A vehicle merging method, system, electronic device and computer-readable medium

Abstract

The present invention relates to the field of computer technology, and more specifically, to a vehicle merging method, system, electronic device and computer-readable medium; wherein the vehicle merging method comprises the following steps: obtaining the position of the center line of the vehicle's own lane; sequentially collecting a plurality of longitudinal points from near to far along the center line of the lane, and simultaneously collecting a plurality of lateral points sequentially in the lateral direction along the longitudinal points, and collecting the longitudinal points and the lateral points at a fixed distance interval; judging whether it is in a merging scenario according to the change in the number of longitudinal points collected in two adjacent times; sequentially assigning consecutive lane numbers to the lateral points and confirming the merging point; determining the merging direction according to the merging point; and performing a merging operation according to the merging direction. The present invention uses relatively stable road features to judge the merging scenario and the merging direction, gets rid of the dependence on the behavior of the vehicle itself, and avoids misjudgment caused by abnormal behaviors such as vehicle own sensor failures or being interfered, and unstable vehicle driving.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and particularly to fields such as autonomous driving and intelligent transportation. More specifically, it relates to a vehicle merging method, system, electronic device, and computer-readable medium. Background Art

[0002] In the actual application of autonomous driving, vehicles mainly rely on navigation systems to determine their own positions and driving routes. However, when vehicles enter complex intersection environments, the positioning errors existing in navigation systems make it difficult to ensure the accuracy of the lane positions of vehicles in navigation. In addition, the vehicle's own sensors may be interfered with, the vehicle may drive unstably, and the traffic conditions at intersections are complex and changeable, such as the existence of irregular lane shapes, temporary traffic control, etc. These factors make it impossible to effectively confirm whether the lane is in a merging scenario and the merging direction that the vehicle should take solely based on navigation information.

[0003] Based on this, in order to improve the safety and reliability of autonomous driving, there is an urgent need for a new solution that can get rid of the dependence on the behavior of the vehicle itself and instead use relatively stable and easily obtainable road features such as lane lines and lane centerlines to accurately determine the current merging scenario and merging direction, thereby further improving the intelligence level of the vehicle, traffic efficiency, and safety. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies of the existing navigation system having certain errors and being unable to confirm whether the lane is in a merging scenario and unable to judge the merging direction that the vehicle should take, and to provide a vehicle merging method that uses relatively stable road features to judge the merging scenario and merging direction, gets rid of the dependence on the behavior of the vehicle itself, and avoids misjudgments caused by abnormal behaviors such as vehicle's own sensor failures or being interfered with and the vehicle driving unstably, further improving the intelligence level of the vehicle, traffic efficiency, and safety.

[0005] To solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A vehicle merging method includes the following steps:

[0007] S1: Obtain the position of the centerline of the vehicle's own lane;

[0008] S2: Set equal distances longitudinally along the centerline of the lane and sequentially collect a number of longitudinal points from near to far, and at the same time, collect a number of transverse points according to the lane width along the longitudinal points, and collect the longitudinal points and transverse points every fixed distance.

[0009] S3: Determine whether it is in a merging scenario based on the change in the number of longitudinally sampled points in two adjacent samplings. If so, proceed to step S4; otherwise, return to step S2.

[0010] S4: Assign consecutive lane numbers to the lateral points in the order from left to right and confirm the merging point.

[0011] S5: Determine the merging direction based on the merging point.

[0012] S6: Perform the merging operation according to the merging direction.

[0013] Regarding the vehicle merging method of the present invention, in view of the problem that there are certain positioning errors in the navigation system and it is no longer possible to effectively confirm whether the lane is in a merging scenario and the merging direction that the vehicle should take solely relying on navigation information, the relatively stable road features are used to judge the merging scenario and the merging direction. That is, a number of longitudinal points are sampled longitudinally and a number of lateral points are sampled transversely on the lane centerline. The merging scenario is detected based on the change in the number of longitudinally sampled points in two adjacent samplings. Consecutive lane numbers are assigned to the lanes in the order from left to right laterally, and then the merging point is confirmed. The merging direction is determined based on the merging point, and the road features are used to determine the merging method, getting rid of the dependence on the behavior of the host vehicle, avoiding misjudgment caused by abnormal behaviors such as sensor failures or interference of the vehicle itself, and unstable vehicle driving, further improving the intelligent level of the vehicle, traffic efficiency, and safety. The so-called behavior of the host vehicle here refers to the dynamic decisions and actions generated by an autonomous vehicle based on real-time perception data, such as positioning, sensor information, and the navigation system, specifically including: ① Path planning: generating a local path based on positioning errors, such as calculating the lane-changing trajectory; ② Motion control: the coordinated control commands in the lateral direction (obtained through the steering wheel angle) and the longitudinal direction (obtained through the throttle / brake); ③ Intention inference: the real-time judgment of the vehicle's own driving goals, such as merging and going straight.

