane to the first roundabout lane, and the vehicle exits the roundabout based on the first roundabout lane. The determination of the third intersection includes: The number of lane changes by which the vehicle exits the roundabout is determined based on the first roundabout lane and the second roundabout lane; The third intersection is determined based on the number of lane changes and lane information.

2. The method according to claim 1, characterized in that, The step of obtaining the intersection information of the roundabout and determining the second roundabout lane for the vehicle to change lanes when traveling in the roundabout based on the intersection information includes: Determine the number of intersections m from the first intersection to the second intersection and the total number of intersections n in the roundabout; When m is not 0, n is even and m is not less than n / 2, or when m is not 0, n is odd and m is not less than (n-1) / 2, the second roundabout lane is the innermost lane of the roundabout lane, and the innermost lane is the circular lane of the roundabout lane closest to the roundabout. When m is not 0, n is even and m is less than n / 2, or when m is not 0, n is odd and m is less than (n-1) / 2, the n / 2th lane of the roundabout lanes is selected as the candidate lane from the direction of the outer edge close to the center point of the roundabout. When the candidate lane is the innermost lane, the second roundabout lane is the adjacent lane of the innermost lane in the direction away from the center of the roundabout; When the candidate lane is not the innermost lane, the second roundabout lane becomes the candidate lane.

3. The method according to claim 1, characterized in that, When the difference between the first speed and the second speed meets a preset condition, the vehicle's driving lane is changed from the first roundabout lane to the second roundabout lane, including: Detect obstacles in the first roundabout lane and the second roundabout lane, and determine the lane change speed threshold based on the obstacles; When the difference is greater than the lane change speed threshold, it is determined that the difference meets the preset condition.

4. The method according to claim 3, characterized in that, Determining the lane change speed threshold based on the obstacle includes: Speed ​​at which preset difference is obtained; Determine the obstacle category of the obstacle, and determine the difference coefficient based on the obstacle category; The difference threshold speed is determined based on the difference coefficient and the preset difference speed.

5. The method according to claim 4, characterized in that, The process of determining the obstacle category and the difference coefficient based on the obstacle category includes: Obtain obstacle information and lane change speed of adjacent lanes within a historical time period; The obstacle information is classified to obtain obstacle information corresponding to the same obstacle category; The difference coefficient is determined based on the obstacle information corresponding to the same obstacle category and the lane change speed.

6. The method according to claim 1, characterized in that, Determining the third intersection based on the number of lane changes and the lane information includes: Obtain the correspondence between the number of lane changes and the intersections where lanes change, and determine the third intersection based on the correspondence; The corresponding relationship includes: when the number of lane changes is greater than the first lane change value, a first lane change intersection is selected; when the number of lane changes is less than the first lane change value but greater than the second roundabout lane value, a second roundabout lane intersection is selected; when the number of lane changes is not greater than the second roundabout lane value, a third lane change intersection is selected.

7. An automated driving device for a roundabout, characterized in that, include: The first unit is used to determine, based on the vehicle's navigation information, the first intersection where the vehicle enters the roundabout, the first roundabout lane where the vehicle enters the roundabout, and the second intersection where the vehicle exits the roundabout. The roundabout includes multiple roundabout lanes, which are circular lanes outside the center circle of the roundabout. The first roundabout is the outermost roundabout lane of the roundabout. The second unit is used to obtain the intersection information of the roundabout and determine the second roundabout lane for the vehicle to change lanes when driving in the roundabout based on the intersection information of the roundabout. The third unit is used to determine the first speed of the vehicle in the first roundabout lane and predict the second speed of the vehicle in the second roundabout lane, wherein the first speed is the real-time speed of the vehicle and the second speed is the target lane-changing speed of the vehicle. The fourth unit is used to change the vehicle's driving lane from the first roundabout lane to the second roundabout lane when the difference between the first speed and the second speed meets a preset condition, so that the vehicle can enter the roundabout; The determining unit is used to determine a third intersection after the vehicle completes the lane change. When the vehicle travels to the third intersection, the driving lane is changed from the second roundabout lane to the first roundabout lane, and the vehicle exits the roundabout based on the first roundabout lane. The determination of the third intersection includes: The number of lane changes by which the vehicle exits the roundabout is determined based on the first roundabout lane and the second roundabout lane; The third intersection is determined based on the number of lane changes and lane information.

8. An electronic device, the electronic device comprising a processor and a memory, characterized in that, The memory is used to store instructions, and the processor is used to call the instructions in the memory to cause the electronic device to execute the roundabout autonomous driving method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed on the vehicle, cause the vehicle to perform the roundabout autonomous driving method as described in any one of claims 1 to 6.

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