A method for automatic driving into a ramp control and related equipment

Abstract

The application discloses an automatic driving ramp entering control method and related equipment, and relates to the field of automatic driving. The method comprises the following steps: acquiring a target recognition lane line, wherein the target recognition lane line comprises at least one of a visual recognition lane line and a map recognition lane line, the visual recognition lane line is a lane line fitted based on a visual recognition technology, and the map recognition lane line is a lane line acquired based on a positioning technology; acquiring distance information between a target vehicle and a ramp in the case that the target vehicle does not enter the ramp lane line; and controlling the target vehicle to travel based on the distance information and the target recognition lane line.

Description

TECHNICAL FIELD

[0001] The present specification relates to the field of automatic driving, and more particularly, the present application relates to a method for controlling automatic driving into a ramp and related equipment. BACKGROUND

[0002] Visual recognition of lane lines is usually obtained by a camera to obtain a front road image, and image processing or deep learning algorithms are used to detect and fit lane lines. Map-recognized lane lines rely on high-precision maps and vehicle positioning systems, and can provide relatively accurate and stable lane line coordinate information.

[0003] High-speed navigation assisted driving (Navigation on Autopilot, NOA) can reduce driver fatigue and is used more and more frequently. Automatic ramp exit is a difficult scenario for high-speed NOA. In some scenarios, NOA cannot automatically enter the ramp, which poses a risk of collision with the guardrail, resulting in an increase in the number of takeovers.

[0004] Navigation assisted driving can automatically enter the ramp according to the navigation path. The system automatically enters the ramp based on high-precision maps and camera recognition. However, in some scenarios, the ramp has no lane lines or the old lane lines have not been erased, resulting in inaccurate camera recognition or lane line recognition. In some scenarios, the ramp has inaccurate lane line recognition due to road reconstruction.

[0005] Related technologies cannot guarantee a high ramp pass rate. Therefore, it is necessary to select an appropriate fusion strategy based on the type of ramp to improve the success rate of ramp exit. Therefore, it is necessary to propose a method for controlling automatic driving into a ramp and related equipment to at least solve some of the above problems. SUMMARY

[0006] A series of simplified concepts are introduced in the summary section, which will be described in further detail in the detailed description section. The summary section of the present application does not mean to attempt to limit the key features and essential technical features of the claimed technical solutions, nor does it mean to attempt to determine the protection scope of the claimed technical solutions.

[0007] In a first aspect, the present application proposes a method for controlling automatic driving into a ramp, comprising:

[0008] obtaining a target lane line, wherein the target lane line comprises at least one of a visual recognition lane line and a map recognition lane line, the visual recognition lane line is a lane line fitted based on visual recognition technology, and the map recognition lane line is a lane line obtained based on positioning technology;

[0009] In the case where the target vehicle has not entered the ramp, the distance information between the target vehicle and the ramp is obtained.

[0010] controlling the target vehicle to travel based on the distance information and the target identified lane line.

[0011] In an implementation, the target identified lane line includes a visually identified lane line and a map identified lane line.

[0012] controlling the target vehicle to travel based on the distance information and the target identified lane line, includes:

[0013] calculating a lane line coincidence error information of the visually identified lane line and the map identified lane line;

[0014] controlling the target vehicle to travel based on the distance information and the lane line coincidence error information.

[0015] In an implementation, controlling the target vehicle to travel based on the distance information and the lane line coincidence error information, includes:

[0016] in a case that the lane line coincidence error information is less than or equal to a preset coincidence error information, determining a first control reference line based on the visually identified lane line and the map identified lane line;

[0017] controlling the target vehicle to travel along the first control reference line; and / or,

[0018] in a case that the lane line coincidence error information is greater than the preset coincidence error information and the distance information is greater than a preset distance, controlling the target vehicle to continue to travel and continuously monitoring the lane line coincidence error information.

[0019] In an implementation, controlling the target vehicle to travel based on the distance information and the lane line coincidence error information, includes:

[0020] in a case that the distance information is less than or equal to a preset distance and the lane line coincidence error information is greater than a preset coincidence error information;

[0021] determining the visually identified lane line as a second control reference line;

[0022] controlling the target vehicle to travel along the second control reference line.

