Straight lane selection method and device, electronic equipment and storage medium

Abstract

The invention provides a straight lane selection method and device, electronic equipment and a storage medium, and the method comprises the steps: determining a straight lane of a target vehicle in a current road based on the road condition information of the current road; calculating the estimated time for the target vehicle to pass through the intersection according to each straight lane; and according to the estimated time and the road condition information, determining a straight lane on which the target vehicle runs. Compared with the prior art, the method provided by the invention can calculate in real time according to the road condition information of the current road to obtain the estimated time for the target vehicle to pass through the intersection according to the determined straight-through lane, and then determine the straight-through lane on which the target vehicle runs according to the road condition information. Through the mode of calculating the estimated time, the passing time of the vehicle at the intersection can be reduced, and the commuting efficiency of the vehicle is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicles, and in particular, to a method and device for selecting a straight lane, an electronic device, and a storage medium. Background Art

[0002] When a vehicle travels to an intersection, drivers often choose the wrong lane due to unclear understanding of the road conditions. For example, on the rightmost road where only right turns are allowed, vehicles that originally need to go straight often mistake the right-turn lane for a right-turn and straight lane. Such misunderstandings can cause drivers to hesitate and delay when changing lanes, resulting in traffic congestion. Sometimes, the wrong lane selection even leads to having to change the vehicle's driving route, increasing the commuting time. In addition, wrong lane selection may also pose a potential threat to traffic safety. If a driver suddenly changes lanes at an intersection, it may interfere with the normal driving of other vehicles and increase the risk of traffic accidents. Therefore, how to efficiently go straight through an intersection by a vehicle has become a problem to be solved. Summary of the Invention

[0003] The present disclosure provides a method and device for selecting a straight lane, an electronic device, and a storage medium. Its main purpose is to improve the traffic efficiency of a vehicle at an intersection.

[0004] According to a first aspect of the present disclosure, there is provided a method for selecting a straight lane, including:

[0005] Obtain traffic sign information, map navigation information, and surrounding vehicle driving information of the current road;

[0006] Analyze the traffic sign information, the map navigation information, and the surrounding vehicle driving information, calculate the probability of each lane being a straight lane, so as to determine candidate straight lanes of the target vehicle on the current road, where the candidate straight lanes include at least one of a right-turn and straight lane, a left-turn and straight lane, and a straight lane;

[0007] According to the driving information of the target vehicle and the surrounding vehicle driving information, calculate the estimated time for the target vehicle to pass through the intersection along each candidate straight lane;

[0008] Compare the estimated times of each candidate straight lane, and select the target straight lane for the target vehicle to travel from each candidate straight lane according to the comparison result and the driving information of the target vehicle.

[0009] Optionally, the analyzing the traffic sign information, the map navigation information, and the surrounding vehicle driving information, calculating the probability of each lane being a straight lane, so as to determine candidate straight lanes of the target vehicle on the current road includes:

[0010] Obtain the credibility of the traffic sign information, the map navigation information, and the surrounding vehicle driving information respectively, and calculate the probability that each lane is a straight lane;

[0011] If the probability of any lane exceeds the first preset threshold, determine the lane exceeding the first preset threshold as the candidate straight lane.

[0012] Optionally, the calculating the estimated time for the target vehicle to pass through the intersection according to each candidate straight lane based on the driving information of the target vehicle and the surrounding vehicle driving information includes:

[0013] Based on the driving information of the target vehicle and the surrounding vehicle driving information, obtain the first displacement information of the target leading vehicle in each candidate straight lane and the second displacement information of the target vehicle;

[0014] According to the first displacement information and the second displacement information, calculate the estimated time for the target vehicle to pass through the intersection according to each candidate straight lane.

[0015] Optionally, the calculating the estimated time for the target vehicle to pass through the intersection according to each candidate straight lane based on the first displacement information and the second displacement information includes:

[0016] Based on the driving information of the target vehicle and the surrounding vehicle driving information, determine whether the target leading vehicle exists in each candidate straight lane;

[0017] If the candidate straight lane does not have the target leading vehicle, calculate the estimated time according to the second displacement information, where the second displacement information includes the second speed of the target vehicle moving forward, the second distance between the target vehicle and the stop line, the third distance between the target vehicle and the center line of each candidate straight lane, and the third speed of the target vehicle changing lanes laterally;

[0018] If the candidate straight lane has the target leading vehicle, calculate the estimated time using the first displacement information and the second displacement information, where the first displacement information includes the first speed of the target leading vehicle, the first acceleration of the target leading vehicle, and the first distance between the target leading vehicle and the stop line.

[0019] Optionally, the comparing the estimated time of each candidate straight lane and selecting the target straight lane for the target vehicle to drive from each candidate straight lane according to the comparison result and the driving information of the target vehicle includes:

[0020] Obtain the driving information of the target vehicle and determine whether the target vehicle is in the candidate straight lane;

[0021] If the target vehicle is not in the candidate straight lane, then use the candidate straight lane with the shortest estimated time as the target straight lane;

[0022] If the target vehicle is in the candidate straight lane, then compare the candidate straight lane where the target vehicle is located with the candidate straight lane with the shortest estimated time, and generate the target straight lane for the target vehicle to travel.

