Vehicle control method and device, vehicle and storage medium

Abstract

The invention relates to a vehicle control method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining the road topological relation information and diversion line position information of a vehicle collection road section and the position information of a target vehicle in the vehicle collection road section in a ramp vehicle collection scene; determining the driving intention of the target vehicle according to the road topological relation information, the diversion line position information and the position information of the target vehicle; controlling the current vehicle to run according to the running intention of the target vehicle; by fusing the road topological relation information, the diversion line position information and the position information of the target vehicle, the system can more accurately judge the driving intention of the target vehicle, and the reliability and robustness of the system are enhanced; the current vehicle can be controlled to run according to the running intention of the target vehicle, the current vehicle can intelligently adjust the running speed and path, unnecessary speed reduction or parking is avoided, the overall traffic efficiency is improved, and running safety and comfort are ensured.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a vehicle control method, a device, a vehicle and a storage medium. Background Art

[0002] The ramp scene is a common bottleneck area in urban traffic, with frequent traffic congestion and traffic accidents. This is mainly because vehicles in the ramp scene area often need to accelerate, decelerate, change lanes and merge, and the driver's behavior is easily affected by many factors, which leads to increased traffic hazards. In order to solve this problem, the existing technology predicts the movement trajectory of vehicles in the ramp merging area, but does not mention the prediction of vehicle driving behavior intentions in different specific scenarios, which reduces driving efficiency. Summary of the invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide a vehicle control method, device, vehicle and storage medium that overcome the above problems or at least partially solve the above problems.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] In order to solve the above problems, in a first aspect, an embodiment of the present invention discloses a vehicle control method, comprising:

[0006] In the case of a ramp merging scene, obtaining road topology relationship information and guide line position information of the merging section and position information of the target vehicle in the merging section;

[0007] Determining the driving intention of the target vehicle according to the road topology relationship information, the guide line position information and the position information of the target vehicle;

[0008] The current vehicle is controlled to travel according to the driving intention of the target vehicle.

[0009] Optionally, determining the driving intention of the target vehicle according to the road topology relationship information, the guide line position information and the position information of the target vehicle includes:

[0010] When it is determined that the target vehicle merges into the main road from the ramp according to the road topology relationship information, the guide line position information and the position information of the target vehicle, determining whether the map of the current vehicle covers the ramp where the target vehicle is located;

[0011] If the map of the current vehicle covers the ramp where the target vehicle is located, determining that the driving intention of the target vehicle is a cut-in intention;

[0012] If the map of the current vehicle does not cover the ramp where the target vehicle is located, it is determined that the driving intention of the target vehicle is a merging intention.

[0013] Optionally, determining the driving intention of the target vehicle according to the road topology relationship information, the guide line position information and the position information of the target vehicle includes:

[0014] When it is determined that the target vehicle is located on the main road according to the road topology relationship information, the guide line position information and the position information of the target vehicle, a first time required for the current vehicle to reach the confluence point and a second time required for the target vehicle to reach the confluence point are obtained;

[0015] Determine whether the time difference between the first time and the second time is less than a preset value;

[0016] If the time difference is less than the preset value, it is determined that the driving intention of the target vehicle is a merging intention.

[0017] Optionally, determining the driving intention of the target vehicle according to the road topology relationship information, the guide line position information and the position information of the target vehicle includes:

[0018] When it is determined that the target vehicle is traveling on a ramp and in an adjacent lane of the current vehicle based on the road topology relationship information, the guide line position information and the position information of the target vehicle, the front direction and lateral speed of the target vehicle are obtained;

[0019] Determining whether the target vehicle is approaching the current vehicle according to the front direction and lateral speed of the target vehicle;

[0020] If the target vehicle approaches the current vehicle, it is determined that the driving intention of the target vehicle is a cutting-in intention.

[0021] Optionally, determining the driving intention of the target vehicle according to the road topology relationship information, the guide line position information and the position information of the target vehicle includes:

[0022] When it is determined that the target vehicle is driving into the ramp from the main road according to the road topology relationship information, the guide line position information and the position information of the target vehicle, the front direction and lateral speed of the target vehicle are obtained;

[0023] Determining whether the target vehicle is approaching the current vehicle according to the front direction and lateral speed of the target vehicle;

[0024] If the target vehicle approaches the current vehicle, it is determined that the driving intention of the target vehicle is a cutting-in intention.