[0023] In an implementation, controlling the target vehicle to travel based on the distance information and the lane line coincidence error information, includes:

[0024] In a case where the distance information is greater than a preset distance, the target vehicle is controlled to continue driving, and the lane line coincidence error information and the distance information are continuously acquired;

[0025] In a case where the distance information is less than or equal to the preset distance, the driving state of the target vehicle is adjusted based on the distance information and the lane line coincidence error information.

[0026] In an embodiment, the target recognition lane line includes a map recognition lane line, and the driving of the target vehicle based on the distance information and the lane line coincidence error information includes:

[0027] In a case where the distance information is less than or equal to the preset distance, the map recognition lane line is determined as a third control reference line.

[0028] The target vehicle is controlled to drive along the third control reference line.

[0029] In an embodiment, the calculation of the lane line coincidence error information of the visually recognized lane line and the map recognition lane line includes:

[0030] A lateral distance error of the visually recognized lane line and the map recognition lane line is acquired.

[0031] In a case where the length information of the visually recognized lane line is greater than or equal to a preset length, the lane line coincidence error information is calculated based on the start point information of the visually recognized lane line, the end point information of the visually recognized lane line, and the lateral distance error of the lane line.

[0032] In a second aspect, the application provides an automatic driving ramp entering control device, comprising:

[0033] A first acquisition unit is configured to acquire a target recognition lane line, wherein the target recognition lane line includes at least one of a visually recognized lane line and a map recognition lane line, the visually recognized lane line is a lane line fitted based on a visual recognition technology, and the map recognition lane line is a lane line acquired based on a positioning technology;

[0034] A second acquisition unit is configured to acquire distance information between a target vehicle and a ramp in a case where the target vehicle does not enter the ramp.

[0035] A control unit is configured to control driving of the target vehicle based on the distance information and the target recognition lane line.

[0036] In a third aspect, an electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor configured to implement the steps of the method for controlling an automated vehicle to enter a ramp according to any one of the first aspect when executing the computer program.

[0037] In a fourth aspect, a computer readable storage medium is provided, which stores a computer program. The computer program, when executed by a processor, implements the method for controlling an automated vehicle to enter a ramp according to any one of the first aspect.

[0038] In summary, the present application introduces two data sources of visual recognition lane lines and map recognition lane lines. On the one hand, the real-time characteristics of visual recognition are utilized to dynamically perceive the actual lane environment in front. On the other hand, the accurate coordinate information provided by the high-precision map is utilized to improve the stability in complex scenarios. When one data source deviates or is abnormal, the other data source can provide a reference to improve the robustness of the overall lane line recognition. When the target vehicle has not yet entered the ramp, the distance information between the vehicle and the ramp is continuously monitored through positioning and map matching or sensor detection. The distance information is combined with the multi-source lane line information, and the reference line generated by visual recognition lane lines, map recognition lane lines, or their fusion can be flexibly determined for control according to the actual road conditions, such as high or low coincidence degree, map update degree, and visual recognition quality. In summary, compared with related technologies, the present application can effectively cope with various complex scenarios during ramp entry by acquiring visual recognition lane lines and map recognition lane lines, continuously monitoring the distance information between the vehicle and the ramp, and performing fine vehicle control based on multi-source information, thereby significantly improving the safety, stability, and reliability of automated driving. BRIEF DESCRIPTION OF DRAWINGS

[0039] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not intended to limit the scope of the present application. Moreover, the same reference numerals are used throughout the same figures. In the drawings:

[0040] Figure 1 A flowchart of a method for controlling an automated vehicle to enter a ramp according to an embodiment of the present application is provided.

[0041] Figure 2 A scenario diagram of an automated vehicle entering a ramp according to an embodiment of the present application is provided.

[0042] Figure 3 Another scenario diagram of an automated vehicle entering a ramp according to an embodiment of the present application is provided.

[0043] Figure 4Another scenario diagram of automatic driving into a ramp provided by an embodiment of the present application is shown in FIG. 6.

[0044] Figure 5 Another scenario diagram of automatic driving into a ramp provided by an embodiment of the present application is shown in FIG. 6.

[0045] Figure 6 A structural diagram of a control device for automatic driving into a ramp provided by an embodiment of the present application is shown in FIG. 7.