[0014] Preferably, the specific operation for judging whether it is in a merging scenario in step S3 is as follows: According to the number of longitudinally sampled points in two adjacent samplings, if the number of longitudinally sampled points in the later sampling is less than that in the previous sampling, it is judged to be in a merging scenario; if the number of longitudinally sampled points in two adjacent samplings is equal, it is judged not to be in a merging scenario.

[0015] Preferably, the confirmation of the merging point is specifically operated as follows: Count the number of longitudinally sampled points in each lane, and confirm the column where the merging point is located as the lane where the number of longitudinally sampled points beside the host vehicle is greater than the number of longitudinally sampled points where the host vehicle is located; count the number of lateral points in each row, and confirm the row where the merging point is located as the row where the number of lateral points closest to the host vehicle decreases; then the intersection of the column where the merging point is located and the row where the merging point is located is the merging point.

[0016] Preferably, in step S5, the merging direction is determined by obtaining the lane number where the vehicle is located and the lane number where the merging point is located.

[0017] Preferably, the specific operation of determining the merging direction in step S5 is as follows:

[0018] If the lane number of the vehicle is less than the lane number of the merging point, the merging direction is to the right, and the vehicle should perform a right merging operation in step S6; if the lane number of the vehicle is greater than the lane number of the merging point, the merging direction is to the left, and the vehicle should perform a left merging operation in step S6.

[0019] Preferably, in step S6, first determine whether the lane in the merging direction has the conditions for safe merging. If it does, issue a merging instruction to guide the vehicle to complete the merging action smoothly. If the lane in the merging direction does not have the conditions for safe merging, issue a deceleration instruction until the lane in the merging direction has the conditions for safe merging, and then issue a merging instruction.

[0020] Preferably, use on-vehicle sensors to comprehensively and real-time monitor and analyze the driving state, speed, safety distance from the vehicle itself, and the presence of obstacles in the lane where merging is required. If all meet the lane-changing requirements, it is considered to have the conditions for safe merging; if any one does not meet, it is considered not to have the conditions for safe merging.

[0021] The present invention also provides a vehicle merging system applied to the vehicle merging method as described above. The merging system includes:

[0022] An acquisition unit that obtains the position of the lane center line and acquires longitudinal point and lateral point information, and vehicle own information;

[0023] A receiving unit for receiving the information of the acquisition unit;

[0024] A transmission unit for transmitting the information of the acquisition unit to the receiving unit;

[0025] A control unit for controlling the acquisition unit and controlling the operation of the vehicle according to the information of the receiving unit;

[0026] The acquisition unit is communicatively connected to the receiving unit through the transmission unit, and both the acquisition unit and the receiving unit are communicatively connected to the control unit.

[0027] The vehicle merging system of the present invention collects the inherent features of road infrastructure and determines whether there is a merging scenario, and determines the merging direction when in a merging scenario, without relying on high-precision maps or complex external auxiliary devices, effectively reducing the hardware cost of the system and the degree of dependence on specific environments, having excellent universality and adaptability, and being able to be widely applied to various different road scenarios and intersection conditions, providing a strong guarantee for the safe driving of autonomous vehicles in complex road conditions.

[0028] The present invention also provides an electronic device, including a processor and a memory, where the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps in the above method are run.

[0029] The present invention also provides a computer-readable medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps in the above method are run.

