A vehicle control method, device, vehicle and storage medium
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHONGQING CHANGAN TECH CO LTD
- Filing Date
- 2025-01-13
- Publication Date
- 2026-07-24
Smart Images
Figure CN119920095B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of automotive technology, and more specifically to a vehicle control method, device, vehicle, and storage medium. Background Technology
[0002] Ramp scenarios are a common bottleneck area in urban traffic, with frequent traffic congestion and accidents. This is mainly because vehicles in ramp scenarios often need to accelerate, decelerate, change lanes, and merge, and driver behavior is easily affected by many factors, leading to increased traffic hazards. To solve this problem, existing technologies predict the movement trajectory of vehicles entering the ramp area, but do not mention the prediction of vehicle driving behavior intentions in different specific scenarios, thus reducing 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, apparatus, vehicle, and storage medium that overcomes or at least partially solves the above problems.
[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:
[0005] To address the aforementioned problems, in a first aspect, embodiments of the present invention disclose a vehicle control method, comprising:
[0006] In the case of merging traffic on a ramp, obtain the road topology information of the merging section, the location information of the guide line, and the location information of the target vehicle in the merging section;
[0007] Based on the road topology information, the guide line position information, and the target vehicle's position information, the driving intention of the target vehicle is determined;
[0008] Control the current vehicle's movement according to the target vehicle's driving intention.
[0009] Optionally, determining the driving intention of the target vehicle based on the road topology information, the guide line position information, and the target vehicle's position information includes:
[0010] When it is determined, based on the road topology information, the guide line location information and the target vehicle's location information, that the target vehicle is merging into the main road from the ramp, it is determined 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, then the driving intention of the target vehicle is determined to be a cutting intention;
[0012] If the map of the current vehicle does not cover the ramp where the target vehicle is located, then the driving intention of the target vehicle is determined to be a merging intention.
[0013] Optionally, determining the driving intention of the target vehicle based on the road topology information, the guide line position information, and the target vehicle's position information includes:
[0014] When it is determined that the target vehicle is traveling on the main road based on the road topology information, the guide line position information and the target vehicle position information, the first time required for the current vehicle to reach the confluence point and the 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, then the driving intention of the target vehicle is determined to be a merging intention.
[0017] Optionally, determining the driving intention of the target vehicle based on the road topology information, the guide line position information, and the target vehicle's position information includes:
[0018] Based on the road topology information, the guide line position information, and the target vehicle's position information, it is determined that the target vehicle is traveling on a ramp and in the adjacent lane of the current vehicle, and the target vehicle's heading and lateral speed are obtained.
[0019] Based on the target vehicle's heading and lateral speed, determine whether the target vehicle is approaching the current vehicle;
[0020] If the target vehicle approaches the current vehicle, then the driving intention of the target vehicle is determined to be an intention to cut in.
[0021] Optionally, determining the driving intention of the target vehicle based on the road topology information, the guide line position information, and the target vehicle's position information includes:
[0022] Based on the road topology information, the guide line position information, and the target vehicle's position information, it is determined that the target vehicle is entering the ramp from the main road, and the vehicle's heading and lateral speed are obtained.
[0023] Based on the target vehicle's heading and lateral speed, determine whether the target vehicle is approaching the current vehicle;
[0024] If the target vehicle approaches the current vehicle, then the driving intention of the target vehicle is determined to be an intention to cut in.
[0025] Optionally, determining the driving intention of the target vehicle based on the road topology information, the guide line position information, and the target vehicle's position information includes:
[0026] When it is determined, based on the road topology information, the guide line position information, and the target vehicle's position information, that the target vehicle and the current vehicle are traveling in the same lane, the driving acceleration of the target vehicle is obtained.
[0027] Determine whether the driving acceleration is greater than a preset value. If the driving acceleration is greater than the preset value, then determine that the driving intention of the target vehicle is to accelerate.
[0028] Optionally, determining the driving intention of the target vehicle based on the road topology information, the guide line position information, and the target vehicle's position information includes:
[0029] When it is determined that the target vehicle has entered the ramp based on the road topology information, the guide line position information and the target vehicle position information, it is determined whether there is a ramp at a preset distance in front of the target vehicle;
[0030] If there is no ramp at a preset distance ahead of the target vehicle, then the driving intention of the target vehicle is determined to be the intention to drive on the ramp.