[0046] Figure 7 A structural diagram of a control electronic device for automatic driving into a ramp provided by an embodiment of the present application is shown in FIG. 8. DETAILED DESCRIPTION

[0047] The terms "first", "second", "third", "fourth" and the like in the description and claims of the present application and above-described accompanying drawings (if any) are used to distinguish similar objects and are not necessarily used to describe a particular sequential or chronological order. It should be understood that the use of such terms is arbitrary under appropriate circumstances so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. In addition, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices. The technical solutions in the embodiments of the present application will be described in detail below with reference to the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments.

[0048] Figure 1 A flow diagram of a control method for automatic driving into a ramp provided by an embodiment of the present application is shown in FIG. 9. The method can specifically include:

[0049] S110, obtaining a target recognition lane line, wherein the target recognition lane line includes at least one of a visual recognition lane line and a map recognition lane line, the visual recognition lane line is a lane line fitted based on a visual recognition technology, and the map recognition lane line is a lane line obtained based on a positioning technology;

[0050] For example, the vehicle identifies the driving environment of the target vehicle through the corresponding sensor and obtains the target recognition lane line. The target recognition lane line includes but is not limited to the visual recognition lane line and the map recognition lane line.

[0051] Visual lane marking can be generated by detecting and fitting lane information using visual perception devices (such as cameras) combined with visual recognition technologies (such as deep learning algorithms). Visual lane marking can dynamically perceive the actual situation of the current lane environment.

[0052] Lane line recognition via map utilizes high-precision maps combined with positioning technology, such as GPS (Global Positioning System) and RTK (Real-Time Kinematic), to acquire lane line information. The advantages of map-based lane line recognition lie in its higher accuracy and robustness, making it particularly suitable for complex road environments.

[0053] S120. If the target vehicle has not entered the ramp, obtain the distance information between the target vehicle and the ramp entrance;

[0054] For example, when the target vehicle has not yet entered the ramp, the vehicle needs to monitor the distance between the target vehicle and the ramp entrance in real time. It should be noted that the ramp entrance is... Figures 2 to 5 Point B in the diagram refers to the junction, not the entrance to the ramp. The distance information between this target vehicle and the ramp entrance can be obtained through, but is not limited to, localization and map matching and sensor detection methods.

[0055] The location and map matching method can calculate the distance between the target vehicle and the ramp coordinates in the high-precision map based on the target vehicle's location information and the ramp coordinates.

[0056] Sensor detection methods utilize onboard sensors (such as millimeter-wave radar, lidar, etc.) to detect the road environment ahead, identify the location of ramp entrances, and estimate the distance.

[0057] S130. Based on the aforementioned distance information and the aforementioned target recognition lane lines, control the aforementioned target vehicle to move.

[0058] For example, the target vehicle integrates the distance and lane information acquired above to control its driving behavior. This control includes, but is not limited to: generating a driving path for the vehicle to switch from the current lane to the ramp based on the location information of the ramp entrance and the target-identified lane lines; adjusting the vehicle's acceleration or deceleration according to the distance information between the vehicle and the ramp entrance to ensure the vehicle enters the ramp at an appropriate speed; and controlling the vehicle's steering wheel angle according to the identified lane line information to allow the vehicle to smoothly enter the ramp. This achieves precise control of the autonomous vehicle during ramp entry, ensuring driving stability and safety.

[0059] In summary, the application introduces two data sources of visual recognition lane lines and map recognition lane lines. On the one hand, the real-time characteristics of visual recognition are utilized to dynamically perceive the actual lane environment in front; on the other hand, the accurate coordinate information provided by the high-precision map is utilized to improve the stability in complex scenarios. When one data source has recognition deviation or abnormality, the other data source can provide reference to improve the robustness of the overall lane line recognition. When the target vehicle has not yet entered the ramp, the distance information between the vehicle and the ramp is continuously monitored through positioning and map matching or sensor detection. The distance information is combined with the multi-source lane line information, and the reference line generated by visual recognition lane lines, map recognition lane lines or fusion of the two can be flexibly determined for control according to the actual road conditions, such as high or low coincidence degree, map update degree, visual recognition quality, etc. In summary, compared with related technologies, the application can effectively cope with various complex scenarios when entering the ramp by acquiring visual recognition lane lines and map recognition lane lines, continuously monitoring the distance information between the vehicle and the ramp, and performing fine vehicle control based on multi-source information, thereby significantly improving the safety, stability and reliability of autonomous driving.

[0060] In a feasible implementation, the target recognition lane line includes a visual recognition lane line and a map recognition lane line.

