Lane recommendation method and device, electronic equipment and storage medium

Abstract

The invention provides a lane recommendation method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a current navigation path of a vehicle; determining a target intersection in a preset range in front of the vehicle according to the navigation path; acquiring a lane communication relationship of the target intersection and a navigation direction of the vehicle at the target intersection; determining at least one recommended lane according to the lane connection relation and the navigation direction; the recommended lane is used for the vehicle to pass through the target intersection. The method can recommend at least one lane according to the lane connection relationship and the navigation direction within the preset range from the target intersection, so that the vehicle can change the lane in advance, the invalid lane change times of the vehicle can be reduced, the user experience is improved, and the vehicle driving stability is improved.

Description

Technical Field

[0001] This application relates to the field of vehicles, and more specifically, to a lane recommendation method, apparatus, electronic device, and storage medium in the field of vehicles. Background Art

[0002] The navigation intelligent driving assistance system or the automated lane centering driving assistance system can achieve automatic merging and diverging at highway intersections, which is closely related to the recommended lanes selected under the navigation path planning. A good recommended lane needs to ensure that when encountering a road intersection ahead, it can safely pass through the intersection and conform to people's driving habits, and output a relatively optimal recommended lane in advance for the vehicle control terminal to select and use.

[0003] In the prior art, the recommended lane strategy before an intersection usually only outputs the leftmost or rightmost lane as the recommended lane according to the navigation direction. In scenarios with a large number of lanes, these strategies do not conform well to people's driving habits, or when there is road congestion or the surrounding vehicles are relatively close to the host vehicle, there are not many available recommended lanes, or there are many ineffective lane changes, resulting in a poor user experience. Summary of the Invention

[0004] This application provides a lane recommendation method, apparatus, electronic device, and storage medium. The method can recommend at least one lane when the vehicle is within a preset range from the target intersection, enabling the vehicle to change lanes in advance, reducing the number of ineffective lane changes, improving the user experience, and increasing the driving stability of the vehicle.

[0005] In a first aspect, a lane recommendation method is provided. The method includes: obtaining the current navigation path of the vehicle; determining a target intersection within a preset range in front of the vehicle according to the navigation path; obtaining the lane connection relationship of the target intersection and the navigation direction of the vehicle at the target intersection; determining at least one recommended lane according to the lane connection relationship and the navigation direction; and the recommended lane is used for the vehicle to pass through the target intersection.

[0006] In the above technical solution, the target intersections within a preset range are determined by obtaining the current navigation path of the vehicle. At least one recommended lane can be determined according to the lane connection relationship and the navigation direction of the vehicle at the target intersection and recommended to the user. Among them, by detecting the intersections within the preset range and determining the recommended lanes according to the connection relationship and the navigation direction, since the connection relationship is the lane connection relationship at the target intersection and the navigation direction is the direction in which the vehicle is about to travel at the target intersection, at least one lane that the vehicle can travel on at the target intersection can be accurately determined, ensuring that the vehicle passes through the target intersection accurately, minimizing the number of ineffective lane changes of the vehicle as much as possible, and recommending lanes within the preset range of the target intersection, enabling the user to change lanes to the recommended lane at a relatively long distance in advance. When the user changes lanes to the recommended lane at a relatively long distance in advance, it can prevent the vehicle driving state from being unstable due to the user hurriedly changing lanes when approaching the intersection. The user changing lanes at a relatively long distance in advance can increase the driving stability of the vehicle, enabling the vehicle to quickly and safely pass through the target intersection according to the at least one recommended lane.

[0007] Combined with the first aspect, in some possible implementation manners, determining at least one recommended lane according to the lane connection relationship and the navigation direction includes: determining the current road where the vehicle is located; determining the target road that the vehicle is about to enter at the target intersection according to the navigation direction; and determining at least one recommended lane from the lanes of the current road according to the lane connection relationship and the target road.

[0008] Combined with the first aspect and the above implementation manners, in some possible implementation manners, when the target intersection is a confluence intersection, the current road is the target confluence branch road, and the target road is the confluence main road after the merger of multiple confluence branch roads including the target confluence branch road. Determining at least one recommended lane from the lanes of the current road according to the lane connection relationship and the target road includes: determining the first candidate lanes in the target confluence branch road according to the lane connection relationship; where the first candidate lanes do not include the disappearing lanes, and the disappearing lanes are not connected to any of the lanes on the confluence main road; and determining at least one recommended lane from the first candidate lanes.