[0031] Secondly, the present invention discloses a vehicle control device, comprising:
[0032] The acquisition module is used to acquire road topology information, guide line location information, and target vehicle location information of the merging section in the case of a ramp merging scenario.
[0033] The determination module is used to determine the driving intention of the target vehicle based on the road topology information, the guide line position information, and the target vehicle's position information.
[0034] The control module is used to control the current vehicle's movement according to the target vehicle's driving intention.
[0035] Optionally, the determining module includes:
[0036] The first determining submodule is used to determine whether the map of the current vehicle covers the ramp where the target vehicle is located when the target vehicle merges into the main road from the ramp based on the road topology relationship information, the guide line position information and the target vehicle position information.
[0037] The first intent determination submodule is used to determine the driving intent of the target vehicle as an entry intent if the map of the current vehicle covers the ramp where the target vehicle is located.
[0038] The second intent determination submodule is used to determine the driving intent of the target vehicle as a merging intent 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] The first acquisition submodule is used to acquire the first time required for the current vehicle to reach the confluence point and the second time required for the target vehicle to reach the confluence point when it is determined that the target vehicle is traveling on the main road based on the road topology relationship information, the guide line position information and the target vehicle position information;
[0041] The first judgment submodule is used to determine whether the time difference between the first time and the second time is less than a preset value;
[0042] The second determining submodule is used to determine the driving intention of the target vehicle as an merging intention if the time difference is less than the preset value.
[0043] Optionally, the determining module includes:
[0044] The second acquisition submodule is used to acquire the vehicle's heading and lateral speed when, based on the road topology information, the guide line position information and the target vehicle's position information, it is determined that the target vehicle is traveling on a ramp and in the adjacent lane of the current vehicle;
[0045] The third determining submodule is used to determine whether the target vehicle is approaching the current vehicle based on the target vehicle's frontal orientation and lateral speed.
[0046] The third intent determination submodule is used to determine the driving intent of the target vehicle as a cutting intent if the target vehicle approaches the current vehicle.
[0047] Optionally, the determining module includes:
[0048] The third acquisition submodule is used to determine, based on the road topology information, the guide line position information and the target vehicle position information, that the target vehicle is entering the ramp from the main road, and to acquire the target vehicle's frontal orientation and lateral speed.
[0049] The fourth determining submodule is used to determine whether the target vehicle is approaching the current vehicle based on the target vehicle's frontal orientation and lateral speed.
[0050] The fourth intent determination submodule is used to determine the driving intent of the target vehicle as a cutting intent if the target vehicle approaches the current vehicle.
[0051] Optionally, the determining module includes:
[0052] The fourth acquisition submodule is used to acquire the driving acceleration of the target vehicle when it is determined, based on the road topology relationship information, the guide line position information and the target vehicle position information, that the target vehicle and the current vehicle are traveling in the same lane.
[0053] The second judgment submodule is used to determine whether the driving acceleration is greater than a preset value;
[0054] The fifth intent determination submodule is used to determine the driving intent of the target vehicle as an acceleration intent if the driving acceleration is greater than a preset value.
[0055] Optionally, the determining module includes:
[0056] The third judgment submodule is used to determine whether there is a ramp at a preset distance in front of the target vehicle when it is determined that the target vehicle has entered the ramp based on the road topology relationship information, the guide line position information and the target vehicle position information.
[0057] The sixth intent determination submodule is used to determine the driving intent of the target vehicle as a driving intent on a ramp if there is no ramp at a preset distance in front of the target vehicle.
[0058] Thirdly, embodiments of the present invention also disclose a vehicle, including: a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the vehicle control method as described above.
[0059] Fourthly, the present invention also discloses a non-volatile readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the vehicle control method described above.