[0023] Optionally, the comparing the candidate straight lane where the target vehicle is located with the candidate straight lane with the shortest estimated time, and generating the target straight lane for the target vehicle to travel includes:

[0024] Calculate the difference between the estimated time of the candidate straight lane where the target vehicle is located and the shortest estimated time;

[0025] If the difference is greater than the second preset threshold, then use the candidate straight lane with the shortest estimated time as the target straight lane;

[0026] If the difference is less than or equal to the second preset threshold, then use the candidate straight lane where the target vehicle is located as the target straight lane.

[0027] Optionally, after comparing the estimated time of each candidate straight lane, and selecting the target straight lane for the target vehicle to travel from each candidate straight lane according to the comparison result and the driving information of the target vehicle, the method further includes:

[0028] Analyze the driving record of the target vehicle, and adjust the credibility corresponding to the traffic sign information, the map navigation information, and the driving information of the surrounding vehicles.

[0029] According to a second aspect of the present disclosure, there is provided an apparatus for selecting a straight lane, including:

[0030] An acquisition unit, configured to acquire traffic sign information, map navigation information, and driving information of surrounding vehicles of the current road;

[0031] A determination unit, configured to analyze the traffic sign information, the map navigation information, and the driving information of the surrounding vehicles, calculate the probability of each lane being a straight lane, so as to determine candidate straight lanes of the target vehicle on the current road, where the candidate straight lanes include at least one of a right-turn straight lane, a left-turn straight lane, and a straight lane;

[0032] A calculation unit, configured to calculate the estimated time for the target vehicle to pass through the intersection according to each candidate straight lane according to the driving information of the target vehicle and the driving information of the surrounding vehicles;

[0033] A selection unit for comparing the estimated travel times of each of the candidate straight lanes and selecting a target straight lane for the target vehicle to travel from each of the candidate straight lanes according to the comparison result and the travel information of the target vehicle.

[0034] Optionally, the determination unit includes:

[0035] A first calculation module for respectively obtaining the credibility of the traffic sign information, the map navigation information, and the surrounding vehicle travel information, and calculating the probability that each lane is a straight lane;

[0036] A first determination module for determining, when the probability of any lane exceeds a first preset threshold, the lane exceeding the first preset threshold as the candidate straight lane.

[0037] Optionally, the calculation unit includes:

[0038] An acquisition module for acquiring, based on the travel information of the target vehicle and the surrounding vehicle travel information, the first displacement information of the target leading vehicle in each of the candidate straight lanes and the second displacement information of the target vehicle;

[0039] A second calculation module for calculating the estimated travel time for the target vehicle to pass through the intersection according to the first displacement information and the second displacement information.

[0040] Optionally, the second calculation module is further configured to:

[0041] Based on the travel information of the target vehicle and the surrounding vehicle travel information, determine whether there is a target leading vehicle in each of the candidate straight lanes;

[0042] If there is no target leading vehicle in the candidate straight lane, calculate the estimated travel time according to the second displacement information, where the second displacement information includes the second speed of the target vehicle moving forward, the second distance between the target vehicle and the stop line, the third distance between the target vehicle and the center line of each candidate straight lane, and the third speed of the target vehicle changing lanes laterally;

[0043] If there is a target leading vehicle in the candidate straight lane, calculate the estimated travel time using the first displacement information and the second displacement information, where the first displacement information includes the first speed of the target leading vehicle, the first acceleration of the target leading vehicle, and the first distance between the target leading vehicle and the stop line.

[0044] Optionally, the selection unit includes:

[0045] A second determination module, configured to obtain the driving information of the target vehicle and determine whether the target vehicle is in the candidate straight lane;

[0046] A first generation module, configured to use the candidate straight lane with the shortest estimated time as the target straight lane when the target vehicle is not in the candidate straight lane;

[0047] A second generation module, configured to compare the candidate straight lane where the target vehicle is located with the candidate straight lane with the shortest estimated time if the target vehicle is in the candidate straight lane, and generate the target straight lane for the target vehicle to travel.

[0048] Optionally, the second generation module is further configured to:

[0049] Calculate the difference between the estimated time of the candidate straight lane where the target vehicle is located and the shortest estimated time;

[0050] If the difference is greater than a second preset threshold, use the candidate straight lane with the shortest estimated time as the target straight lane;

[0051] If the difference is less than or equal to the second preset threshold, use the candidate straight lane where the target vehicle is located as the target straight lane.

[0052] Optionally, the apparatus further includes:

[0053] An adjustment unit, configured to analyze the driving record of the target vehicle after the selection unit compares the estimated times of each candidate straight lane and selects the target straight lane for the target vehicle to travel from each candidate straight lane according to the comparison result and the driving information of the target vehicle, and adjust the credibility corresponding to the traffic sign information, the map navigation information, and the driving information of the surrounding vehicles.

[0054] According to a third aspect of the present disclosure, there is provided an electronic device, including:

[0055] At least one processor; and

[0056] A memory communicatively connected to the at least one processor; wherein,

[0057] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method described in the foregoing first aspect.

[0058] According to a fourth aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause the computer to execute the method described in the foregoing first aspect.

[0059] According to a fifth aspect of the present disclosure, there is provided a computer program product including a computer program which, when executed by a processor, implements the method described in the foregoing first aspect.