[0009] In the above technical solution, when the target intersection is a confluence intersection, by excluding the disappearing lanes on the confluence branch road and only taking the lanes connected to the confluence main road on the confluence branch road as the recommended lanes, it can prevent the vehicle from driving on the disappearing lanes and the user from having to change lanes to other lanes when the lane is about to disappear. It can reduce the user's operations. Taking all the lanes except the disappearing lanes as the first candidate lanes can provide multiple recommended lanes to the user or the intelligent driving system, enabling the backend to have more lane selection strategies in combination with road congestion or the distance between surrounding vehicles and the own vehicle without affecting the success rate of passing through the intersection.

[0010] Combined with the first aspect and the above implementation manners, in some possible implementation manners, when the target intersection is a diversion intersection, the current road is the main diversion road, and the target road is the target diversion branch road after the main diversion road is diverted. At least one recommended lane is determined from the lanes of the current road according to the lane connectivity relationship and the target road, including: according to the lane connectivity relationship, lanes that are connected to the lanes of the target diversion branch road are selected from the lanes of the main diversion road as the recommended lanes.

[0011] In the above technical solution, when the target intersection is a diversion intersection, according to the navigation direction and the connectivity relationship, the lanes in the current road that are connected to the lanes of the target road are determined, which can ensure that when the vehicle travels on the recommended lane and passes through the diversion intersection, it can accurately and directly drive into the target road, ensuring the stable driving of the vehicle, and avoiding lane-changing operations when the vehicle drives into the target road on lanes that are not connected to the target lane.

[0012] Combined with the first aspect and the above implementation manners, in some possible implementation manners, when the target intersection is an exit intersection, at least one recommended lane is determined from the lanes of the current road according to the lane connectivity relationship and the target road, including: when the current road and the target road are the same road, according to the lane connectivity relationship, a second candidate lane is determined in the current road, and the second candidate lane does not include the first redundant lane; the first redundant lane is connected to the lanes of the exit branch road of the target intersection, and the exit branch road and the current road belong to different roads; at least one recommended lane is determined from the second candidate lanes; when the target road is the exit branch road, according to the lane connectivity relationship, lanes that are connected to the lanes of the exit branch road are selected from the current road as the recommended lanes.

[0013] In the above technical solution, when the target intersection is an exit intersection and the vehicle's current road and the target road are the same, the first redundant lane connected to the exit intersection in the current road is excluded, and the other lanes are used as the recommended lanes, which can effectively prevent the user from driving on the first redundant lane and avoid congestion caused by other vehicles decelerating when exiting from the first redundant lane, and can avoid the user from changing lanes in case of congestion. Using all other lanes as the second candidate lanes can provide multiple recommended lanes to the user or the intelligent driving system, enabling the backend to have more lane selection strategies in combination with road congestion or the distance between surrounding vehicles and the vehicle itself without affecting the success rate of passing through the intersection.

[0014] Combined with the first aspect and the above implementation manners, in some possible implementation manners, when the target intersection is an on-ramp intersection, at least one recommended lane is determined from the lanes of the current road according to the lane connectivity and the target road, including: when the current road and the target road are the same road, according to the lane connectivity, among the lanes of the current road, a third candidate lane is determined, and the third candidate lane does not include a second redundant lane; the second redundant lane is connected to the lane of the on-ramp branch of the target intersection; the on-ramp branch and the current road belong to different roads; at least one recommended lane is determined from the third candidate lanes; when the current road and the target road are different roads, according to the lane connectivity, among the lanes of the current road, a fourth candidate lane is determined, and the fourth candidate lane does not include a third redundant lane, and the third redundant lane is not connected to all lanes of the target road; at least one recommended lane is determined from the fourth candidate lanes.

[0015] In the above technical solution, the target intersection is an on-ramp intersection. When the current road where the vehicle is located and the target road are the same main on-ramp road, the second redundant lane connected to the on-ramp branch in the current road is excluded. Since the speed of the just-entered vehicle is generally low, it is possible to avoid the vehicle driving on the second redundant lane and colliding with the just-entered vehicle. Regarding the other lanes as the third candidate lanes can provide multiple recommended lanes to the user or the intelligent driving system, enabling the backend to combine road congestion or the distance between surrounding vehicles and the own vehicle, and having more lane selection strategies on the premise of not affecting the success rate of passing through the intersection.