[0060] The embodiments of the present invention have the following advantages:
[0061] In this embodiment of the invention, when a vehicle is merging on a ramp, the invention acquires road topology information, guide line location information, and target vehicle location information of the merging segment. Based on the road topology information, guide line location information, and target vehicle location information, the invention determines the target vehicle's driving intention. Based on the target vehicle's driving intention, the invention controls the current vehicle's movement. By fusing road topology information, guide line location information, and target vehicle location information, the system can more accurately determine the target vehicle's driving intention, enhancing the system's reliability and robustness. The invention can control the current vehicle's movement based on the target vehicle's driving intention, allowing the current vehicle to intelligently adjust its speed and path, avoiding unnecessary deceleration or stopping, thereby improving overall traffic efficiency and ensuring driving safety and comfort. Attached Figure Description
[0062] Figure 1 A flowchart illustrating the steps of a vehicle control method provided in an embodiment of the present invention;
[0063] Figure 2 A schematic diagram of vehicle merging provided in an embodiment of the present invention;
[0064] Figure 3 Another vehicle convergence diagram provided in this embodiment of the invention;
[0065] Figure 4 Another vehicle convergence diagram provided in this embodiment of the invention;
[0066] Figure 5 This is a structural block diagram of a vehicle control device provided in an embodiment of the present invention. Detailed Implementation
[0067] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0068] One of the core concepts of this invention is to acquire road topology information, guide line position information, and target vehicle position information of the merging segment in a ramp merging scenario; determine the target vehicle's driving intention based on the road topology information, guide line position information, and target vehicle position information; and control the current vehicle's driving based on the target vehicle's driving intention. By fusing road topology information, guide line position information, and target vehicle position information, this invention allows the system to more accurately determine the target vehicle's driving intention, enhancing the system's reliability and robustness. This invention can control the current vehicle's driving based on the target vehicle's driving intention, enabling the current vehicle to intelligently adjust its speed and path, avoiding unnecessary deceleration or stopping, thereby improving overall traffic efficiency and ensuring driving safety and comfort.
[0069] Reference Figure 1 The diagram illustrates a flowchart of a vehicle control method according to an embodiment of the present invention, including:
[0070] Step 101: In the case of a ramp merging scenario, obtain the road topology information of the merging section, the location information of the guide line, and the location information of the target vehicle in the merging section.
[0071] In this embodiment of the invention, road topology information describes the structure and connection relationships of roads, including the number of lanes, lane width, lane direction, intersections, ramp entrances and exits, etc.; road topology relationships can be obtained through high-precision maps, sensors, and vehicle networks.
[0072] Vehicles can now use high-resolution maps (HD Maps), which contain detailed road topology information, such as lane lines, road boundaries, intersections, ramp entrances and exits.
[0073] The vehicle can perceive the road environment in real time through onboard sensors (such as lidar, cameras, and millimeter-wave radar), 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, thereby enhancing perception capabilities.
[0075] The specific technology used to obtain road topology information is not specified here.
[0076] Guide lines are markings used to guide vehicles to navigate correctly when merging on ramps. Obtaining their location information helps vehicles accurately determine the merging timing and path. Guide line location information can be obtained through high-precision maps, vehicle-mounted cameras, and LiDAR.
[0077] The location information of the target vehicle can be obtained through the vehicle's onboard sensors, vehicle-to-everything (V2X) communication, or high-precision maps. Specifically, onboard sensors (such as cameras, lidar, and millimeter-wave radar) are used to perceive the position, speed, and direction of surrounding vehicles in real time; V2X communication is used to obtain the target vehicle's position, speed, and driving intention information from the target vehicle or other vehicles through vehicle-to-everything (V2X) technology; and high-precision maps are used to infer the target vehicle's position and driving path by combining high-precision maps with real-time perception data.
[0078] Step 102: Determine the driving intention of the target vehicle based on the road topology information, the guide line position information, and the target vehicle's position information.