[0060] A method and apparatus for selecting a straight lane, an electronic device, and a storage medium provided by the present disclosure obtain traffic sign information, map navigation information, and surrounding vehicle driving information of a current road; analyze the traffic sign information, the map navigation information, and the surrounding vehicle driving information, and calculate the probability of each lane being a straight lane to determine candidate straight lanes of a target vehicle on the current road, where the candidate straight lanes include at least one of a right-turn straight lane, a left-turn straight lane, and a straight lane; calculate an estimated time for the target vehicle to pass through an intersection according to each candidate straight lane according to the driving information of the target vehicle and the surrounding vehicle driving information; compare the estimated times of each candidate straight lane, and determine a target straight lane for the target vehicle to drive from each candidate straight lane according to the comparison result. Compared with the related art, the method provided by the present disclosure can calculate in real time the estimated time for the target vehicle to pass through the intersection according to the traffic sign information, the map navigation information, and the surrounding vehicle driving information of the current road, and then determine the straight lanes available for the target vehicle to drive. By calculating the estimated time, the passing time of the vehicle at the intersection can be reduced, and the efficiency of the vehicle passing through the intersection straight can be improved.

[0061] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become easily understandable through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The drawings are used to better understand the solution and do not constitute a limitation to the present disclosure. Among them:

[0063] Figure 1 is a schematic flowchart of a method for selecting a straight lane provided by an embodiment of the present disclosure;

[0064] Figure 2 is a schematic flowchart of another method for selecting a straight lane provided by an embodiment of the present disclosure;

[0065] Figure 3 is a schematic structural diagram of a device for selecting a straight lane provided by an embodiment of the present disclosure;

[0066] Figure 4 is a schematic structural diagram of another device for selecting a straight lane provided by an embodiment of the present disclosure;

[0067] Figure 5 Schematic block diagram of an exemplary electronic device provided by an embodiment of the present disclosure. Detailed implementation manners

[0068] The following describes exemplary embodiments of the present disclosure with reference to the accompanying drawings. Various details of the embodiments of the present disclosure are included to facilitate understanding, and they should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, descriptions of well-known functions and structures are omitted in the following description for clarity and conciseness.

[0069] The following describes a method and apparatus for selecting a straight lane, an electronic device, and a storage medium according to embodiments of the present disclosure with reference to the accompanying drawings.

[0070] Figure 1 Flow schematic diagram of a method for selecting a straight lane provided by an embodiment of the present disclosure.

[0071] As Figure 1 shown, the method includes the following steps:

[0072] Step 101, obtain traffic sign information, map navigation information, and surrounding vehicle driving information of the current road.

[0073] In an embodiment of the present disclosure, traffic sign information of the current road can be used to obtain information such as traffic markings and traffic signs within a preset range of the vehicle in real time through an in-vehicle image acquisition device. The straight lanes available for the target vehicle on the current road can be determined through the traffic sign information of the current road; the map navigation information can provide lane-level navigation information for the vehicle, and the straight lanes available for the target vehicle on the current road can be determined through the map navigation information; in actual situations, there are cases where traffic sign information is incorrect, map navigation information is not updated in a timely manner, or the map navigation signal is poor. Therefore, it is also necessary to determine the straight lanes available for the target vehicle on the current road according to the surrounding vehicle driving information. The straight lanes available for driving are lanes on the current road that allow vehicles to drive straight through. For example, they can be right-turn straight lanes, left-turn straight lanes, or straight lanes.

[0074] In some embodiments of the present disclosure, if an accident occurs on the current road and occupies the straight lane, and it is necessary to borrow the right-turn or left-turn lane, the right-turn lane or the left-turn lane can also be used as a straight lane available for driving at this time, and the present disclosure does not limit this.

[0075] According to the obtained road condition information of the current road, it is possible to accurately judge the straight lanes available for the vehicle to drive straight through, improving the commuting efficiency of the vehicle.

[0076] Step 102: Analyze the traffic sign information, the map navigation information, and the surrounding vehicle driving information, calculate the probability of each lane being a straight lane, and determine the candidate straight lanes of the target vehicle on the current road.

[0077] In the embodiments of the present disclosure, the traffic sign information, the map navigation information, and the surrounding vehicle driving information can be collected by devices such as on-vehicle sensors, GPS, and traffic monitoring cameras. Analyze and process the collected information; the traffic sign information and the map navigation information can help identify the lane types, road directions, etc. of the current road; the surrounding vehicle driving information can be used to analyze the driving state of the lane where the target vehicle is located. By analyzing the traffic signs, map navigation, and surrounding vehicle driving information, the nature of each lane can be determined. For lanes that meet the straight-through conditions, calculate the probability of them being straight lanes. According to the calculated straight-through probabilities of each lane, select the lanes with higher probabilities as the candidate straight lanes of the target vehicle.

[0078] By analyzing the traffic signs, map navigation, and surrounding vehicle driving information in real time, it can be ensured that the vehicle is driving in the correct lane and traffic accidents can be avoided. In a complex road environment, it may be difficult for a driver to accurately judge the best driving route. By calculating the straight-through probability of each lane, it can help the driver choose the safest driving route. In a congested section, obtaining the surrounding vehicle driving information in real time can help the driver choose an unobstructed lane, reduce the congestion waiting time, and improve the road traffic efficiency.

[0079] Step 103: According to the driving information of the target vehicle and the surrounding vehicle driving information, calculate the estimated time for the target vehicle to pass through the intersection along each of the candidate straight lanes.