[0025] Optionally, determining the driving intention of the target vehicle according to the road topology relationship information, the guide line position information and the position information of the target vehicle includes:

[0026] When it is determined that the target vehicle and the current vehicle are traveling in the same lane according to the road topology relationship information, the guide line position information and the position information of the target vehicle, the driving acceleration of the target vehicle is obtained;

[0027] It is determined whether the driving acceleration is greater than a preset value. If the driving acceleration is greater than the preset value, it is determined that the driving intention of the target vehicle is an accelerating driving intention.

[0028] Optionally, determining the driving intention of the target vehicle according to the road topology relationship information, the guide line position information and the position information of the target vehicle includes:

[0029] When it is determined that the target vehicle has entered the ramp according to the road topology relationship information, the guide line position information and the position information of the target vehicle, determining whether there is a ramp at a preset distance in front of the target vehicle;

[0030] If there is no ramp within a preset distance in front of the target vehicle, it is determined that the driving intention of the target vehicle is to drive on the ramp.

[0031] In a second aspect, the present invention discloses a vehicle control device, comprising:

[0032] An acquisition module is used to acquire the road topology relationship information and the guide line position information of the merging section and the position information of the target vehicle in the merging section in the case of a merging ramp scene;

[0033] A determination module, used to determine the driving intention of the target vehicle according to the road topology relationship information, the guide line position information and the position information of the target vehicle;

[0034] The control module is used to control the driving of the current vehicle according to the driving intention of the target vehicle.

[0035] Optionally, the determining module includes:

[0036] A first determination submodule is used to determine whether the map of the current vehicle covers the ramp where the target vehicle is located when it is determined that the target vehicle merges into the main road from the ramp according to the road topology relationship information, the guide line position information and the position information of the target vehicle;

[0037] A first intention determination submodule, configured to determine that the driving intention of the target vehicle is a cut-in intention if the map of the current vehicle covers the ramp where the target vehicle is located;

[0038] The second intention determination submodule is used to determine that the driving intention of the target vehicle is a merging intention if the map of the current vehicle does not cover the ramp where the target vehicle is located.

[0039] Optionally, the determining module includes:

[0040] A first acquisition submodule is used to acquire a first time required for the current vehicle to reach a confluence point and a second time required for the target vehicle to reach the confluence point when it is determined that the target vehicle is located on a main road according to the road topology relationship information, the guide line position information and the position information of the target vehicle;

[0041] A first judgment submodule, used to judge whether the time difference between the first time and the second time is less than a preset value;

[0042] The second determination submodule is configured to determine that the driving intention of the target vehicle is a merging intention if the time difference is less than the preset value.

[0043] Optionally, the determining module includes:

[0044] A second acquisition submodule is used to determine that the target vehicle is traveling on a ramp and in an adjacent lane of the current vehicle based on the road topology relationship information, the guide line position information and the position information of the target vehicle, and to acquire the head direction and lateral speed of the target vehicle;

[0045] A third determination submodule, configured to determine whether the target vehicle is approaching the current vehicle according to the front direction and lateral speed of the target vehicle;

[0046] The third intention determination submodule is used to determine that the driving intention of the target vehicle is a cut-in intention if the target vehicle approaches the current vehicle.

[0047] Optionally, the determining module includes:

[0048] The third acquisition submodule is used to determine that the target vehicle enters the ramp from the main road according to the road topology relationship information, the guide line position information and the position information of the target vehicle, and to acquire the front direction and lateral speed of the target vehicle;

[0049] A fourth determination submodule, configured to determine whether the target vehicle is approaching the current vehicle according to the front direction and lateral speed of the target vehicle;

[0050] The fourth intention determination submodule is used to determine that the driving intention of the target vehicle is a cut-in intention if the target vehicle approaches the current vehicle.

[0051] Optionally, the determining module includes:

[0052] A fourth acquisition submodule is used to acquire the driving acceleration of the target vehicle when it is determined that the target vehicle and the current vehicle are traveling in the same lane line according to the road topology relationship information, the guide line position information and the position information of the target vehicle;

[0053] A second judgment submodule, used to judge whether the driving acceleration is greater than a preset value;

[0054] The fifth intention determination submodule is used to determine that the driving intention of the target vehicle is an acceleration driving intention if the driving acceleration is greater than a preset value.

[0055] Optionally, the determining module includes:

[0056] A third judgment submodule is used to judge whether there is a ramp at a preset distance ahead of the target vehicle when it is determined that the target vehicle has entered the ramp according to the road topology relationship information, the guide line position information and the position information of the target vehicle;

[0057] The sixth intention determination submodule is used to determine that the driving intention of the target vehicle is to drive on the ramp if there is no ramp at a preset distance ahead of the target vehicle.

[0058] In a third aspect, an embodiment of the present invention further discloses a vehicle, comprising: a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the steps of the vehicle control method as described above when executed by the processor.