[0030] Compared with the prior art, the beneficial effects of the present invention are:

[0031] 1. For the problem that there are certain positioning errors in the navigation system and it is no longer possible to effectively confirm whether the lane is in a merging scenario and the merging direction that the vehicle should take simply relying on navigation information, the vehicle merging method of the present invention uses relatively stable road features to judge the merging scenario and the merging direction, that is, it collects a number of longitudinal points and transverse points on the longitudinal direction of the lane center line, detects the merging scenario according to the change in the number of longitudinal points, assigns continuous lane numbers to the lanes according to the lane order from left to right in the transverse direction, and then confirms the merging point, the lane number of the lane where the vehicle is located, and the lane number where the merging point is located to determine the merging direction, uses in-vehicle sensors to ensure that the lane in the merging direction meets the conditions for safe merging, and then issues a merging instruction to complete the merging action, getting rid of the dependence on the vehicle's own behavior, avoiding misjudgment caused by abnormal behaviors such as vehicle own sensor failures or being interfered, and unstable vehicle driving, further improving the intelligent level of the vehicle, traffic efficiency and safety;

[0032] 2. The present invention only relies on the inherent features of road infrastructure such as lane lines and lane center lines to judge merging, without relying on high-precision maps or complex external auxiliary devices, effectively reducing the hardware cost of the system and the degree of dependence on specific environments, having excellent universality and adaptability, and being able to be widely applied to various different road scenarios and intersection conditions, providing a strong guarantee for the safe driving of autonomous vehicles in complex road conditions;

[0033] 3. Through the safety detection mechanism, the present invention strictly detects and evaluates the safety conditions of the left or right lane, ensuring that there is no risk of collision with the vehicles in the left or right lane, and there is sufficient space and a suitable actual situation to complete the operation of merging left or right, thereby ensuring the safety and stability of the entire merging process. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a flowchart of a vehicle merging method of the present invention.

[0035] Figure 2 It is a schematic diagram when three lanes merge into two lanes in Example 1 of the present invention.

[0036] Figure 3 It is a schematic diagram when four lanes merge into three lanes in Example 2 of the present invention.

[0037] Figure 4 It is a schematic diagram when merging at a complex intersection in Example 3 of the present invention.

[0038] Among them, 1 represents the position of the vehicle itself, and 2 represents the position of the merging point. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0040] Embodiment 1

[0041] This embodiment is an embodiment of a vehicle merging method. As Figure 1 shown, it includes the following steps:

[0042] S1: Obtain the position of the center line of the lane where the vehicle is located;

[0043] Obtain the position of the center line of the lane through sensors, including: through on-vehicle vision sensors and lidar and other devices, capture the geometric features of the road in real time, accurately extract and locate the center line of the lane, so as to accurately identify and obtain the center line positions of each lane, and provide reliable basic data. The road infrastructure is an inherent feature, without the need to rely on high-precision maps or complex external assistance, getting rid of the interference caused by factors such as inaccurate vehicle positioning and fluctuating driving trajectories to the merging judgment, and greatly improving the accuracy and reliability of the merging scenario detection.

[0044] The self-vehicle behavior referred to here means the dynamic decisions and actions made by an autonomous vehicle based on real-time perception data, such as positioning, sensor information, and the navigation system. Specifically, it includes: ① Path planning: generating local paths based on positioning errors, such as calculating lane-changing trajectories; ② Motion control: collaborative control instructions for lateral (known through the steering wheel angle) and longitudinal (known through the throttle / brake); ③ Intention inference: real-time judgment of its own driving goals, such as merging and going straight.

[0045] S2: Along the centerline of the lane, set equal distances longitudinally and collect several longitudinal points from near to far in sequence. At the same time, along the longitudinal points, collect several transverse points according to the lane width transversely, and perform the collection of longitudinal points and transverse points every fixed distance.

[0046] Taking the current position of the self-vehicle as the starting point, within a range of 30 meters, perform point collection operations every 5 meters along the centerline of the lane in the longitudinal direction. Regarding the processing of the transverse interval, set a threshold range based on the actual road width and common lane layouts. For example, on a standard urban road, the transverse interval threshold can be set within a certain reasonable range (such as 0.5 meters to 1.5 meters) to filter out the messy and overlapping centerline data caused by sensor errors or complex road conditions, ensuring that the collected point data has good accuracy and scene generalization ability and can adapt to different types of road conditions. Within the knowledge scope of those skilled in the art, the interval distance between two adjacent longitudinal point collections, as well as the interval distance between two adjacent transverse point collections, can be flexibly set according to actual needs, and the collection range can also be flexibly set according to the performance of the sensor.