[0016] Combined with the first aspect and the above implementation manners, in some possible implementation manners, the target intersection further includes a plurality of consecutive intersections, and the method further includes: successively determining the recommended lanes of the vehicle at each of the plurality of consecutive intersections according to the lane connectivity at each intersection and the driving direction of the vehicle at each intersection; in the case where there is an intersection among the recommended lanes determined at each intersection, at least one recommended lane is determined from the intersection; in the case where there is no intersection among the recommended lanes determined at each intersection, it is determined whether the recommended lanes at each intersection are on the same road; when the recommended lanes at each intersection are on the same road, at least one recommended lane is determined from the recommended lanes determined at the last intersection among each intersection.

[0017] In the above technical solution, when the target intersection is a plurality of consecutive intersections, the recommended lanes can be determined according to the navigation direction, the lane connectivity, and the information between each intersection. The recommended lanes combine the information of multiple intersections, are compatible with the recommendations of multiple intersections, and can enable the vehicle to pass through the plurality of consecutive intersections smoothly.

[0018] In summary, in the present application, the target intersections within a preset range are determined by obtaining the current navigation path of the vehicle. At least one recommended lane can be determined according to the lane connection relationship and the navigation direction of the vehicle at the target intersection and recommended to the user. Among them, by detecting the intersections within the preset range and determining the recommended lanes according to the connection relationship and the navigation direction, since the connection relationship is the lane connection relationship at the target intersection and the navigation direction is the direction in which the vehicle is about to travel at the target intersection, at least one lane that the vehicle can travel on at the target intersection can be accurately determined, ensuring that the vehicle passes through the target intersection accurately, and the number of ineffective lane changes of the vehicle can be reduced as much as possible. Moreover, the recommended lanes are recommended within the preset range of the target intersection, enabling the user to change lanes to the recommended lanes at a relatively long distance in advance. When the user changes lanes to the recommended lanes at a relatively long distance in advance, it can avoid the vehicle running state from being unstable caused by the user changing lanes in a hurry when driving to the intersection. The user changing lanes at a relatively long distance in advance can increase the driving stability of the vehicle, enabling the vehicle to pass through the target intersection quickly and safely according to the at least one recommended lane. When the target intersection is a confluence intersection, by excluding the disappearing lanes on the confluence branch roads and only taking the lanes connecting to the confluence main road on the confluence branch roads as the recommended lanes, it can prevent the vehicle from driving on the disappearing lanes and the need for the user to change lanes to other lanes when the lanes are about to disappear, reducing the user's operations. When the target intersection is an exit intersection and the current road of the vehicle is the same as the target road, the first redundant lanes connecting to the exit intersection in the current road are excluded, and the other lanes are taken as the recommended lanes, which can effectively prevent the user from driving on the first redundant lanes and avoid the congestion caused by other vehicles decelerating when exiting from the first redundant lanes, and can avoid the user changing lanes in the congested situation. When the target intersection is an entrance intersection and the current road where the vehicle is located is the same as the target road, both being the entrance main road, the second redundant lanes connecting to the entrance branch roads in the current road are excluded. Since the vehicle speed of the newly entering vehicle is generally low, it can prevent the vehicle from colliding with the newly entering vehicle when driving on the second redundant lanes. When the target intersection is multiple consecutive intersections, the recommended lanes can be determined according to the navigation direction, the lane connection relationship and the information between each intersection. The recommended lanes combine the information of multiple intersections and are compatible with the recommendations of multiple intersections, enabling the vehicle to pass through multiple consecutive intersections smoothly. And in the present application, all lanes other than the disappearing lanes and the redundant lanes in the current road are taken as the third candidate lanes, which can provide multiple recommended lanes to the user or the intelligent driving system, enabling the backend to have more lane selection strategies in combination with road congestion or the distance between surrounding vehicles and the own vehicle without affecting the success rate of passing through the intersection. In addition, when the acceleration lane is included in the entrance branch road, determining the acceleration lane as the recommended lane can ensure that the vehicle enters the main road at an appropriate speed and increase the driving stability of the vehicle.