[0059] In a fourth aspect, the present invention further discloses a non-volatile readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the vehicle control method as described above are implemented.

[0060] The embodiments of the present invention include the following advantages:

[0061] In an embodiment of the present invention, the present invention obtains road topology relationship information and guide line position information of the merging section and position information of the target vehicle in the merging section in a ramp merging scenario; determines the driving intention of the target vehicle according to the road topology relationship information, the guide line position information and the position information of the target vehicle; controls the driving of the current vehicle according to the driving intention of the target vehicle; by integrating the road topology relationship information, the guide line position information and the position information of the target vehicle, the system can more accurately judge the driving intention of the target vehicle and enhance the reliability and robustness of the system; the present invention can control the driving of the current vehicle according to the driving intention of the target vehicle, and the current vehicle can intelligently adjust the driving speed and path to avoid unnecessary deceleration or parking, thereby improving the overall traffic efficiency and ensuring driving safety and comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 A flow chart of the steps of a vehicle control method provided by an embodiment of the present invention;

[0063] Figure 2 A schematic diagram of a vehicle merging method provided by an embodiment of the present invention;

[0064] Figure 3 Another schematic diagram of vehicle merging provided by an embodiment of the present invention;

[0065] Figure 4 Another schematic diagram of vehicle merging provided by an embodiment of the present invention;

[0066] Figure 5 A structural block diagram of a vehicle control device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0067] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0068] One of the core concepts of an embodiment of the present invention is to obtain road topology relationship information and guide line position information of the merging section and position information of the target vehicle in the merging section in a ramp merging scenario; determine the driving intention of the target vehicle based on the road topology relationship information, guide line position information and the position information of the target vehicle; and control the driving of the current vehicle based on the driving intention of the target vehicle; by integrating the road topology relationship information, guide line position information and the position information of the target vehicle, the system can more accurately judge the driving intention of the target vehicle and enhance the reliability and robustness of the system; the present invention can control the driving of the current vehicle based on the driving intention of the target vehicle, and the current vehicle can intelligently adjust the driving speed and path to avoid unnecessary deceleration or parking, thereby improving overall traffic efficiency and ensuring driving safety and comfort.

[0069] Reference Figure 1 , shows a flow chart of the steps of a vehicle control method provided by an embodiment of the present invention, including:

[0070] Step 101, in the case of a ramp merging scene, obtaining road topology relationship information and guide line position information of the merging section and position information of the target vehicle in the merging section.

[0071] In an embodiment of the present invention, the road topology relationship information describes the structure and connection relationship of the road, including the number of lanes, lane width, lane direction, intersections, ramp entrances and exits, etc.; the road topology relationship can be obtained through high-precision maps, sensors, and vehicle networks.

[0072] Current vehicles can use high-precision maps (HD Maps), which contain detailed road topology information such as lane lines, road boundaries, intersections, ramp entrances and exits, etc.

[0073] Vehicle-mounted sensors (such as lidar, cameras, millimeter-wave radar) can be used to perceive the road environment in real time, identify lane lines, road boundaries, traffic signs, etc., and build real-time road topology relationships.

[0074] Vehicle-to-everything (V2X) technology can be used to obtain road topology information from infrastructure or other vehicles to enhance perception capabilities.

[0075] The specific technology used to obtain road topology information is not limited here.

[0076] The guide line position information is a sign line used to guide vehicles to drive correctly when merging on ramps. Obtaining its position information helps vehicles accurately determine the timing and path of merging. The guide line position information can be obtained through high-precision maps, vehicle-mounted cameras, and laser radars.

[0077] The location information of the target vehicle can be obtained through the on-board sensors of the current vehicle, the Internet of Vehicles or high-precision maps. Specifically, on-board sensors: through on-board sensors (such as cameras, lidar, millimeter-wave radar) to perceive the position, speed and direction of surrounding vehicles in real time; V2X communication: through the Internet of Vehicles (V2X) technology, the target vehicle’s location, speed and driving intention information is obtained from the target vehicle or other vehicles; high-precision maps: combine high-precision maps and real-time perception data to infer the target vehicle’s location and driving path.

[0078] Step 102, determining the driving intention of the target vehicle according to the road topology relationship information, the guide line position information and the position information of the target vehicle.

[0079] In an embodiment of the present invention, after obtaining road topology relationship information, guide line position information and target vehicle position information, the vehicle's driving type can be determined based on the road topology relationship information, guide line position information and target vehicle position information, and then the target vehicle's driving intention can be determined based on the target vehicle's driving type.