[0080] In the embodiments of the present disclosure, the estimated time is the time for the target vehicle to pass through the intersection along the straight-through lane from the current position. It should be noted that if the target vehicle changes lanes from the current position, the estimated time includes the time spent on changing lanes. For example, if the current road has a left-turn and straight lane, a straight lane, and a right-turn and straight lane from left to right, and all three lanes are straight-through lanes. Assuming that the current target vehicle is driving in the right-turn and straight lane, the estimated time for the target vehicle to pass through the intersection along the left-turn and straight lane depends on the distance to the vehicle in front of the target and the time for the target vehicle to change lanes and then pass through the intersection.

[0081] Step 104: Compare the estimated times of each of the candidate straight lanes, and select the target straight lane for the target vehicle to drive from each of the candidate straight lanes according to the comparison result and the driving information of the target vehicle.

[0082] In an embodiment of the present disclosure, after calculating the estimated time for the target vehicle to pass through the intersection along each of the straight-ahead lanes, it is also necessary to determine whether lane changing can be performed based on the obtained road condition information. For example, it is necessary to determine whether there is a risk of collision when changing lanes according to the road condition information. When changing lanes will not affect the surrounding vehicles, based on the estimated time, comprehensively determine the straight-ahead lane that the target vehicle needs to travel on.

[0083] By analyzing the road condition information around the target vehicle, the risk of collision caused by lane changing can be avoided, and accidents can be reduced. At the same time, lane changing can also be performed according to the straight-ahead lane with a short calculated estimated time, improving the traffic efficiency of the vehicle when passing through the intersection.

[0084] A method for selecting a straight-ahead lane provided by the present disclosure includes: obtaining traffic sign information, map navigation information, and surrounding vehicle driving information of the current road; parsing the traffic sign information, the map navigation information, and the surrounding vehicle driving information, and calculating the probability of each lane being a straight-ahead lane to determine candidate straight-ahead lanes of the target vehicle on the current road, where the candidate straight-ahead lanes include at least one of a right-turn straight-ahead lane, a left-turn straight-ahead lane, and a straight-ahead lane; calculating the estimated time for the target vehicle to pass through the intersection along each of the candidate straight-ahead lanes according to the driving information of the target vehicle and the surrounding vehicle driving information; comparing the estimated times of each of the candidate straight-ahead lanes, and determining the target straight-ahead lane for the target vehicle to travel on from each of the candidate straight-ahead lanes according to the comparison result. Compared with the related art, the method provided by the present disclosure can calculate in real time the estimated time for the target vehicle to pass through the intersection along the determined candidate straight-ahead lanes based on the traffic sign information, map navigation information, and surrounding vehicle driving information of the current road, and then determine the straight-ahead lane that the target vehicle needs to travel on. By calculating the estimated time, the passing time of the vehicle at the intersection can be reduced, and the efficiency of the vehicle passing through the intersection straight ahead can be improved.

[0085] To clearly illustrate the embodiments of the present disclosure, a flowchart of another method for selecting a straight-ahead lane is provided in the embodiments of the present disclosure.

[0086] As Figure 2 shown, the method includes the following steps:

[0087] Step 201, obtain traffic sign information, map navigation information, and surrounding vehicle driving information of the current road.

[0088] Specifically, in the embodiments of the present disclosure, a traffic sign information in the current road where the target vehicle is located and driving information of surrounding vehicles are acquired by using an image acquisition device in the target vehicle; the driving information of surrounding vehicles may also but is not limited to using a lidar to obtain distance information of surrounding vehicles. The map navigation information is lane-level navigation information provided by the cloud for the target vehicle.

[0089] Step 202: Obtain the credibility of the traffic sign information, the map navigation information, and the driving information of surrounding vehicles respectively, and calculate the probability that each lane is a straight lane.

[0090] Step 203: If the probability of any lane exceeds a first preset threshold, determine the lane whose probability exceeds the first preset threshold as the candidate straight lane.

[0091] Specifically, in Steps 202 to 203, the collected information is parsed and processed; the traffic sign information and the map navigation information can help identify the lane type, road direction, etc. of the current road; the driving information of surrounding vehicles can be used to analyze the driving state of the lane where the target vehicle is located. By analyzing the traffic signs, map navigation, and driving information of surrounding vehicles, the nature of each lane can be judged. Credibilities with different weights of 0.4, 0.2, and 0.4 are respectively assigned to the traffic sign information, the map navigation information, and the driving information of surrounding vehicles. The credibility can be input into a trained model to obtain the straight-going roads in the current road; or the accuracy of each lane being straight-going can be comprehensively calculated according to a preset algorithm to obtain the straight lanes available for the target vehicle in the current road. In actual situations, there are phenomena such as the map not being updated in time, the lane driving strategies temporarily changed by traffic police during morning and evening rush hours not conforming to the traffic sign information set by the traffic management department, etc.; assigning credibilities with different weights to each road condition information can enable the target vehicle to make more accurate decisions.

[0092] The credibility of different types of information will also vary. Therefore, when calculating the probability that each lane is a straight lane, using the credibility corresponding to different types of information for calculation can improve the calculation accuracy. For lanes that meet the straight-going conditions, calculate the probability that they are straight lanes. According to the calculated straight-going probability of each lane, select the lanes with a probability greater than the first preset threshold as the candidate straight lanes for the target vehicle.

[0093] Step 204: Based on the driving information of the target vehicle and the driving information of surrounding vehicles, obtain the first displacement information of the target leading vehicle in each candidate straight lane and the second displacement information of the target vehicle.