[0079] In this embodiment of the invention, after obtaining road topology information, guide line position information and target vehicle position information, the vehicle's driving type can be determined based on the road topology 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, suppose the current vehicle (vehicle A) is traveling on a ramp, preparing to merge into the main road. If the target vehicle's location information is that target vehicle B is located in the right lane of the main road, 100 meters away from the merging point; the road topology information is that the main road is a two-way four-lane road, the ramp is a one-way single-lane road, and the merging point of the ramp and the main road is located in the right lane of the main road; the guide line location information is that the guide line extends from the ramp to the right lane of the main road and is shaped as a dashed line; based on this information, it can be determined that target vehicle B will proceed straight. Furthermore, if target vehicle B intends to continue straight and is far from the merging point, vehicle A can accelerate appropriately and safely merge into the main road; if target vehicle B intends to continue straight and is close to the merging point, vehicle A should maintain an appropriate distance and wait for a suitable opportunity to merge into the main road.
[0081] In one embodiment of the present invention, determining the driving intention of a target vehicle based on road topology information, guide line position information, and target vehicle position information includes: when it is determined that the target vehicle is merging into the main road from a ramp based on the road topology information, guide line position information, and target vehicle position information, determining whether the current vehicle's map covers the ramp where the target vehicle is located; if the current vehicle's map covers the ramp where the target vehicle is located, then the target vehicle's driving intention is determined to be a cutting-in intention; if the current vehicle's map does not cover the ramp where the target vehicle is located, then the target vehicle's driving intention is determined to be a merging intention.
[0082] In embodiments of the present invention, such as Figure 2This diagram illustrates a vehicle merging scenario according to the present invention. Assume that vehicle A is currently traveling on the main road. The road topology information is as follows: the main road is a six-lane dual carriageway (only three lanes are shown in the diagram), the ramp is a two-lane ramp, 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 is as follows: the guide line extends from the ramp to the right lane of the main road, and is shaped as a dashed line. The target vehicle's position information is as follows: target vehicle 1 is located on the ramp, 50 meters from the merging point, and is facing the main road. It can be determined that target vehicle 1 will merge from the ramp. Upon entering the main road, the map data of the current vehicle (vehicle A) can be analyzed to determine if it includes information about the ramp 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 target vehicle B's driving intention is to merge. If the target vehicle B's intention is to merge into the main road and it is far from the merging point, vehicle A can accelerate appropriately and safely merge into the main road. If the target vehicle B's intention is to merge into the main road and it is close to the merging point, vehicle A should maintain an appropriate distance and wait for a suitable opportunity 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 target vehicle B cannot be determined. Therefore, its driving intention is judged to be a merging intention. Furthermore, if target vehicle 1 intends to merge into the main road, vehicle A should appropriately slow down to provide sufficient merging space for vehicle 1. Vehicle A should remain vigilant and be prepared to respond to vehicle B's merging behavior at any time.
[0084] In one embodiment of the present invention, determining the driving intention of a target vehicle based on road topology information, guide line position information, and target vehicle position information includes: when it is determined that the target vehicle is traveling on the main road based on the road topology information, guide line position information, and target vehicle position information, obtaining the first time required for the current vehicle to reach the merging point and the second time required for the target vehicle to reach the merging 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, then determining that the driving intention of the target vehicle is a merging intention.
[0085] In embodiments of the present invention, such as Figure 3 The diagram illustrates another vehicle merging scenario of the present invention. It is assumed that the current vehicle (vehicle A) is traveling on the ramp and is preparing to merge into the main road. It is 100 meters away from the merging point, with a speed of 40 km / h and a direction towards the main road.
[0086] Road topology information: The main road is a two-way six-lane road, the ramp is a one-way three-lane road, and the merging point of 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 shaped as a dashed 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] If the time difference of 3 seconds is less than the preset value of 5 seconds, it is determined that the driving intention of the target vehicle 2 is to merge. If the target vehicle 2 intends to merge into the main road, vehicle A should reduce its speed appropriately to provide sufficient space for vehicle 2 to merge.
[0093] In one embodiment of the present invention, determining the driving intention of a target vehicle based on road topology information, guide line position information, and target vehicle position information includes: when it is determined, based on the road topology information, guide line position information, and target vehicle position information, that the target vehicle is traveling on a ramp and in an adjacent lane to the current vehicle, obtaining the target vehicle's heading and lateral speed; determining, based on the target vehicle's heading and lateral speed, whether the target vehicle is approaching the current vehicle; and if the target vehicle is approaching the current vehicle, determining that the target vehicle's driving intention is a cutting-in intention.