[0080] In one example, assume that the current vehicle (vehicle A) is traveling on a ramp and is about to merge into the main road. If the target vehicle location information is that the target vehicle B is located in the right lane of the main road, 100 meters away from the merging point; the road topology relationship information is that the main road is a two-way four-lane road, the ramp is a one-way single lane, and the merging point between the ramp and the main road is located in the right lane of the main road; the guide line location information is: the guide line extends from the ramp to the right lane of the main road, and the shape is a dotted line; based on this information, it can be determined that the target vehicle B is going straight, and further, if the target vehicle B intends to continue going straight and is far away from the merging point, vehicle A can accelerate appropriately and merge safely into the main road; if the target vehicle B intends to continue going straight and is close to the merging point, vehicle A should maintain an appropriate distance and wait for the right time to merge into the main road.

[0081] In one embodiment of the present invention, the driving intention of the target vehicle is determined based on road topology relationship information, guide line position information and target vehicle position information, including: when the target vehicle is determined to merge into the main road from the ramp based on the road topology relationship information, guide line position information and target vehicle position information, judging whether the map of the current vehicle covers the ramp where the target vehicle is located; if the map of the current vehicle covers the ramp where the target vehicle is located, determining that the driving intention of the target vehicle is a cutting-in intention; if the map of the current vehicle does not cover the ramp where the target vehicle is located, determining that the driving intention of the target vehicle is a merging intention.

[0082] In the embodiment of the present invention, Figure 2A schematic diagram of a vehicle merging of the present invention is shown. Assuming that the current vehicle (vehicle A) is traveling on the main road, the road topology relationship information is as follows: the main road is a two-way six-lane road (only a one-way three-lane road is shown in the figure), the ramp is a one-way two-lane road, and the merging point between the ramp and the main road is located in the right lane of the main road; the guide line position information: the guide line extends from the ramp to the right lane of the main road, and the shape is a dotted line; the target vehicle position information: the target vehicle 1 is located on the ramp, 50 meters away from the merging point, and facing the main road; it can be determined that the target vehicle 1 merges from the ramp Entering the main road, at this time, the map data of the current vehicle (vehicle A) can be judged to confirm whether it contains the ramp information where the target vehicle (vehicle 1) is located. If the map of the current vehicle covers the ramp where the target vehicle is located, it can be determined that the driving intention of the target vehicle B is an intention to cut in; if the target vehicle 1 intends to cut into the main road and is far away from the merging point, vehicle A can accelerate appropriately and merge into the main road safely. If the target vehicle B intends to cut into the main road and is close to the merging point, vehicle A should maintain an appropriate distance and wait for the right time to merge into the main road.

[0083] If the current vehicle's map does not cover the ramp where the target vehicle is located, the specific driving path of the target vehicle B cannot be determined, so its driving intention is judged to be a merging intention; further, if the target vehicle 1 intends to merge into the main road, vehicle A should slow down appropriately to provide enough merging space for vehicle 1, and vehicle A should remain vigilant and be ready to respond to the merging behavior of vehicle B at any time.

[0084] In one embodiment of the present invention, the driving intention of the target vehicle is determined based on road topology relationship information, guide line position information and target vehicle position information, including: when it is determined that the target vehicle is located on the main road based on the road topology relationship information, guide line position information and target vehicle position information, obtaining a first time required for the current vehicle to reach the confluence point and a second time required for the target vehicle to reach the confluence point; determining whether the time difference between the first time and the second time is less than a preset value; if the time difference is less than the preset value, determining that the driving intention of the target vehicle is a merging intention.

[0085] In the embodiment of the present invention, Figure 3 , shows another schematic diagram of vehicle merging of the present invention, assuming that the current vehicle (vehicle A) is traveling on the ramp, preparing to merge into the main road, 100 meters away from the merging point, at a speed of 40km / h, and heading towards the main road.

[0086] Road topology information: The main road is a six-lane bidirectional road, the ramp is a three-lane unidirectional road, and the merging point between the ramp and the main road is located in the right lane of the main road.

[0087] Guide line location information: The guide line extends from the ramp to the right lane of the main road and is in the form of a dotted line;

[0088] Location information of the target vehicle: Target vehicle 2 is located in the right lane of the main road, 200 meters away from the merging point, with a speed of 60 km / h and a straight direction.

[0089] First time: 0.1 km / 40 km / h = 0.0025 hours = 9 seconds;

[0090] Second time: 0.2 km / 60 km / h = 0.00333 hours = 12 seconds;

[0091] Time difference: second time - first time = 12 seconds - 9 seconds = 3 seconds, assuming the preset value is 5 seconds.