[0061] The target vehicle is controlled to travel based on the distance information and the target recognition lane line, including:

[0062] The lane line coincidence error information of the visual recognition lane line and the map recognition lane line is calculated.

[0063] The target vehicle is controlled to travel based on the distance information and the lane line coincidence error information.

[0064] Exemplarily, the visual lane line is matched and compared with the map lane line to obtain the coincidence error value. According to the distance between the vehicle and the ramp and the coincidence error size, it is determined whether to continue to travel along the map lane line, travel along the visual lane line, or generate a control reference line by fusing the two.

[0065] Specifically, before the vehicle enters the ramp, the position of the ramp is obtained through the map. At this time, if the visual recognition lane line and the map recognition lane line result are basically consistent, i.e., the coincidence error is small, it can be considered that the recognition is more reliable, and the corresponding steering and deceleration strategy is executed. If the deviation between the two is large, it is necessary to combine the real scene where the vehicle is located to determine which lane line is mainly controlled.

[0066] In a feasible implementation, the target vehicle is controlled to travel based on the distance information and the lane line coincidence error information, including:

[0067] In a case where the lane line coincidence error information is less than or equal to the preset coincidence error information, a first control reference line is determined based on the visually recognized lane line and the map-recognized lane line;

[0068] The target vehicle is controlled to travel along the first control reference line; and / or,

[0069] In a case where the lane line coincidence error information is greater than the preset coincidence error information and the distance information is greater than the preset distance, the target vehicle is controlled to continue traveling and the lane line coincidence error information is continuously monitored.

[0070] For example, if the lane line coincidence error information is less than or equal to the preset coincidence error information, the visually recognized lane line and the map-recognized lane line are fused to determine a first control reference line along which the vehicle travels. The fusion method can adopt a weighted average, curvature fusion or the like to obtain an optimal first control reference line.

[0071] For example, if the lane line coincidence error information is less than or equal to the preset coincidence error information, the visually recognized lane line and the map-recognized lane line are fused to determine a first control reference line along which the vehicle travels. The fusion method can adopt a weighted average, curvature fusion or the like to obtain an optimal first control reference line. Figure 2 The center lines of the AC and A1C1 can be taken as the control reference lines.

[0072]

[0073] In a case where the lane line coincidence error information is greater than the preset coincidence error information and the distance information is greater than the preset distance, the vehicle is far away from the ramp entrance and can continue to travel and observe, the target vehicle is controlled to continue traveling and the lane line coincidence error information is continuously monitored for further judgment.

[0074] In an available embodiment, the control of the target vehicle based on the distance information and the lane line coincidence error information includes:

[0075] In a case where the distance information is less than or equal to the preset distance and the lane line coincidence error information is greater than the preset coincidence error information,

[0076] The visually recognized lane line is determined as a second control reference line.

[0077] The target vehicle is controlled to travel along the second control reference line.

[0078] For example, if the distance information is less than or equal to the preset distance, the vehicle has approached the ramp entrance. If the lane line coincidence error information is greater than the preset coincidence error information, the error between the visually recognized lane line and the map-recognized lane line is large, the map-recognized result is abandoned, and the visually recognized lane line is taken as the second control reference line alone. The vehicle travels along the second control reference line.

[0079] As shown in Figure 3 , the vehicle recognizes the lane line into the ramp lane, but all the perception lane line and the map boundary lane line have a lane line coincidence error information e greater than a preset coincidence error information e0, and the ego vehicle is relatively close to the front ramp split point, less than or equal to a preset distance, which can be selected as 5 times the vehicle speed, that is, the target vehicle is within a distance L≤5×V from the point B, and the ego vehicle is controlled according to the visual recognition lane line y=y1(x).

[0080] In an embodiment, the above-mentioned control of the target vehicle based on the distance information and the lane line coincidence error information includes:

[0081] When the distance information is greater than the preset distance, the target vehicle is controlled to continue driving, and the lane line coincidence error information and the distance information are continuously obtained.

[0082] When the distance information is less than or equal to the preset distance, the current vehicle driving state is adjusted based on the distance information and the lane line coincidence error information.