[0047] Save all the collected points in an orderly manner in a specially designed map data structure according to their longitudinal position information. In this map structure, use the longitudinal position as the key, and the corresponding value is a set containing all the points with the same longitudinal position. Such a storage method facilitates subsequent rapid querying and processing of data related to the longitudinal position.

[0048] S3: Judge whether it is in a merging scenario based on the change in the number of longitudinally collected points in two adjacent collections. If so, enter step S4; if not, return to step S2.

[0049] The judgment of the merging scenario is as follows:

[0050] Based on the number of longitudinally collected points in two adjacent collections, if the number of longitudinally collected points in the latter collection is less than that in the previous collection, it is judged to be in a merging scenario; if the number of longitudinally collected points in two adjacent collections is equal, it is judged not to be in a merging scenario.

[0051] Starting from the longitudinal position of the host vehicle, traverse line by line upward along the map data structure. During the traversal, carefully count the number of points contained in each longitudinal position, and compare the number of points at the current longitudinal position with the number of points at the previously collected longitudinal position and the number of points at the longitudinal position collected two times before in real time. Once it is found that there is an inconsistency in that the number of points at the current longitudinal position is less than the number of points at the previously collected longitudinal position, it is preliminarily considered that the vehicle is in a merging scenario. This is based on the principle that the reduction in the number of lanes during the merging process will cause a corresponding reduction in the number of points at the corresponding longitudinal position on the lane center line. In this way, the occurrence of the merging scenario can be captured more accurately.

[0052] S4: Assign consecutive lane numbers to the lateral points in order from left to right and confirm the merging point;

[0053] The lateral points and longitudinal points collected in the previous steps form a matrix. Within the range of the entire matrix, assign consecutive lane numbers to the lateral points in order from left to right;

[0054] For the set of points with the same longitudinal position stored in the map data structure, assign consecutive numbers (1, 2,...) in order from left to right. During the numbering process, determine their order from left to right by comparing the lateral coordinate values of the points, and establish a close association between the numbers and the actual coordinate information of the points, so that the position information and number information of the points can be quickly and accurately obtained during the subsequent merging judgment process, providing strong support for the judgment of the merging direction.

[0055] The confirmation of the merging point is as follows:

[0056] Count the number of longitudinal points in each lane. The lane where the number of longitudinal points beside the host vehicle is greater than the number of longitudinal points where the host vehicle is located is confirmed as the column where the merging point is located; count the number of lateral points in each row, and the row where the number of lateral points closest to the host vehicle decreases is confirmed as the row where the merging point is located; then the intersection of the column where the merging point is located and the row where the merging point is located is the merging point

[0057] S5: Determine the merging direction according to the merging point;

[0058] Specifically, determine the merging direction by obtaining the lane number of the position where the host vehicle is located and the lane number of the merging point:

[0059] If the lane number of the host vehicle is less than the lane number of the merging point, the merging direction is to the right, and the vehicle should perform a merging operation to the right in step S6; if the lane number of the host vehicle is greater than the lane number of the merging point, the merging direction is to the left, and the vehicle should perform a merging operation to the left in step S6;

[0060] S6: Perform a merging operation according to the merging direction;

[0061] First, determine whether the lane in the confluence direction meets the safe confluence condition. If it does, issue a confluence command to guide the vehicle to complete the confluence action smoothly. If the lane in the confluence direction does not meet the safe confluence condition, issue a deceleration command until the confluence direction meets the safe confluence condition, and then issue a confluence command;

[0062] The judgment of whether it meets the safe confluence condition is as follows:

[0063] Use on-vehicle sensors to comprehensively and real-time monitor and analyze the driving state, speed, safe distance from the own vehicle, and the presence of obstacles of the vehicles in the lane that needs to confluence. If all can meet the lane-changing requirements, it is considered to meet the safe confluence condition; if any one does not meet, it is considered not to meet the safe confluence condition.