[0092] The time difference of 3 seconds is less than the preset value of 5 seconds, and it is determined that the driving intention of the target vehicle 2 is a merging intention. If the target vehicle 2 intends to merge into the main road, vehicle A should slow down appropriately to provide sufficient merging space for vehicle 2.

[0093] In one embodiment of the present invention, the driving intention of the target vehicle is determined based on road topology relationship information, guide line position information and the position information of the target vehicle, including: when it is determined that the target vehicle is traveling on a ramp and in an adjacent lane of the current vehicle based on the road topology relationship information, guide line position information and the position information of the target vehicle, the front direction and lateral speed of the target vehicle are obtained; based on the front direction and lateral speed of the target vehicle, it is determined whether the target vehicle is approaching the current vehicle; if the target vehicle is approaching the current vehicle, it is determined that the driving intention of the target vehicle is a cutting-in intention.

[0094] In the embodiment of the present invention, Figure 3 Assume that the current vehicle (vehicle A) is traveling on the ramp and is about to merge into the main road;

[0095] Road topology information: The main road is a six-lane bidirectional road, the ramp is a three-lane unidirectional road, and the merging point between the ramp and the main road is located in the right lane of the main road.

[0096] Guide line location information: The guide line extends from the ramp to the right lane of the main road and is in the shape of a dotted line.

[0097] Target vehicle location information: Target vehicle 3 is located in the adjacent lane of the ramp, 50 meters away from vehicle A, and has a speed of 40 km / h.

[0098] At this time, it can be determined that the target vehicle 3 is traveling on the ramp and in the adjacent lane of the current vehicle, and it can be further obtained that the front direction of the vehicle is 30 degrees (towards the lane where vehicle A is located); since the front direction of the target vehicle 3 is 30 degrees (towards the lane where vehicle A is located) and the lateral driving speed is 10km / h, condition 1 is satisfied: the front of the target vehicle is facing the lane where the current vehicle is located, and condition 2: the lateral driving speed of the target vehicle is greater than 0, indicating that the target vehicle 3 is approaching the current vehicle A. Since the target vehicle 3 is approaching the current vehicle A, it is determined that the driving intention of the target vehicle 3 is an intention to cut in. At this time, vehicle A should slow down appropriately to provide sufficient cutting-in space for vehicle 3.

[0099] In one embodiment of the present invention, the driving intention of the target vehicle is determined based on road topology relationship information, guide line position information and target vehicle position information, including: when the target vehicle is determined to enter the ramp from the main road based on the road topology relationship information, guide line position information and target vehicle position information, the front direction and lateral speed of the target vehicle are obtained; based on the front direction and lateral speed of the target vehicle, it is determined whether the target vehicle is approaching the current vehicle; if the target vehicle is approaching the current vehicle, the driving intention of the target vehicle is determined to be a cutting-in intention.

[0100] In the embodiment of the present invention, Figure 4 , shows another schematic diagram of vehicle convergence of the present invention, assuming that the current vehicle (vehicle A) is driving in the right lane of the main road, 200 meters away from the ramp entrance, at a speed of 60km / h, and in a straight direction. Prepare to judge the driving intention of the target vehicle (vehicle 4), road topology relationship information: the main road is a two-way six-lane road, the ramp is a one-way two-lane road, and the convergence point between the ramp and the main road is located in the right lane of the main road;

[0101] Guide line location information: The guide line extends from the main road to the ramp and is in the shape of a dotted line.

[0102] Target vehicle location information: Target vehicle 4 is located in the left lane of the main road, 100 meters away from the ramp entrance, with a speed of 50 km / h.

[0103] According to the road topology information, the guide line position information and the target vehicle's position information, it can be determined that the target vehicle is driving into the ramp from the main road. At this time, the front direction of the vehicle can be obtained to be 45 degrees (towards the ramp) and the lateral speed is 15km / h. At this time, the front direction of the target vehicle 4 is 45 degrees (towards the ramp) and the lateral speed is 15km / h, which meets condition 1: the front of the target vehicle is facing the lane where the current vehicle is located, and condition 2: the lateral speed of the target vehicle is greater than 0, indicating that the target vehicle 4 is approaching the ramp. Since the target vehicle 4 is approaching the ramp, it is determined that the driving intention of the target vehicle 4 is an intention to cut in.

[0104] In one embodiment of the present invention, the driving intention of the target vehicle is determined based on road topology relationship information, guide line position information and the position information of the target vehicle, including: when it is determined that the target vehicle and the current vehicle are traveling in the same lane line based on the road topology relationship information, guide line position information and the position information of the target vehicle, the driving acceleration of the target vehicle is obtained; and it is determined whether the driving acceleration is greater than a preset value. If the driving acceleration is greater than the preset value, it is determined that the driving intention of the target vehicle is an accelerating driving intention.