[0019] In a second aspect, a lane recommendation device is provided. The device includes: a first acquisition module configured to acquire the current navigation path of the vehicle; a first determination module configured to determine a target intersection within a preset range in front of the vehicle according to the navigation path; a second acquisition module configured to acquire the intersection information of the target intersection and the navigation direction of the vehicle at the target intersection; a second determination module configured to determine at least one recommended lane according to the intersection information and the navigation direction; and the recommended lane is used for the vehicle to pass through the target intersection.

[0020] In combination with the second aspect, in some possible implementation manners, the second determination module is specifically configured to determine the current road where the vehicle is located; determine the target road that the vehicle is about to enter at the target intersection according to the navigation direction; and determine at least one recommended lane from the lanes of the current road according to the lane connection relationship and the target road.

[0021] In combination with the above implementation manner of the second aspect, in some possible implementation manners, when the target intersection is a confluence intersection, the current road is the target confluence branch road, and the target road is the confluence main road formed by the merger of multiple confluence branch roads including the target confluence branch road. The second determination module is specifically configured to determine the first candidate lanes in the target confluence branch road according to the lane connection relationship; wherein, the first candidate lanes do not include the disappearing lanes, and the disappearing lanes are not connected to all the lanes on the confluence main road; and determine at least one recommended lane from the first candidate lanes.

[0022] In combination with the second aspect and the above implementation manner, in some possible implementation manners, when the target intersection is a diversion intersection, the current road is the diversion main road, and the target road is the target diversion branch road after the diversion of the diversion main road. The second determination module is specifically configured to select, as the recommended lanes, the lanes on the diversion main road that are connected to the lanes of the target diversion branch road according to the lane connection relationship.

[0023] In combination with the second aspect and the above implementation manner, in some possible implementation manners, when the target intersection is an exit intersection, the second determination module is specifically configured to, when the current road and the target road are the same road, determine the second candidate lanes in the current road according to the lane connection relationship, and the second candidate lanes do not include the first redundant lanes; the first redundant lanes are connected to the lanes of the exit branch road of the target intersection, and the exit branch road and the current road belong to different roads; determine at least one recommended lane from the second candidate lanes; and when the target road is the exit branch road, select, as the recommended lanes, the lanes on the current road that are connected to the lanes of the exit branch road according to the lane connection relationship.

[0024] Combined with the second aspect and the above implementation manners, in some possible implementation manners, when the target intersection is an entry intersection, the second determination module is specifically configured to, when the current road and the target road are the same road, determine a third candidate lane from each lane of the current road according to the lane connectivity relationship, where the third candidate lane does not include a second redundant lane; the second redundant lane is connected to the lane of the entry branch of the target intersection; the entry branch and the current road belong to different roads; determine at least one recommended lane from the third candidate lanes; when the current road and the target road are different roads, determine a fourth candidate lane from each lane of the current road according to the lane connectivity relationship, where the fourth candidate lane does not include a third redundant lane, and the third redundant lane is not connected to all lanes of the target road; determine at least one recommended lane from the fourth candidate lanes.

[0025] Combined with the second aspect and the above implementation manners, in some possible implementation manners, the target intersection further includes a plurality of consecutive intersections, and the apparatus further includes: a third determination module, configured to respectively determine a recommended lane for the vehicle at each intersection in the plurality of consecutive intersections according to the lane connectivity relationship at each intersection and the driving direction of the vehicle at each intersection; in the case where there is an intersection among the recommended lanes determined for each intersection, determine at least one recommended lane from the intersection; in the case where there is no intersection among the recommended lanes determined for each intersection, determine whether the recommended lanes for each intersection are on the same road; when the recommended lanes for each intersection are on the same road, determine at least one recommended lane from the recommended lanes determined for the last intersection among each intersection; in the case where there is no intersection among the recommended lanes determined for each intersection, determine whether the recommended lanes for each intersection are on the same road; when the recommended lanes for each intersection are on the same road, determine at least one recommended lane from the recommended lanes for the last intersection among each intersection.

[0026] In a third aspect, an electronic device is provided, including a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the electronic device executes the method in the first aspect or any one of the possible implementation manners of the first aspect.

[0027] In a fourth aspect, a computer program product is provided, including: computer program code, when the computer program code runs on a computer, enabling the computer to execute the method in the first aspect or any one of the possible implementation manners of the first aspect.

[0028] In a fifth aspect, a computer-readable storage medium is provided, storing computer program code, when the computer program code runs on a computer, enabling the computer to execute the method in the first aspect or any one of the possible implementation manners of the first aspect. Brief Description of the Drawings

[0029] Figure 1 FIG. 1 is a schematic flowchart of a lane recommendation method provided by an embodiment of the present application.