[0083] As shown in Figure 4 , the vehicle is divided into two driving stages: 1. The distance is greater than the preset distance, that is, the target vehicle has not reached the ramp approach area, and the vehicle can be driven according to the original plan or normal cruising, and the lane line coincidence error information and the distance information are continuously obtained. 2. The distance is less than or equal to the preset distance, that is, the target vehicle enters the ramp approach area, and the lane line coincidence error needs to be paid attention to, and a suitable control strategy is selected. If the vehicle is still far from the ramp (or target point) (that is, greater than the preset distance), no merging and lane operation is needed, and the vehicle is driven according to the current route, and the visual and map lane line information is continuously updated. When the vehicle reaches the approach area, that is, less than or equal to the preset distance, the system will combine the locally calculated lane line coincidence error to determine the next control strategy.

[0084] As shown in Figure 4 , when the vehicle is cruising on the ordinary road and has not reached the ramp or interchange, only the normal lane keeping function needs to be maintained, and the lane line coincidence error information and the distance information are continuously obtained. Only when the sensor or the map prompts that there is a ramp within a preset distance, the more detailed ramp cut-in logic needs to be activated, thereby saving the computing resources and improving the system efficiency.

[0085] In an embodiment, the above-mentioned target recognition lane line includes a map recognition lane line, and the above-mentioned control of the target vehicle based on the distance information and the lane line coincidence error information includes:

[0086] In the case that the distance information is less than or equal to the preset distance, the map-recognized lane line is determined as the third control reference line;

[0087] The target vehicle is controlled to travel along the third control reference line.

[0088] For example, when the distance between the vehicle and the ramp is less than or equal to the preset distance, the lane line at this place is worn or lost, and only the map-recognized lane line can be directly used as the third control reference line, and the control is performed according to the map lane line y=y2(x).

[0089] In an available embodiment, the calculation of the lane line coincidence error information of the visually-recognized lane line and the map-recognized lane line comprises:

[0090] In the case that the length information of the visually-recognized lane line is greater than or equal to the preset length, the lateral distance error of the visually-recognized lane line and the lane line of the map-recognized lane is obtained.

[0091] The lane line coincidence error information is calculated based on the start point information of the visually-recognized lane line, the end point information of the visually-recognized lane line and the lateral distance error of the lane line.

[0092] For example, it is assumed that the AC equation of the visually-recognized lane line recognized by the camera is y1(x), the start point of the visually-recognized lane line is S, the end point is E, and the equation of the map lane line is y2(x),

[0093] When the length information of the visually-recognized lane line is greater than or equal to the preset length, the visually-recognized lane line is not judged, and Z is set as the set length, that is:

[0094] (E-S)≥Z (1)

[0095] It is assumed that the lateral distance error of the two lane lines is w(x):

[0096] w(x)=|y1(x)-y2(x)| (2)

[0097] In the range of the start point S and the end point E, the position coincidence error of the two lane lines is

[0098]

[0099] When the formula (1) meets the requirement, the position coincidence error is calculated according to the formula (2) and the formula (3). When e≤e0, it is considered that the position coincidence of the two lane lines is high; when e>e0, it is considered that the position coincidence of the two lane lines is not high.

[0100] If the old lane line on the road is not eliminated, the perception will recognize more than two lane lines on the right side, such as Figure 5The AC and DE shown, thus need to overlap the degree of checking of the each lane line and the map of the road boundary line of the knowledge of the feeling, in turn get e AC And e DE

[0101] As Figure 6 shown, an automatic driving into ramp control device is provided, comprising:

[0102] The first acquisition unit 21 is configured to acquire a target recognition lane line, wherein the target recognition lane line comprises at least one of a visual recognition lane line and a map recognition lane line, the visual recognition lane line is a lane line fitted based on a visual recognition technology, and the map recognition lane line is a lane line obtained based on a positioning technology;

[0103] The second acquisition unit 22 is configured to acquire distance information between a target vehicle and a ramp in a case where the target vehicle does not enter the ramp;

[0104] The control unit 23 is configured to control driving of the target vehicle based on the distance information and the target recognition lane line.

[0105] The automatic driving into ramp control device can further perform the following steps,

[0106] In an embodiment, the target recognition lane line comprises the visual recognition lane line and the map recognition lane line.

[0107] The control of the driving of the target vehicle based on the distance information and the target recognition lane line comprises:

[0108] Calculating lane line overlap error information of the visual recognition lane line and the map recognition lane line;

[0109] Controlling the driving of the target vehicle based on the distance information and the lane line overlap error information.