[0105] In the embodiment of the present invention, Figure 4 ,Assume that the current vehicle (vehicle A) is traveling on the main road, 5,50 meters away from the target vehicle, at a speed of 60km / h, and in a straight direction. The road topology information is: the main road is a two-way six-lane road, the ramp is a one-way two-lane road, and the merging point between the ramp and the main road is located in the right lane of the main road;

[0106] Guide line location information: The guide line is located in the right lane of the main road and is in the shape of a dotted line. Target vehicle location information: Target vehicle 5 is located in the same lane of the main road, 50 meters away from vehicle A, with a speed of 60 km / h and a driving acceleration of 2 m / s 2 .

[0107] Assume the preset value is 1.5m / s 2 , Judgment result: The driving acceleration of the target vehicle 5 is 2m / s 2 Greater than the preset value 1.5m / s 2 .

[0108] Since the driving acceleration of the target vehicle 5 is greater than the preset value, it is determined that the driving intention of the target vehicle 5 is an accelerating driving intention. If the target vehicle 5 intends to accelerate, vehicle A should maintain an appropriate distance to avoid collision with vehicle 5.

[0109] In one embodiment of the present invention, the driving intention of the target vehicle is determined based on road topology relationship information, guide line position information and target vehicle position information, including: when it is determined that the target vehicle has entered a ramp based on road topology relationship information, guide line position information and target vehicle position information, judging whether there is a ramp at a preset distance in front of the target vehicle; if there is no ramp at a preset distance in front of the target vehicle, determining that the driving intention of the target vehicle is to drive on the ramp.

[0110] In the embodiment of the present invention, Figure 4, assuming that the current vehicle (vehicle A) is driving on the main road, and is preparing to judge the driving intention of the target vehicle (vehicle 6), the road topology relationship information is obtained at this time: the main road is a two-way six-lane road, the ramp is a one-way two-lane road, and the merging point between the ramp and the main road is located in the right lane of the main road. Guide line position information: The guide line extends from the main road to the ramp, and the shape is a dotted line.

[0111] Target vehicle location information: Target vehicle 6 has entered the ramp, is 50 meters away from the ramp entrance, and is at a speed of 40 km / h.

[0112] Assuming that the preset distance is 100 meters, it is determined that there is no ramp within 100 meters in front of the target vehicle 6. At this time, since there is no ramp within 100 meters in front of the target vehicle 6, it is determined that the driving intention of the target vehicle 6 is to drive on the ramp. If the target vehicle 6 intends to drive on the ramp, vehicle A should constrain the predicted trajectory of the target vehicle 6 to prevent the trajectory from jumping to the main road.

[0113] Step 103, controlling the current vehicle to travel according to the driving intention of the target vehicle.

[0114] In the embodiment of the present invention, the current vehicle can formulate a corresponding control strategy according to the driving intention of the target vehicle to ensure the safe driving of the current vehicle.

[0115] The present application discloses a vehicle control method, which obtains road topology relationship information and guide line position information of a merging section and position information of a target vehicle in the merging section in a ramp merging scenario; determines the driving intention of the target vehicle according to the road topology relationship information, the guide line position information and the position information of the target vehicle; and controls the driving of the current vehicle according to the driving intention of the target vehicle; by integrating the road topology relationship information, the guide line position information and the position information of the target vehicle, the system can more accurately judge the driving intention of the target vehicle and enhance the reliability and robustness of the system; the present invention can control the driving of the current vehicle according to the driving intention of the target vehicle, and the current vehicle can intelligently adjust the driving speed and path to avoid unnecessary deceleration or parking, thereby improving the overall traffic efficiency and ensuring driving safety and comfort.

[0116] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0117] Reference Figure 3 , shows a vehicle control device provided by an embodiment of the present invention, comprising:

[0118] An acquisition module 201 is used to acquire the road topology relationship information and the guide line position information of the merging section and the position information of the target vehicle in the merging section in the case of a merging ramp scene;

[0119] A determination module 202, configured to determine the driving intention of the target vehicle according to the road topology relationship information, the guide line position information and the position information of the target vehicle;

[0120] The control module 203 is used to control the driving of the current vehicle according to the driving intention of the target vehicle.