[0094] In embodiments of the present invention, such as Figure 3 Suppose that the vehicle (vehicle A) is currently traveling on the ramp and is preparing to merge into the main road;
[0095] Road topology information: The main road is a two-way six-lane road, the ramp is a one-way three-lane road, and the merging point of 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 shaped as a dashed line.
[0097] Location information of the target vehicle: Target vehicle 3 is located in the adjacent lane of the ramp, 50 meters away from vehicle A, and its speed is 40 km / h.
[0098] At this point, it can be determined that target vehicle 3 is traveling on the ramp and in the adjacent lane of the current vehicle. Furthermore, it can be obtained that the vehicle's heading is 30 degrees (towards the lane where vehicle A is located). Since the target vehicle 3's heading is 30 degrees (towards the lane where vehicle A is located) and its lateral speed is 10 km / h, it satisfies condition 1: the target vehicle's heading is towards the lane where the current vehicle is located, and condition 2: the target vehicle's lateral speed is greater than 0. This indicates that target vehicle 3 is approaching the current vehicle A. Since target vehicle 3 is approaching the current vehicle A, it is determined that the target vehicle 3's driving intention is to cut in. At this time, vehicle A should slow down appropriately to provide sufficient cutting space for vehicle 3.
[0099] In one embodiment of the present invention, determining the driving intention of a target vehicle based on road topology information, guide line position information, and target vehicle position information includes: when it is determined that the target vehicle is entering the ramp from the main road based on the road topology information, guide line position information, and target vehicle position information, the vehicle's heading and lateral speed are obtained; based on the vehicle's heading and lateral speed, 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 an entry intention.
[0100] In embodiments of the present invention, such as Figure 4 This diagram illustrates another vehicle merging scenario of the present invention. It assumes that the current vehicle (vehicle A) is traveling in the right lane of the main road, 200 meters from the ramp entrance, at a speed of 60 km / h, and in a straight direction. The driving intention of the target vehicle (vehicle 4) is to be determined. Road topology information: 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.
[0101] Guide line location information: The guide line extends from the main road to the ramp and is shaped as a dashed line.
[0102] Location information of the target vehicle: Target vehicle 4 is located in the left lane of the main road, 100 meters from the ramp entrance, and its speed is 50 km / h.
[0103] Based on the road topology information, guide line position information, and target vehicle position information, it can be determined that the target vehicle is entering the ramp from the main road. At this time, the vehicle's heading is 45 degrees (towards the ramp), and the lateral speed is 15 km / h. At this time, the target vehicle 4's heading is 45 degrees (towards the ramp), and the lateral speed is 15 km / h, satisfying condition 1: the target vehicle's heading is towards the current vehicle's lane, and condition 2: the target vehicle's lateral speed 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 target vehicle 4's driving intention is to cut in.
[0104] In one embodiment of the present invention, determining the driving intention of a target vehicle based on road topology information, guide line position information, and target vehicle position information includes: when it is determined that the target vehicle and the current vehicle are traveling in the same lane based on the road topology information, guide line position information, and target vehicle position information, obtaining the driving acceleration of the target vehicle; determining whether the driving acceleration is greater than a preset value; if the driving acceleration is greater than the preset value, then determining that the driving intention of the target vehicle is an acceleration driving intention.
[0105] In embodiments of the present invention, such as Figure 4 Assume that the current vehicle (vehicle A) is traveling on the main road, 5.50 meters away from the target vehicle, with a speed of 60 km / h and a straight direction. The road topology information is as follows: the main road is a two-way six-lane road, the ramp is a one-way two-lane road, and the merging point of 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 shaped as a dashed 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 / s². 2 .
[0107] Assuming the preset value is 1.5 m / s 2 Judgment result: The acceleration of target vehicle 5 is 2 m / s². 2 Greater than the preset value of 1.5 m / s 2 .
[0108] Since the acceleration of target vehicle 5 is greater than the preset value, it is determined that the driving intention of target vehicle 5 is to accelerate. If the driving intention of target vehicle 5 is to accelerate, vehicle A should maintain an appropriate distance to avoid collision with vehicle 5.