[0064] In this system model, assume The moment is the moment when the vehicle preparing to change lanes (Agent) makes a lane-changing decision, The horizontal speed of the vehicle preparing to change lanes at the moment is The longitudinal speed of the vehicle preparing to change lanes is The estimated lane-changing time is The horizontal distance from the target lane is The longitudinal distances of the vehicle preparing to change lanes from the vehicle behind and the vehicle in front in the target lane are respectively and The longitudinal speeds of the vehicle behind and the vehicle in front in the target lane are respectively and . Then the condition that the vehicle preparing to change lanes just does not collide with the vehicle behind can be expressed as the following formula:

[0065] ,

[0066] ,

[0067] In addition, the condition that the vehicle preparing to change lanes just does not collide with the vehicle in front can be expressed as the following formula:

[0068] ,

[0069] When both of the above two conditions are met, the vehicle lane-changing will not collide with the vehicles in front and behind in the target lane, that is, it meets the lane-changing requirements and is considered to meet the safe confluence condition.

[0070] The specific example of vehicle confluence is as follows:

[0071] Example 1: Three lanes confluence into two lanes

[0072] Such as Figure 2As shown in the figure, 1 represents the position of the vehicle itself, and 2 represents the position of the merging point. Suppose there are three lanes on a section of highway, and the vehicle itself is located in the leftmost lane (the lane number of the vehicle itself is 1). After obtaining the center line of the lane and numbering the sampling points, by traversing the map data structure upward, it is found that the number of points at a certain longitudinal position is less than before, determining that it is in a merging scenario. After further confirming the merging point, it is found that the lane number of the merging point is 2. Since the lane number 1 of the position where the vehicle itself is located is less than the lane number 2 of the merging point, according to the rule, the vehicle should merge to the right, that is, merge from the leftmost lane to the middle lane.

[0073] Example 2: Four lanes merge into three lanes

[0074] As Figure 3 shown, 1 represents the position of the vehicle itself, and 2 represents the position of the merging point. In a merging area of an urban expressway, the vehicle itself was originally driving in the rightmost lane (the lane number of the vehicle itself is 4). After obtaining the center line information of the lane and processing it according to the method, a merging situation is detected, and the determined lane number of the merging point is 3. At this time, the lane number 4 of the position where the vehicle itself is located is greater than the lane number 3 of the merging point, so the vehicle should merge to the left, that is, perform a merging operation from the rightmost lane to the middle lane to successfully complete the lane merge.

[0075] Example 3: Merging at a complex intersection

[0076] As Figure 4 shown, 1 represents the position of the vehicle itself, and 2 represents the position of the merging point. At an intersection with five lanes and an irregular shape, the center line of the lane has a certain degree of curvature. The vehicle itself is located in the middle lane (the lane number of the vehicle itself is 3). After sampling, numbering the center line of the lane and analyzing the map data, it is determined that a merging scenario occurs. The found lane number of the merging point is 4, and the lane number 3 of the position where the vehicle itself is located is less than the lane number 4 of the merging point, which means that the vehicle needs to merge to the right and drive in the direction of the adjacent lane on the right. At the same time, the autonomous driving system will ensure the safety of the merge according to the surrounding vehicles and obstacles.

[0077] Embodiment 2

[0078] This embodiment is an embodiment of a vehicle merging system, which is applied to the vehicle merging method as above. The merging system includes:

[0079] A collection unit that obtains the position of the center line of the lane and collects longitudinal and lateral point information and vehicle own information;

[0080] A receiving unit for receiving the information of the collection unit;

[0081] A transmission unit for transmitting the information of the collection unit to the receiving unit;

[0082] A control unit for controlling the acquisition unit and controlling the operation of the vehicle according to the information of the receiving unit;

[0083] The acquisition unit is communicatively connected to the receiving unit through the transmission unit, and both the acquisition unit and the receiving unit are communicatively connected to the control unit.

[0084] The vehicle merging system of the present invention collects the inherent characteristics of road infrastructure and determines whether there is a merging scenario, and determines the merging direction in the merging scenario. Without relying on high-precision maps or complex external auxiliary devices, it effectively reduces the hardware cost of the system and the dependence on specific environments, has excellent universality and adaptability, and can be widely applied to various different road scenarios and intersection conditions, providing a strong guarantee for the safe driving of autonomous vehicles in complex road conditions.