[0121] The present invention discloses a vehicle control device, which obtains road topology relationship information and guide line position information of a merging section and position information of a target vehicle in the merging section in a ramp merging scene; determines the driving intention of the target vehicle according to the road topology relationship information, the guide line position information and the position information of the target vehicle; and controls the driving of the current vehicle according to the driving intention of the target vehicle; by integrating the road topology relationship information, the guide line position information and the position information of the target vehicle, the system can more accurately judge the driving intention of the target vehicle and enhance the reliability and robustness of the system; the present invention can control the driving of the current vehicle according to the driving intention of the target vehicle, and the current vehicle can intelligently adjust the driving speed and path to avoid unnecessary deceleration or parking, thereby improving the overall traffic efficiency and ensuring driving safety and comfort.

[0122] In one embodiment of the present invention, the determining module includes:

[0123] The first determination submodule is used to determine whether the map of the current vehicle covers the ramp where the target vehicle is located when it is determined that the target vehicle merges into the main road from the ramp according to the road topology relationship information, the guide line position information and the position information of the target vehicle;

[0124] A first intention determination submodule, configured to determine that the driving intention of the target vehicle is a cut-in intention if the map of the current vehicle covers the ramp where the target vehicle is located;

[0125] The second intention determination submodule is used to determine that the driving intention of the target vehicle is a merging intention if the map of the current vehicle does not cover the ramp where the target vehicle is located.

[0126] In one embodiment of the present invention, the determining module includes:

[0127] A first acquisition submodule is used to acquire a first time required for the current vehicle to reach the confluence point and a second time required for the target vehicle to reach the confluence point when it is determined that the target vehicle is located on the main road according to the road topology relationship information, the guide line position information and the position information of the target vehicle;

[0128] A first judgment submodule, used to judge whether the time difference between the first time and the second time is less than a preset value;

[0129] The second determination submodule is used to determine that the driving intention of the target vehicle is a merging intention if the time difference is less than a preset value.

[0130] In one embodiment of the present invention, the determining module includes:

[0131] The second acquisition submodule is used to determine that the target vehicle is traveling on the ramp and in the adjacent lane of the current vehicle based on the road topology relationship information, the guide line position information and the position information of the target vehicle, and to acquire the head direction and lateral speed of the target vehicle;

[0132] The third determination submodule is used to determine whether the target vehicle is approaching the current vehicle according to the head direction and lateral speed of the target vehicle;

[0133] The third intention determination submodule is used to determine that the driving intention of the target vehicle is a cut-in intention if the target vehicle approaches the current vehicle.

[0134] In one embodiment of the present invention, the determining module includes:

[0135] The third acquisition submodule is used to determine that the target vehicle enters the ramp from the main road according to the road topology relationship information, the guide line position information and the position information of the target vehicle, and obtain the head direction and lateral speed of the target vehicle;

[0136] The fourth determination submodule is used to determine whether the target vehicle is approaching the current vehicle according to the head direction and lateral speed of the target vehicle;

[0137] The fourth intention determination submodule is used to determine that the driving intention of the target vehicle is a cut-in intention if the target vehicle approaches the current vehicle.

[0138] In one embodiment of the present invention, the determining module includes:

[0139] The fourth acquisition submodule is used to acquire the driving acceleration of the target vehicle when it is determined that the target vehicle and the current vehicle are traveling in the same lane line according to the road topology relationship information, the guide line position information and the position information of the target vehicle;

[0140] The second judgment submodule is used to judge whether the driving acceleration is greater than a preset value;

[0141] The fifth intention determination submodule is used to determine that the driving intention of the target vehicle is an acceleration driving intention if the driving acceleration is greater than a preset value.

[0142] In one embodiment of the present invention, the determining module includes:

[0143] The third judgment submodule is used to judge whether there is a ramp at a preset distance ahead of the target vehicle when it is determined that the target vehicle has entered the ramp according to the road topology relationship information, the guide line position information and the position information of the target vehicle;

[0144] The sixth intention determination submodule is used to determine that the driving intention of the target vehicle is to drive on the ramp if there is no ramp at a preset distance ahead of the target vehicle.

[0145] The present invention discloses a vehicle control device, which obtains road topology relationship information and guide line position information of a merging section and position information of a target vehicle in the merging section in a ramp merging scene; determines the driving intention of the target vehicle according to the road topology relationship information, the guide line position information and the position information of the target vehicle; and controls the driving of the current vehicle according to the driving intention of the target vehicle; by integrating the road topology relationship information, the guide line position information and the position information of the target vehicle, the system can more accurately judge the driving intention of the target vehicle and enhance the reliability and robustness of the system; the present invention can control the driving of the current vehicle according to the driving intention of the target vehicle, and the current vehicle can intelligently adjust the driving speed and path to avoid unnecessary deceleration or parking, thereby improving the overall traffic efficiency and ensuring driving safety and comfort.

[0146] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0147] The present invention also discloses a vehicle, comprising: a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the steps of the vehicle control method as described above when executed by the processor.