[0109] In one embodiment of the present invention, determining the driving intention of a target vehicle based on road topology information, guide line position information, and target vehicle position information includes: when it is determined that the target vehicle has entered a ramp based on the road topology information, guide line position information, and target vehicle position information, determining whether there is a ramp at a preset distance in front of the target vehicle; if there is no ramp at the preset distance in front of the target vehicle, then determining that the target vehicle's driving intention is to drive on a ramp.
[0110] In embodiments of the present invention, such as Figure 4Assuming the current vehicle (Vehicle A) is traveling on the main road, we are preparing to determine the driving intention of the target vehicle (Vehicle 6). At this point, we obtain the following road topology information: the main road is a two-way six-lane road, the ramp is a one-way two-lane road, and the merging point of the ramp and the main road is located in the right lane of the main road. The guide line location information: the guide line extends from the main road to the ramp and is shaped as a dashed line.
[0111] Location information of the target vehicle: Target vehicle 6 has entered the ramp, is 50 meters away from the ramp entrance, and is traveling at a speed of 40 km / h.
[0112] Assuming the preset distance is 100 meters, it is determined that there is no ramp within 100 meters in front of target vehicle 6. Since there is no ramp within 100 meters in front of target vehicle 6, it is determined that the driving intention of target vehicle 6 is to drive on the ramp. If target vehicle 6 intends to drive on the ramp, vehicle A should constrain the predicted trajectory of target vehicle 6 to prevent the trajectory from jumping to the main road.
[0113] Step 103: Control the current vehicle's movement according to the target vehicle's driving intention.
[0114] In this embodiment of the invention, the current vehicle can formulate a corresponding control strategy based on the driving intention of the target vehicle to ensure the safe driving of the current vehicle.
[0115] This application discloses a vehicle control method. In a scenario involving merging traffic on a ramp, the method acquires road topology information, guide line position information, and the position information of a target vehicle within the merging segment. Based on these information, the method determines the target vehicle's driving intention. Then, it controls the current vehicle's movement according to the target vehicle's driving intention. By fusing road topology information, guide line position information, and target vehicle position information, the system can more accurately determine the target vehicle's driving intention, enhancing the system's reliability and robustness. Furthermore, the method allows the current vehicle to intelligently adjust its speed and path based on the target vehicle's driving intention, avoiding unnecessary deceleration or stopping, thereby improving overall traffic efficiency and ensuring driving safety and comfort.
[0116] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.
[0117] Reference Figure 3 This illustration shows a vehicle control device provided by an embodiment of the present invention, comprising:
[0118] The acquisition module 201 is used to acquire road topology information, guide line location information, and target vehicle location information of the merging road segment in the case of a ramp merging scenario.
[0119] The determining module 202 is used to determine the driving intention of the target vehicle based on 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 current vehicle's movement according to the target vehicle's driving intention.
[0121] This invention discloses a vehicle control device that, in a scenario involving merging traffic on a ramp, acquires road topology information, guide line position information, and the position information of a target vehicle within the merging segment. Based on these information, the device determines the target vehicle's driving intention. Then, it controls the current vehicle's movement according to the target vehicle's driving intention. By fusing road topology information, guide line position information, and target vehicle position information, the system can more accurately determine the target vehicle's driving intention, enhancing its reliability and robustness. Furthermore, this invention allows the current vehicle to intelligently adjust its speed and path based on the target vehicle's driving intention, avoiding unnecessary deceleration or stopping, thereby improving 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 the target vehicle merges into the main road from the ramp based on the road topology relationship information, the guide line position information and the target vehicle position information.
[0124] The first intent determination submodule is used to determine the target vehicle's driving intent as the cut-in intent if the current vehicle's map covers the ramp where the target vehicle is located.
[0125] The second intent determination submodule is used to determine the target vehicle's driving intent as a merging intent if the current vehicle's map does not cover the ramp where the target vehicle is located.