[0085] Embodiment III

[0086] This embodiment is an embodiment of an electronic device, including a processor and a memory. The memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the steps in the above method are run.

[0087] The electronic device in this embodiment may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Tablet Computers), PMPs (Portable Multimedia Players), in-vehicle terminals (such as in-vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc.

[0088] Embodiment IV

[0089] This embodiment is a computer-readable medium on which a computer program is stored. When the computer program is executed by a processor, the steps in the above method are run.

[0090] The computer-readable medium in this embodiment may be a tangible medium that may contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The computer-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. More specific examples of the computer-readable medium would include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0091] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limitations on the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation manners here. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. A vehicle merging method, characterized in that, It includes the following steps: S1: Obtain the position of the center line of the own vehicle's lane; S2: Set equal distances longitudinally along the center line of the lane, and sequentially collect a number of longitudinal points from near to far. At the same time, collect a number of transverse points according to the lane width along the longitudinal points, and collect longitudinal points and transverse points at regular intervals; S3: Determine whether it is in a merging scenario based on the change in the number of longitudinally collected points in two adjacent collections. If so, proceed to step S4; if not, return to step S2; The specific operation for determining whether it is in a merging scenario is as follows: Based on the number of longitudinally collected points in two adjacent collections, if the number of longitudinally collected points in the latter collection is less than that in the former collection, it is determined to be in a merging scenario; if the number of longitudinally collected points in two adjacent collections is equal, it is determined not to be in a merging scenario; S4: Assign consecutive lane numbers to the transverse points in order from left to right and confirm the merging point; The specific operation for confirming the merging point is as follows: Count the number of longitudinal points in each lane. The lane with the number of longitudinal points beside the own vehicle greater than the number of longitudinal points where the own vehicle is located is confirmed as the column where the merging point is located; Count the number of transverse points in each row. The row where the number of transverse points closest to the own vehicle decreases is confirmed as the row where the merging point is located; Then the intersection of the column where the merging point is located and the row where the merging point is located is the merging point; S5: Determine the merging direction based on the merging point. By obtaining the lane number of the position where the own vehicle is located and the lane number of the merging point, determine the merging direction; S6: Perform a merging operation according to the merging direction.

2. The vehicle merging method according to claim 1, wherein The specific operation for determining the merging direction in step S5 is as follows: If the lane number of the own vehicle is less than the lane number of the merging point, the merging direction is to the right, and the vehicle should perform a right merging operation in step S6; if the lane number of the own vehicle is greater than the lane number of the merging point, the merging direction is to the left, and the vehicle should perform a left merging operation in step S6.

3. The vehicle merging method according to claim 1, wherein In step S6, first determine whether the lane in the merging direction has the condition for safe merging. If it does, issue a merging instruction to guide the vehicle to smoothly complete the merging action. If the lane in the merging direction does not have the condition for safe merging, issue a deceleration instruction until the lane in the merging direction has the condition for safe merging, and then issue a merging instruction.

4. The vehicle merging method according to claim 3, wherein Use on-vehicle sensors to comprehensively and real-time monitor and analyze the driving state, speed, safety distance from the own vehicle, and the presence of obstacles of the vehicles in the lanes that need to merge. If all can meet the lane-changing requirements, it is considered to have the condition for safe merging; if any one does not meet, it is considered not to have the condition for safe merging.

5. A vehicle merging system, characterized in that, Applied to the vehicle merging method described in any one of claims 1 to 4, the merging system includes: A collection unit that obtains the position of the center line of the lane and collects longitudinal point and transverse point information, and vehicle own information; A receiving unit for receiving the information of the collection unit; A transmission unit for transmitting the information of the collection unit to the receiving unit; A control unit for controlling the collection unit and controlling the operation of the vehicle according to the information of the receiving unit; The acquisition unit is communicatively connected to the receiving unit through the transmission unit, and both the acquisition unit and the receiving unit are communicatively connected to the control unit.

6. An electronic device, characterized in that, It includes a processor and a memory, and the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the steps in the method according to any one of claims 1 to 4 are run.

7. A computer-readable medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps in the method according to any one of claims 1 to 4 are run.

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