[0030] Figure 2 FIG. 2 is a schematic diagram of a merging intersection provided by an embodiment of the present application.

[0031] Figure 3 FIG. 3 is a schematic diagram of a diverging intersection provided by an embodiment of the present application.

[0032] FIG. 4(a) is a schematic diagram of a left exit intersection provided by an embodiment of the present application.

[0033] FIG. 4(b) is a schematic diagram of a right exit intersection provided by an embodiment of the present application.

[0034] FIG. 5(a) is a schematic diagram of a left entrance intersection provided by an embodiment of the present application.

[0035] FIG. 5(b) is a schematic diagram of a right entrance intersection provided by an embodiment of the present application.

[0036] FIG. 5(c) is a schematic diagram of another right entrance intersection provided by an embodiment of the present application.

[0037] FIG. 6(a) is a schematic diagram of a series of consecutive intersections provided by an embodiment of the present application.

[0038] FIG. 6(b) is a schematic diagram of another series of consecutive intersections provided by an embodiment of the present application.

[0039] FIG. 6(c) is a schematic diagram of yet another series of consecutive intersections provided by an embodiment of the present application.

[0040] FIG. 6(d) is a schematic diagram of still another series of consecutive intersections provided by an embodiment of the present application.

[0041] Figure 7 FIG. 7 is a schematic flowchart of another lane recommendation method provided by an embodiment of the present application.

[0042] Figure 8 FIG. 8 is a schematic structural diagram of a lane recommendation device provided by an embodiment of the present application.

[0043] Figure 9 FIG. 9 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed Description of the Embodiments

[0044] The technical solutions in the present application will be clearly and elaborately described below in conjunction with the accompanying drawings. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B. The "and / or" in the text is merely a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B may mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality" means two or more than two.

[0045] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as implying or suggesting relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0046] In the scenario where high-precision map intersection recommended lanes are not used, the current recommended lane strategy in front of the intersection usually only outputs the leftmost or rightmost lane as the recommended lane according to the navigation direction, or a more conservative center strategy. These strategies do not conform well to people's driving habits in scenarios with a large number of lanes, or when there is road congestion or the surrounding vehicles are relatively close to the vehicle itself, there are not many available recommended lanes, or there will be more ineffective lane changes. And in the scenario where two intersections are relatively close ahead, it is impossible to generate effective recommended lanes in advance by combining the characteristics of the two intersections, making it impossible to handle automatic merging and diverging in various scenarios.

[0047] The navigation intelligent driving assistance system or the automatic pilot driving assistance system can achieve automatic merging and diverging at highway intersections, which is closely related to the recommended lanes selected under the navigation path planning. A good recommended lane, when encountering an intersection ahead, needs to ensure that it can safely pass through the intersection and at the same time conforms well to people's driving habits, and output a relatively optimal recommended lane in advance for the vehicle control terminal to select and use.

[0048] The present invention proposes a lane recommendation method, which can automatically generate at least one target intersection recommended lane based on the lane connection relationship and the navigation direction. Since the connection relationship is the lane connection relationship at the target intersection and the navigation direction is the direction in which the vehicle is about to travel at the target intersection, at least one lane that the vehicle can travel on at the target intersection can be accurately determined, ensuring that the vehicle can accurately pass through the target intersection, reducing the number of ineffective lane changes of the vehicle as much as possible, and being a recommended lane within a preset range, enabling the vehicle to change lanes to the recommended lane at a relatively long distance in advance and increasing the driving stability of the vehicle.

[0049] Figure 1 It is a schematic flowchart of a lane recommendation method provided by an embodiment of the present application.

[0050] Exemplarily, such as Figure 1As shown, the method includes:

[0051] Step 101, obtain the current navigation path of the vehicle.

[0052] The navigation path is the path planned between the current position of the vehicle and the destination. The vehicle can drive to the destination according to the navigation path.

[0053] Optionally, when the user navigates through the in-vehicle navigation before driving the vehicle, the navigation path planned in the in-vehicle navigation can be obtained. When the user navigates through a terminal connected to the vehicle, such as a mobile phone, a tablet, etc., the navigation path planned in the terminal connected to the vehicle can be obtained.