[0094] Specifically, in step 204, obtain the driving information of the target vehicle, including but not limited to the position, speed, driving direction, etc. of the target vehicle. This information can be obtained through various means such as in-vehicle sensors, GPS, roadside cameras, etc. Obtain the driving information of surrounding vehicles, including but not limited to the position, speed, driving direction, etc. of surrounding vehicles. This information can help us understand the relative position and driving state of the target vehicle on the road.

[0095] According to the driving information of the target vehicle and the driving information of surrounding vehicles, determine the first displacement information of the leading vehicle in each candidate straight lane. We can calculate the relative displacement between them by tracking the driving trajectories of the target vehicle and the leading vehicle. Obtain the second displacement information of the target vehicle. The second displacement information refers to the displacement of the target vehicle when driving on the candidate straight lane. It can be calculated through the driving trajectory of the target vehicle and map navigation information. Analyze the first displacement information and the second displacement information to determine which candidate straight lane is more suitable for the target vehicle to drive on. The optimal lane can be found by comparing the displacement information on each candidate straight lane.

[0096] By obtaining the driving information of the target vehicle and the leading vehicle, the road conditions and the dynamics of surrounding vehicles can be understood in a timely manner, avoiding traffic accidents. On a crowded road, a more suitable lane can be selected according to the real-time displacement information, improving driving efficiency. Optimize the driving route and reduce the energy consumption during driving. Obtain road information in real time, guide the vehicle to select a more suitable driving route, and relieve traffic congestion.

[0097] Step 205, calculate the estimated time for the target vehicle to pass through the intersection according to each candidate straight lane based on the first displacement information and the second displacement information.

[0098] As a refinement of an embodiment of the present disclosure, the calculating the estimated time for the target vehicle to pass through the intersection according to each candidate straight lane based on the first displacement information and the second displacement information includes: based on the driving information of the target vehicle and the driving information of surrounding vehicles, determine whether there is a leading vehicle in each candidate straight lane; if there is no leading vehicle in the candidate straight lane, calculate the estimated time according to the second displacement information, where the second displacement information includes the second speed of the target vehicle moving forward, the second distance between the target vehicle and the stop line, the third distance between the target vehicle and the center line of each candidate straight lane, and the third speed of the target vehicle changing lanes laterally; if there is a leading vehicle in the candidate straight lane, calculate the estimated time using the first displacement information and the second displacement information, where the first displacement information includes the first speed of the leading vehicle, the first acceleration of the leading vehicle, and the first distance between the leading vehicle and the stop line.

[0099] Specifically in step 205, there are many influencing factors that need to be considered when the vehicle passes through an intersection. For example, when there are no other vehicles around, the vehicle can directly choose the lane with the shortest estimated travel time to drive; however, when there are many surrounding vehicles, the safety issue with the surrounding vehicles needs to be considered, and there will be more restrictions when choosing a straight lane. Therefore, when there is a leading vehicle in front of the target in the candidate straight lane, the first displacement information and the second displacement information are used to calculate the estimated travel time. The following provides an exemplary illustration: Assume that the initial time is T0 and the calculation end time is T1, and the time difference is: ΔT = (T1 - T0).

[0100] L1’ is: the distance between the target vehicle and the leading vehicle in front at time T1 on the same straight lane that can be traveled (which can be measured by the lidar of the target vehicle).

[0101] L0’ is: the distance between the target vehicle and the leading vehicle in front at time T0 on the same straight lane that can be traveled (which can be measured by the lidar of the target vehicle).

[0102] Lbook’ is: the distance traveled by the target vehicle within the time difference of (T1 - T0).

[0103] Lfront’ is: the distance traveled by the leading vehicle in front within the time difference of (T1 - T0) on the same straight lane that can be traveled.

[0104] Vbook’ is: the vehicle speed of the target vehicle, which can be obtained in real time.

[0105] L1’ + Lbook’ = L0’ + Lfront’

[0106] Lfront’ = L1’ + Lbook’ - L0’ = L1’ + Lbook’ - L0’

[0107] Lfront’ = L1’ + Lbook’ - L0’ = L1’ + Lbook’ (= Vbook’ * (T1 - T0)) - L0’

[0108] It is deduced that:

[0109] Vfront’ = Lfront’ / ΔT = {[L1’ - L0’] / (T1 - T0)} + Vbook’

[0110] For the speed of the leading vehicle in front that is not on the same straight lane that can be traveled as the target vehicle, according to the distance measured by the lidar, the measured distance is projected in the traveling direction as the reference distance; the reference distance is used and the speed of the leading vehicle in front is determined according to the above method.

[0111] Step 206, obtain the driving information of the target vehicle and determine whether the target vehicle is on the candidate straight lane.

[0112] Step 207, if the target vehicle is not in the candidate straight lane, then use the candidate straight lane with the shortest estimated time as the target straight lane.

[0113] Specifically, in steps 206 to 207, when determining the final target straight lane, it is also necessary to judge whether lane changing is required according to the lane where the target vehicle is currently located. If it is not in the candidate straight lane, use the candidate straight lane with the shortest estimated time as the target straight lane.

[0114] Step 208, if the target vehicle is in the candidate straight lane, then compare the candidate straight lane where the target vehicle is located with the candidate straight lane with the shortest estimated time, and generate the target straight lane for the target vehicle to travel.

[0115] As a refinement of the embodiments of the present disclosure, the comparing the candidate straight lane where the target vehicle is located with the candidate straight lane with the shortest estimated time, and generating the target straight lane for the target vehicle to travel includes: calculating the difference between the estimated time of the candidate straight lane where the target vehicle is located and the shortest estimated time; if the difference is greater than the second preset threshold, then use the candidate straight lane with the shortest estimated time as the target straight lane; if the difference is less than or equal to the second preset threshold, then use the candidate straight lane where the target vehicle is located as the target straight lane.