[0126] In one embodiment of the present invention, the determining module includes:
[0127] The first acquisition submodule is used to acquire the first time required for the current vehicle to reach the confluence point and the second time required for the target vehicle to reach the confluence point when it is determined that the target vehicle is traveling on the main road based on the road topology relationship information, the guide line position information and the target vehicle position information;
[0128] The first judgment submodule is used to determine 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 the driving intention of the target vehicle as the 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, based on road topology information, guide line position information and target vehicle position information, that the target vehicle is traveling on the ramp and in the adjacent lane of the current vehicle, and to acquire the target vehicle's heading and lateral speed.
[0132] The third determination submodule is used to determine whether the target vehicle is approaching the current vehicle based on the target vehicle's heading and lateral speed.
[0133] The third intent determination submodule is used to determine the driving intent of the target vehicle as the cutting intent 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 the target vehicle's direction of travel from the main road to the ramp based on road topology information, guide line position information and target vehicle position information, and to acquire the target vehicle's heading and lateral speed.
[0136] The fourth determination submodule is used to determine whether the target vehicle is approaching the current vehicle based on the target vehicle's heading and lateral speed.
[0137] The fourth intent determination submodule is used to determine the driving intent of the target vehicle as the cutting intent 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 based on the road topology relationship information, the guide line position information and the target vehicle position information.
[0140] The second judgment submodule is used to determine whether the driving acceleration is greater than a preset value;
[0141] The fifth intent determination submodule is used to determine the target vehicle's driving intent as an acceleration intent 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 determine whether there is a ramp ahead of the target vehicle when it is determined that the target vehicle has entered the ramp based on the road topology relationship information, the guide line position information and the target vehicle position information.
[0144] The sixth intent determination submodule is used to determine the driving intent of the target vehicle as driving on the ramp if there is no ramp at a preset distance in front of the target vehicle.
[0145] This invention discloses a vehicle control device that, in a scenario involving merging traffic on a ramp, acquires road topology information, guide line position information, and the position information of a target vehicle within the merging segment. Based on these information, the device determines the target vehicle's driving intention. Then, it controls the current vehicle's movement according to the target vehicle's driving intention. By fusing road topology information, guide line position information, and target vehicle position information, the system can more accurately determine the target vehicle's driving intention, enhancing its reliability and robustness. Furthermore, this invention allows the current vehicle to intelligently adjust its speed and path based on the target vehicle's driving intention, avoiding unnecessary deceleration or stopping, thereby improving overall traffic efficiency and ensuring driving safety and comfort.
[0146] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the 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, when executed by the processor, implements the steps of the vehicle control method as described above.
[0148] The present invention also discloses a non-volatile readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the vehicle control method described above.
[0149] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.
[0150] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products 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 code.
[0151] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0152] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The 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 equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0154] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.
[0155] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.
[0156] The present invention has provided a detailed description of a vehicle control method, device, vehicle, and storage medium. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.
Claims
1. A vehicle control method, characterized in that, include: In the case of merging traffic on a ramp, obtain the road topology information of the merging section, the position information of the guide line, and the position information of the target vehicle in the merging section; Based on the road topology information, the guide line position information, and the target vehicle's position information, the driving intention of the target vehicle is determined; wherein, the driving intention includes at least one of: cutting in, merging in, accelerating, and driving on the ramp; Control the current vehicle's movement according to the target vehicle's driving intention; The step of determining the driving intention of the target vehicle based on the road topology information, the guide line position information, and the target vehicle's position information includes: When the current vehicle is traveling on the main road, and it is determined, based on the road topology information, the guide line position information, and the target vehicle's position information, that the target vehicle is merging into the main road from a ramp, it is determined whether the current vehicle's map covers the ramp where the target vehicle is located; the coverage indicates that the current vehicle's map data includes the ramp information where the target vehicle is located. If the map of the current vehicle covers the ramp where the target vehicle is located, then the driving intention of the target vehicle is determined to be a cut-in intention; when the driving intention of the target vehicle is a cut-in intention, the current vehicle is controlled to safely merge into the main road based on the distance between the target vehicle and the merging point. If the map of the current vehicle does not cover the ramp where the target vehicle is located, then the driving intention of the target vehicle is determined to be a merging intention; when the driving intention of the target vehicle is a merging intention, the current vehicle is controlled to provide merging space for the target vehicle.