[0148] The present invention also discloses a non-volatile readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the vehicle control method described above are implemented.

[0149] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0150] It will be appreciated by those skilled in the art that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0151] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0152] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0153] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0154] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0155] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0156] The vehicle control method, device, vehicle and storage medium provided by the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A vehicle control method, characterized in that: include: In the case of a ramp merging scene, obtaining road topology relationship information and guide line position information of the merging section and position information of the target vehicle in the merging section; Determining the driving intention of the target vehicle according to the road topology relationship information, the guide line position information and the position information of the target vehicle; The current vehicle is controlled to travel according to the driving intention of the target vehicle.

2. The method according to claim 1, characterized in that The determining the driving intention of the target vehicle according to the road topology relationship information, the guide line position information and the position information of the target vehicle comprises: When it is determined that the target vehicle merges into the main road from the ramp according to the road topology relationship information, the guide line position information and the position information of the target vehicle, determining whether the map of the current vehicle covers the ramp where the target vehicle is located; If the map of the current vehicle covers the ramp where the target vehicle is located, determining that the driving intention of the target vehicle is a cut-in intention; If the map of the current vehicle does not cover the ramp where the target vehicle is located, it is determined that the driving intention of the target vehicle is a merging intention.

3. The method according to claim 1, characterized in that The determining the driving intention of the target vehicle according to the road topology relationship information, the guide line position information and the position information of the target vehicle comprises: When it is determined that the target vehicle is located on the main road according to the road topology relationship information, the guide line position information and the position information of the target vehicle, a first time required for the current vehicle to reach the confluence point and a second time required for the target vehicle to reach the confluence point are obtained; Determine whether the time difference between the first time and the second time is less than a preset value; If the time difference is less than the preset value, it is determined that the driving intention of the target vehicle is a merging intention.

4. The method according to claim 1, characterized in that The determining the driving intention of the target vehicle according to the road topology relationship information, the guide line position information and the position information of the target vehicle comprises: When it is determined that the target vehicle is traveling on a ramp and in an adjacent lane of the current vehicle based on the road topology relationship information, the guide line position information and the position information of the target vehicle, the front direction and lateral speed of the target vehicle are obtained; Determining whether the target vehicle is approaching the current vehicle according to the front direction and lateral speed of the target vehicle; If the target vehicle approaches the current vehicle, it is determined that the driving intention of the target vehicle is a cutting-in intention.

5. The method according to claim 1, characterized in that: The determining the driving intention of the target vehicle according to the road topology relationship information, the guide line position information and the position information of the target vehicle comprises: When it is determined that the target vehicle is driving into the ramp from the main road according to the road topology relationship information, the guide line position information and the position information of the target vehicle, the front direction and lateral speed of the target vehicle are obtained; Determining whether the target vehicle is approaching the current vehicle according to the front direction and lateral speed of the target vehicle; If the target vehicle approaches the current vehicle, it is determined that the driving intention of the target vehicle is a cutting-in intention.

6. The method according to claim 1, characterized in that The determining the driving intention of the target vehicle according to the road topology relationship information, the guide line position information and the position information of the target vehicle comprises: When it is determined that the target vehicle and the current vehicle are traveling in the same lane according to the road topology relationship information, the guide line position information and the position information of the target vehicle, the driving acceleration of the target vehicle is obtained; Determining whether the driving acceleration is greater than a preset value; If the driving acceleration is greater than a preset value, it is determined that the driving intention of the target vehicle is an accelerating driving intention.

7. The method according to claim 1, characterized in that The determining the driving intention of the target vehicle according to the road topology relationship information, the guide line position information and the position information of the target vehicle comprises: When it is determined that the target vehicle has entered the ramp according to the road topology relationship information, the guide line position information and the position information of the target vehicle, determining whether there is a ramp at a preset distance in front of the target vehicle; If there is no ramp within a preset distance in front of the target vehicle, it is determined that the driving intention of the target vehicle is to drive on the ramp.

8. A vehicle control device, characterized in that: include: An acquisition module is used to acquire the road topology relationship information and the guide line position information of the merging section and the position information of the target vehicle in the merging section in the case of a merging ramp scene; A determination module, used to determine the driving intention of the target vehicle according to the road topology relationship information, the guide line position information and the position information of the target vehicle; The control module is used to control the driving of the current vehicle according to the driving intention of the target vehicle.

9. A vehicle, characterized in that: include: A processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the steps of the vehicle control method according to any one of claims 1 to 7 are implemented.

10. A non-volatile readable storage medium, characterized in that: The non-volatile readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle control method according to any one of claims 1 to 7 are implemented.

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