[0116] Specifically, in step 208, if the lane where the target vehicle is currently located is a candidate straight lane, then it is necessary to judge whether the difference in the estimated time from other candidate straight lanes is too large. If the difference is greater than the second preset threshold, then switch the target vehicle to the lane with a shorter estimated time.

[0117] Step 209, analyze the driving record of the target vehicle, and adjust the credibility corresponding to the traffic sign information, the map navigation information, and the surrounding vehicle driving information.

[0118] Specifically, in step 209, after the vehicle collects a certain amount of data, input the recorded data into a deep learning model for learning, and adjust the credibility corresponding to the traffic sign information, the map navigation information, and the surrounding vehicle driving information according to the results output by the model.

[0119] In some embodiments of the present disclosure, upload the data collected by different vehicles to the cloud, and according to the data feedback from a large number of vehicles, the credibility corresponding to different road conditions information can be adjusted more accurately.

[0120] It should be noted that multiple steps may be included in the embodiments of the present disclosure. For the convenience of description, these steps are numbered, but these numbers do not limit the execution time slots and execution orders between the steps; these steps can be implemented in any order, and the embodiments of the present disclosure do not make any limitations in this regard.

[0121] Corresponding to the above method for selecting a straight lane, the present invention also provides a device for selecting a straight lane. Since the device embodiments of the present invention correspond to the above method embodiments, for details not disclosed in the device embodiments, reference may be made to the above method embodiments, and details will not be repeated in the present invention.

[0122] Figure 3 It is a schematic structural diagram of a device for selecting a straight lane provided by an embodiment of the present disclosure, as Figure 3 shown, including:

[0123] An acquisition unit 31, configured to acquire traffic sign information, map navigation information, and surrounding vehicle driving information of the current road;

[0124] A determination unit 32, configured to analyze the traffic sign information, the map navigation information, and the surrounding vehicle driving information, calculate the probability of each lane being a straight lane, so as to determine candidate straight lanes of the target vehicle on the current road, where the candidate straight lanes include at least one of a right-turn straight lane, a left-turn straight lane, and a straight lane;

[0125] A calculation unit 33, configured to calculate an estimated time for the target vehicle to pass through an intersection according to the driving information of the target vehicle and the surrounding vehicle driving information for each of the candidate straight lanes;

[0126] A selection unit 34, configured to compare the estimated times of each of the candidate straight lanes, and select a target straight lane for the target vehicle to drive from each of the candidate straight lanes according to the comparison result and the driving information of the target vehicle.

[0127] A device for selecting a straight lane provided by the present disclosure obtains traffic sign information, map navigation information, and surrounding vehicle driving information of the current road; analyzes the traffic sign information, the map navigation information, and the surrounding vehicle driving information, and calculates the probability of each lane being a straight lane to determine candidate straight lanes of the target vehicle on the current road, where the candidate straight lanes include at least one of a right-turn straight lane, a left-turn straight lane, and a straight lane; calculates an estimated time for the target vehicle to pass through an intersection according to each candidate straight lane based on the driving information of the target vehicle and the surrounding vehicle driving information; compares the estimated times of each candidate straight lane, and determines a target straight lane for the target vehicle to drive according to the comparison result. Compared with the related art, the method provided by the present disclosure can calculate in real time the estimated time for the target vehicle to pass through the intersection according to the traffic sign information, the map navigation information, and the surrounding vehicle driving information of the current road, and then determine the straight lanes available for the target vehicle to drive. By calculating the estimated time, the passing time of the vehicle at the intersection can be reduced, and the efficiency of the vehicle passing through the intersection straight can be improved.

[0128] Further, in a possible implementation manner of this embodiment, as Figure 4 shown, the determining unit 32 includes:

[0129] A first calculation module 321, configured to respectively obtain the credibility of the traffic sign information, the map navigation information, and the surrounding vehicle driving information, and calculate the probability of each lane being a straight lane;

[0130] A first determination module 322, configured to determine a lane exceeding a first preset threshold as the candidate straight lane when the probability of any lane exceeds the first preset threshold.

[0131] Further, in a possible implementation manner of this embodiment, as Figure 4 shown, the calculation unit 33 includes:

[0132] An obtaining module 331, configured to obtain first displacement information of a target leading vehicle and second displacement information of the target vehicle in each candidate straight lane based on the driving information of the target vehicle and the surrounding vehicle driving information;

[0133] A second calculation module 332, configured to calculate an estimated time for the target vehicle to pass through the intersection according to each candidate straight lane according to the first displacement information and the second displacement information.

[0134] Further, in a possible implementation manner of this embodiment, the second calculation module 332 is further configured to:

[0135] Based on the driving information of the target vehicle and the driving information of the surrounding vehicles, determine whether the target leading vehicle exists in each of the candidate straight lanes;

[0136] If the target leading vehicle does not exist in the candidate straight lane, calculate the estimated time using the second displacement information, where the second displacement information includes the second speed at which the target vehicle moves forward, the second distance between the target vehicle and the stop line, the third distance between the target vehicle and the center line of each candidate straight lane, and the third speed at which the target vehicle changes lanes laterally;

[0137] If the target leading vehicle exists in the candidate straight lane, calculate the estimated time using the first displacement information and the second displacement information, where the first displacement information includes the first speed of the target leading vehicle, the first acceleration of the target leading vehicle, and the first distance between the target leading vehicle and the stop line.