2. The method according to claim 1, characterized in that, Determining the driving intention of the target vehicle based on the road topology information, the guide line position information, and the target vehicle's position information includes: When the current vehicle is traveling on the ramp, and it is determined that the target vehicle is traveling on the main road based on the road topology information, the guide line position information, and the target vehicle's position information, the first time required for the current vehicle to reach the merging point and the second time required for the target vehicle to reach the merging 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, the driving intention of the target vehicle is determined to be a merging intention, and the current vehicle is controlled to decelerate to provide merging space for the target vehicle.
3. The method according to claim 1, characterized in that, Determining the driving intention of the target vehicle based on the road topology information, the guide line position information, and the target vehicle's position information includes: Based on the road topology information, the guide line position information, and the target vehicle's position information, it is determined that the target vehicle is traveling on a ramp and in the adjacent lane of the current vehicle, and the target vehicle's heading and lateral speed are obtained. Based on the target vehicle's heading and lateral speed, determine whether the target vehicle is approaching the current vehicle; If the target vehicle approaches the current vehicle, the driving intention of the target vehicle is determined to be a cutting-in intention, and the current vehicle is controlled to decelerate to provide sufficient cutting-in space for the target vehicle.
4. The method according to claim 1, characterized in that, Determining the driving intention of the target vehicle based on the road topology information, the guide line position information, and the target vehicle's position information includes: Based on the road topology information, the guide line position information, and the target vehicle's position information, it is determined that the target vehicle is entering the ramp from the main road, and the vehicle's heading and lateral speed are obtained. Based on the target vehicle's heading and lateral speed, determine whether the target vehicle is approaching the current vehicle; If the target vehicle approaches the current vehicle, then the driving intention of the target vehicle is determined to be an intention to cut in.
5. The method according to claim 1, characterized in that, Determining the driving intention of the target vehicle based on the road topology information, the guide line position information, and the target vehicle's position information includes: When it is determined, based on the road topology information, the guide line position information, and the target vehicle's position information, that the target vehicle and the current vehicle are traveling in the same lane, the driving acceleration of the target vehicle is obtained. Determine whether the driving acceleration is greater than a preset value; If the driving acceleration is greater than a preset value, then the driving intention of the target vehicle is determined to be an acceleration intention.
6. A vehicle control device, characterized in that, include: The acquisition module is used to acquire road topology information, guide line location information, and target vehicle location information of the merging section in the case of a ramp merging scenario. The determination module is used to determine the driving intention of the target vehicle based on the road topology relationship information, the guide line position information and the target vehicle position information; wherein, the driving intention includes at least one of: cutting in, merging in, accelerating, and driving on the ramp; The control module is used to control the current vehicle's movement according to the target vehicle's driving intention; The determining module includes: The first determining submodule is used when the current vehicle is traveling on the main road, and when it is determined that the target vehicle is merging into the main road from the ramp based on the road topology information, the guide line position information and the target vehicle's position information, it determines whether the map of the current vehicle covers the ramp where the target vehicle is located; the coverage indicates that the map data of the current vehicle contains the ramp information where the target vehicle is located. The first intent determination submodule is used to determine the driving intent of the target vehicle as a cut-in intent if the map of the current vehicle covers the ramp where the target vehicle is located; when the driving intent of the target vehicle is a cut-in intent, the current vehicle is controlled to safely merge into the main road according to the distance between the target vehicle and the merging point. The second intent determination submodule is used to determine the driving intent of the target vehicle as a merging intent if the map of the current vehicle does not cover the ramp where the target vehicle is located; when the driving intent of the target vehicle is a merging intent, the current vehicle is controlled to provide merging space for the target vehicle.
7. 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 the computer program, when executed by the processor, implements the steps of the vehicle control method as described in any one of claims 1-5.
8. A non-volatile readable storage medium, characterized in that, A computer program is stored on the non-volatile readable storage medium, which, when executed by a processor, implements the steps of the vehicle control method as described in any one of claims 1-5.