[0110] In an embodiment, the controlling of the driving of the target vehicle based on the distance information and the lane line overlap error information comprises:

[0111] In a case where the lane line overlap error information is less than or equal to preset overlap error information, determining a first control reference line based on the visual recognition lane line and the map recognition lane line;

[0112] Controlling the target vehicle to drive along the first control reference line; and / or,

[0113] In the case that the lane line coincidence error information is greater than the preset lane line coincidence error information and the distance information is greater than the preset distance, the target vehicle is controlled to continue driving, and the lane line coincidence error information is continuously monitored.

[0114] In an embodiment, the control of the target vehicle based on the distance information and the lane line coincidence error information includes:

[0115] In the case that the distance information is less than or equal to the preset distance and the lane line coincidence error information is greater than the preset lane line coincidence error information;

[0116] The visually recognized lane line is determined as a second control reference line;

[0117] The target vehicle is controlled to drive along the second control reference line.

[0118] In an embodiment, the control of the target vehicle based on the distance information and the lane line coincidence error information includes:

[0119] In the case that the distance information is greater than the preset distance, the target vehicle is controlled to continue driving, and the lane line coincidence error information and the distance information are continuously acquired;

[0120] In the case that the distance information is less than or equal to the preset distance, the driving state of the target vehicle is adjusted based on the distance information and the lane line coincidence error information.

[0121] In an embodiment, the target recognized lane line includes a map recognized lane line, and the control of the target vehicle based on the distance information and the lane line coincidence error information includes:

[0122] In the case that the distance information is less than or equal to the preset distance, the map recognized lane line is determined as a third control reference line;

[0123] The target vehicle is controlled to drive along the third control reference line.

[0124] In an embodiment, the calculation of the lane line coincidence error information of the visually recognized lane line and the map recognized lane line includes:

[0125] In the case that the length information of the visually recognized lane line is greater than or equal to the preset length, the lateral distance error between the visually recognized lane line and the map recognized lane line is acquired;

[0126] The lane line coincidence error information is calculated based on the start point information of the lane line identified by vision, the end point information of the lane line identified by vision, and the lateral distance error of the lane line.

[0127] The present application introduces two data sources of visually recognized lane lines and map-recognized lane lines. On the one hand, the real-time characteristics of visual recognition are utilized to dynamically perceive the actual lane environment in front; on the other hand, the accurate coordinate information provided by the high-precision map is utilized to improve the stability in complex scenarios. When one data source has recognition deviation or abnormality, the other data source can provide reference to improve the robustness of the overall lane line recognition. When the target vehicle has not yet entered the ramp, the distance information between the vehicle and the ramp is continuously monitored through positioning and map matching or sensor detection. The distance information is combined with the multi-source lane line information, and the reference line generated by the visual recognition lane line, the map-recognized lane line or the fusion of the two can be flexibly determined for control according to the actual road conditions, such as high or low coincidence, map update degree, visual recognition quality, etc. In summary, compared with related technologies, the present application can effectively cope with various complex scenarios when entering the ramp by acquiring visual recognition lane lines and map-recognized lane lines, continuously monitoring the distance information between the vehicle and the ramp, and performing fine vehicle control based on multi-source information, thereby significantly improving the safety, stability and reliability of autonomous driving.

[0128] As shown in Figure 7 The present application also provides an electronic device 300, which includes a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and executable on the processor. When the processor 320 executes the computer program 311, the steps of any method of the above-described automatic driving ramp control are implemented.

[0129] Since the electronic device described in the present embodiment is the device used to implement the automatic driving ramp control device in the present embodiment, the specific implementation of the electronic device and its various forms can be understood by those skilled in the art based on the methods described in the present embodiment. Therefore, how the electronic device implements the method in the present embodiment will not be described in detail, as long as the device used by those skilled in the art to implement the method in the present embodiment belongs to the scope of the present application.

[0130] In the specific implementation process, the computer program 311 can implement any embodiment of the first aspect when executed by the processor.

[0131] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0132] Those skilled in the art will appreciate that embodiments of the application can be readily used as a method, apparatus, or computer program product. Accordingly, the application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the application can take the form of a computer program product on one or more computer readable storage media (including, but not limited to, disk memory, CD-ROMs, optical storage devices, etc.) embodying computer readable program code.