[0138] Further, in a possible implementation manner of this embodiment, as Figure 4 shown, the selection unit 34 includes:

[0139] A second determination module 341, configured to obtain the driving information of the target vehicle and determine whether the target vehicle is in the candidate straight lane;

[0140] A first generation module 342, configured to use the candidate straight lane with the shortest estimated time as the target straight lane when the target vehicle is not in the candidate straight lane;

[0141] A second generation module 343, configured to compare the candidate straight lane where the target vehicle is located with the candidate straight lane with the shortest estimated time if the target vehicle is in the candidate straight lane, and generate the target straight lane for the target vehicle to drive.

[0142] Further, in a possible implementation manner of this embodiment, the second generation module 343 is further configured to:

[0143] Calculate the difference between the estimated time of the candidate straight lane where the target vehicle is located and the shortest estimated time;

[0144] If the difference is greater than a second preset threshold, use the candidate straight lane with the shortest estimated time as the target straight lane;

[0145] If the difference is less than or equal to the second preset threshold, use the candidate straight lane where the target vehicle is located as the target straight lane.

[0146] Further, in a possible implementation manner of this embodiment, as Figure 4As shown, the device further includes:

[0147] An adjustment unit 35, configured to analyze the driving record of the target vehicle after the selection unit compares the estimated time of each candidate straight driving lane, and selects the target straight driving lane for the target vehicle to travel from each candidate straight driving lane according to the comparison result and the driving information of the target vehicle, and adjust the credibility corresponding to the traffic sign information, the map navigation information, and the driving information of surrounding vehicles.

[0148] It should be noted that the foregoing explanation of the method embodiment also applies to the device in this embodiment, with the same principle, and will not be limited in this embodiment.

[0149] According to an embodiment of the present disclosure, the present disclosure further provides an electronic device, a readable storage medium, and a computer program product.

[0150] Figure 5 FIG. shows a schematic block diagram of an exemplary electronic device 400 that can be used to implement embodiments of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0151] As Figure 5 shown, the device 400 includes a computing unit 401, which can execute various appropriate actions and processes according to a computer program stored in a ROM (Read-Only Memory) 402 or a computer program loaded from a storage unit 408 into a RAM (Random Access Memory) 403. In the RAM 403, various programs and data required for the operation of the device 400 can also be stored. The computing unit 401, the ROM 402, and the RAM 403 are connected to each other through a bus 404. An I / O (Input / Output) interface 405 is also connected to the bus 404.

[0152] Multiple components in device 400 are connected to I / O interface 405, including: input unit 406, such as a keyboard, mouse, etc.; output unit 407, such as various types of displays, speakers, etc.; storage unit 408, such as a disk, optical disc, etc.; and communication unit 409, such as a network card, modem, wireless communication transceiver, etc. Communication unit 409 allows device 400 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0153] Computing unit 401 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of computing unit 401 include, but are not limited to, CPU (Central Processing Unit), GPU (Graphic Processing Units), various dedicated AI (Artificial Intelligence) computing chips, various computing units running machine learning model algorithms, DSP (Digital Signal Processor), and any suitable processor, controller, microcontroller, etc. Computing unit 401 executes the various methods and processes described above, such as the method of straight-ahead lane selection. For example, in some embodiments, the method of straight-ahead lane selection can be implemented as a computer software program that is tangibly embodied in a machine-readable medium, such as storage unit 408. In some embodiments, part or all of the computer program can be loaded and / or installed onto device 400 via ROM 402 and / or communication unit 409. When the computer program is loaded into RAM 403 and executed by computing unit 401, one or more steps of the method described above can be performed. Alternatively, in other embodiments, computing unit 401 can be configured to execute the aforementioned method of straight-ahead lane selection in any other suitable manner (e.g., by means of firmware).

[0154] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, FPGAs (Field Programmable Gate Arrays), ASICs (Application-Specific Integrated Circuits), ASSPs (Application Specific Standard Products), SOCs (System On Chip), CPLDs (Complex Programmable Logic Devices), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be a special-purpose or a general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0155] The program code for implementing the methods of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine, or entirely on the remote machine or server.

[0156] In the context of this disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a RAM, a ROM, an EPROM (Electrically Programmable Read-Only Memory), or a flash memory, an optical fiber, a CD-ROM (Compact Disc Read-Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0157] For purposes of providing an interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (Cathode-Ray Tube) or LCD (Liquid Crystal Display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can also be used to provide an interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic, speech, or tactile input).

[0158] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a LAN (Local Area Network), a WAN (Wide Area Network), the Internet, and a blockchain network.

[0159] A computer system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The client-server relationship is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services ("Virtual Private Server", or simply "VPS"). The server may also be a server of a distributed system or a server combined with a blockchain.

[0160] Among them, it should be noted that artificial intelligence is a discipline that studies enabling a computer to simulate certain human thinking processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.), and there are both hardware-level technologies and software-level technologies. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, and big data processing; artificial intelligence software technologies mainly include several major directions such as computer vision technology, speech recognition technology, natural language processing technology, and machine learning / deep learning, big data processing technology, and knowledge graph technology.

[0161] It should be understood that various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recorded in this disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and no limitations are imposed herein.

[0162] The above specific embodiments do not constitute a limitation on the protection scope of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the protection scope of this disclosure.

Claims

1. A method for selecting a straight driving lane, characterized in that, Including: Obtaining traffic sign information, map navigation information, and surrounding vehicle driving information of the current road; Analyzing the traffic sign information, the map navigation information, and the surrounding vehicle driving information, and calculating the probability of each lane being a straight lane to determine candidate straight lanes of the target vehicle on the current road, where the candidate straight lanes include at least one of a right-turn straight lane, a left-turn straight lane, and a straight lane; Calculating the estimated time for the target vehicle to pass through the intersection along each of the candidate straight lanes according to the driving information of the target vehicle and the surrounding vehicle driving information; Comparing the estimated times of each of the candidate straight lanes, and selecting a target straight lane for the target vehicle to drive from each of the candidate straight lanes according to the comparison result and the driving information of the target vehicle.

2. The method according to claim 1, wherein The analyzing the traffic sign information, the map navigation information, and the surrounding vehicle driving information, and calculating the probability of each lane being a straight lane to determine candidate straight lanes of the target vehicle on the current road includes: Respectively obtaining the credibility of the traffic sign information, the map navigation information, and the surrounding vehicle driving information, and calculating the probability of each lane being a straight lane; If the probability of any lane exceeds a first preset threshold, determining the lane with the probability exceeding the first preset threshold as the candidate straight lane.

3. The method according to claim 1, characterized in that, The calculating the estimated time for the target vehicle to pass through the intersection along each of the candidate straight lanes according to the driving information of the target vehicle and the surrounding vehicle driving information includes: Based on the driving information of the target vehicle and the surrounding vehicle driving information, obtaining the first displacement information of the target leading vehicle in each of the candidate straight lanes and the second displacement information of the target vehicle; Calculating the estimated time for the target vehicle to pass through the intersection along each of the candidate straight lanes according to the first displacement information and the second displacement information.

4. The method according to claim 3, wherein The calculating the estimated time for the target vehicle to pass through the intersection along each of the candidate straight lanes according to the first displacement information and the second displacement information includes: Based on the driving information of the target vehicle and the surrounding vehicle driving information, determining whether the target leading vehicle exists in each of the candidate straight lanes; If the candidate straight lane does not have the target leading vehicle, calculating the estimated time according to the second displacement information, where the second displacement information includes the second speed of the target vehicle moving forward, the second distance between the target vehicle and the stop line, the third distance between the target vehicle and the center line of each of the candidate straight lanes, and the third speed of the target vehicle changing lanes laterally; If the candidate straight lane has the target leading vehicle, calculating the estimated time using the first displacement information and the second displacement information, where the first displacement information includes the first speed of the target leading vehicle, the first acceleration of the target leading vehicle, and the first distance between the target leading vehicle and the stop line.

5. The method according to claim 1, characterized in that Comparing the estimated travel times of each of the candidate straight lanes, and selecting a target straight lane for the target vehicle to travel from each of the candidate straight lanes according to the comparison result and the driving information of the target vehicle, includes: Obtaining the driving information of the target vehicle, and determining whether the target vehicle is in the candidate straight lane; If the target vehicle is not in the candidate straight lane, then taking the candidate straight lane with the shortest estimated travel time as the target straight lane; If the target vehicle is in the candidate straight lane, then comparing the candidate straight lane where the target vehicle is located with the candidate straight lane with the shortest estimated travel time, and generating a target straight lane for the target vehicle to travel.

6. The method according to claim 5, characterized in that The comparing the candidate straight lane where the target vehicle is located with the candidate straight lane with the shortest estimated travel time, and generating a target straight lane for the target vehicle to travel, includes: Calculating the difference between the estimated travel time of the candidate straight lane where the target vehicle is located and the shortest estimated travel time; If the difference is greater than a second preset threshold, then taking the candidate straight lane with the shortest estimated travel time as the target straight lane; If the difference is less than or equal to the second preset threshold, then taking the candidate straight lane where the target vehicle is located as the target straight lane.

7. The method according to claim 3, characterized in that, After comparing the estimated travel times of each of the candidate straight lanes, and selecting a target straight lane for the target vehicle to travel from each of the candidate straight lanes according to the comparison result and the driving information of the target vehicle, the method further includes: Analyzing the driving record of the target vehicle, and adjusting the credibility corresponding to the traffic sign information, the map navigation information, and the driving information of surrounding vehicles.

8. A device for selecting a straight driving lane, characterized in that, Includes: An obtaining unit, configured to obtain traffic sign information, map navigation information, and driving information of surrounding vehicles of the current road; A determining unit, configured to parse the traffic sign information, the map navigation information, and the driving information of surrounding vehicles, calculate the probability that each lane is a straight lane, so as to determine candidate straight lanes of the target vehicle on the current road, where the candidate straight lanes include at least one of a right-turn straight lane, a left-turn straight lane, and a straight lane; A calculating unit, configured to calculate the estimated travel time for the target vehicle to pass through the intersection according to each of the candidate straight lanes according to the driving information of the target vehicle and the driving information of surrounding vehicles; A selecting unit, configured to compare the estimated travel times of each of the candidate straight lanes, and select a target straight lane for the target vehicle to travel from each of the candidate straight lanes according to the comparison result and the driving information of the target vehicle.

9. An electronic device, characterized in that, Includes: At least one processor; And A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the method according to any one of claims 1-7.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to execute the method according to any one of claims 1-7.

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