[0133] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0134] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0135] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0136] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0137] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the processes or functions according to the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that the computer can store or be integrated into a data storage device such as a server, data center, etc. containing one or more available media. The available media can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)), etc.

[0138] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0139] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or components shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0140] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0141] In addition, each of the functional units in the various embodiments of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0142] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, essentially or in part, or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the various embodiments of the method of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and various other media that can store program codes.

[0143] The above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for controlling autonomous driving entry onto a ramp, characterized in that, include: The system acquires target recognition lane lines, which include visual recognition lane lines and map recognition lane lines. The visual recognition lane lines are obtained by fitting based on visual recognition technology, and the map recognition lane lines are obtained based on positioning technology. When the target vehicle has not entered the ramp, the system acquires the distance information between the target vehicle and the ramp entrance. The ramp entrance is a diversion point. Based on the distance information and the target identification lane lines, control the driving of the target vehicle; The step of controlling the target vehicle's movement based on the distance information and the target identification lane line includes: Calculate the lane line overlap error information between the visually recognized lane lines and the map-recognized lane lines; The target vehicle is controlled to drive based on the distance information and the lane line overlap error information. The method of controlling the target vehicle's movement based on the distance information and the lane overlap error information includes: If the lane overlap error information is greater than the preset overlap error information and the distance information is greater than the preset distance, the target vehicle is controlled to continue driving, and the lane overlap error information is continuously monitored. The method of controlling the target vehicle's movement based on the distance information and the lane overlap error information includes: When the distance information is less than or equal to a preset distance and the lane line coincidence error information is greater than a preset coincidence error information; The visually recognized lane line is determined as the second control reference line; Control the target vehicle to travel along the second control reference line.

2. The autonomous driving ramp entry control method according to claim 1, wherein controlling the target vehicle's movement based on the distance information and the lane overlap error information includes: When the lane line coincidence error information is less than or equal to the preset coincidence error information, a first control reference line is determined based on the visually recognized lane line and the map-recognized lane line. Control the aforementioned target vehicle to travel along the aforementioned first control reference line.

3. The autonomous driving ramp entry control method according to claim 1, characterized in that, The method of controlling the target vehicle's movement based on the distance information and the lane overlap error information includes: If the distance information is greater than a preset distance, the target vehicle is controlled to continue moving forward, and the lane overlap error information and the distance information are continuously acquired; If the distance information is less than or equal to a preset distance, the current vehicle driving status is adjusted based on the distance information and the lane line overlap error information.

4. The autonomous driving ramp entry control method according to any one of claims 1 to 3, characterized in that, The calculation of the lane line overlap error information between the visually recognized lane line and the map-recognized lane includes: If the length information of the visually recognized lane line is greater than or equal to a preset length, the lateral distance error between the visually recognized lane line and the lane line of the map-recognized lane is obtained. The lane line coincidence error information is calculated based on the starting point information of the visually recognized lane line, the ending point information of the visually recognized lane line, and the lateral distance error of the lane line.

5. An automated driving ramp entry control device, characterized in that, include: The first acquisition unit is used to acquire target recognition lane lines, wherein the target recognition lane lines include visual recognition lane lines and map recognition lane lines, wherein the visual recognition lane lines are lane lines obtained by fitting based on visual recognition technology, and the map recognition lane lines are lane lines obtained based on positioning technology. The second acquisition unit is used to acquire distance information between the target vehicle and the ramp entrance when the target vehicle has not entered the ramp; the ramp entrance is a diversion point. A control unit is configured to control the movement of the target vehicle based on the distance information and the target identification lane lines; The control unit is also used to calculate the lane line overlap error information of the visually recognized lane line and the map-recognized lane; The target vehicle is controlled to drive based on the distance information and the lane line overlap error information. If the lane overlap error information is greater than the preset overlap error information and the distance information is greater than the preset distance, the target vehicle is controlled to continue driving, and the lane overlap error information is continuously monitored. When the distance information is less than or equal to a preset distance and the lane line coincidence error information is greater than a preset coincidence error information; The visually recognized lane line is determined as the second control reference line; Control the target vehicle to travel along the second control reference line.

6. An electronic device, comprising: The memory and processor are characterized in that the processor is used to implement the steps of the autonomous driving ramp entry control method as described in any one of claims 1-4 when executing a computer program stored in the memory.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the autonomous driving ramp entry control method as described in any one of claims 1-4.

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