[0054] In the embodiments of the present application, the example of obtaining the navigation path planned in the in-vehicle navigation is used for illustration.

[0055] It should be understood that the in-vehicle navigation includes five core modules: map rendering, search, route calculation, guidance, and positioning. It can be integrated on the central control large screen of the vehicle for the user to use. In some embodiments, the navigation path can be obtained by the user inputting the destination, the in-vehicle navigation positioning the vehicle, and planning based on the current position of the vehicle and the input destination.

[0056] Step 102, determine the target intersection within a preset range in front of the vehicle according to the navigation path.

[0057] Among them, the direction in which the vehicle travels along the navigation path to the destination can be determined as the front of the vehicle.

[0058] It should be understood that the navigation path is the path between the current position of the vehicle and the destination. As the vehicle travels, the current position of the vehicle changes, and the navigation path will also change accordingly.

[0059] Determining the target intersection within a preset range in front of the vehicle according to the navigation path, that is, determining the intersection whose distance from the vehicle on the navigation path is within the preset range as the target intersection. The preset range can be set in advance according to the actual situation.

[0060] In some embodiments, the intersections can be divided into two categories: separated intersections and merged intersections according to the morphology of the roads at the intersections. The preset range can include a first preset range and a second preset range. Assuming that detecting separated intersections is the first preset range and detecting merged intersections is the second preset range, the first preset range can be different from the second preset range.

[0061] It should be understood that the high-precision map manufacturer can provide the vehicle with a high-precision map within the range of the front target, enabling the vehicle to determine the target intersection ahead based on the provided high-precision map. The target intersection may be a diverging intersection or a merging intersection. At a diverging intersection, the road will diverge into different roads. After the road diverges at the starting point of the diverging intersection, the lane connectivity can be determined based on the separated road within a relatively small range. At a merging intersection, the roads merge, and there may be disappearing lanes within a relatively large range behind the starting point of the merge. Therefore, after the roads merge at the starting point of the merging intersection, the lane connectivity needs to be determined based on the merged road within a relatively large range. The target range minus the above-mentioned relatively small range is the first preset range, and the target range minus the above-mentioned relatively large range is the second preset range. Therefore, the first preset range is greater than the second preset range, which is convenient for accurately determining the lane connectivity before and after different types of intersections, and further convenient for subsequently determining the recommended lanes based on the accurate lane connectivity.

[0062] As Figure 2 shown, the road only merges into the merged road within a relatively large range behind the starting point S of the merging intersection. For example, lane 3 in the branch road 202 before merging disappears at point O after the starting point S of the merging intersection, that is, the road merges into the merged road at point O after point S. Therefore, for the merging intersection, it is necessary to determine the lane connectivity before and after the merging intersection based on the high-precision map of the road within a relatively large range after point S.

[0063] As Figure 3 shown, the road behind the starting point P of the diverging intersection is divided into different lanes. Therefore, for the diverging intersection, the lane connectivity before and after the diverging intersection can be determined based on the high-precision map of the road within a relatively small range after point P.

[0064] Exemplarily, assuming the target range is 1.5 km, the above-mentioned relatively small range is Figure 3 0.1 km after point P in Figure 2 , and the above-mentioned relatively large range is

[0065] 0.5 km after point S in , then the first preset range can be determined to be 1.4 km, and the diverging intersection detected within 1.4 km ahead of the vehicle's travel is determined as the target intersection. The second preset range can be determined to be 1 km, and the merging intersection detected within 1 km ahead of the vehicle's travel is determined as the target intersection.

[0065] In some embodiments, it can also be understood that the roads separated after the diverging intersection lead to different directions. Therefore, setting a relatively large first preset range to determine the diverging intersection can achieve recommending lanes to the user at a relatively far distance in advance, enabling the user to change lanes to the recommended lane in the driving direction at a relatively far distance in advance, and avoiding the user changing lanes into the wrong direction near the diverging intersection. After the merging intersection, the roads lead to the same direction. Therefore, the merging intersection can be detected within the relatively small second preset range, and lanes can be recommended to the user in advance within the second preset range, enabling the user to safely drive into the merged lane based on the recommended lane.

[0066] It should be understood that the intersections in the embodiments of the present application are highway intersections. Highway intersections can be classified into four categories: diverging intersections, merging intersections, entering intersections, and exiting intersections according to whether there are new lanes before and after road merging or separation. Among them, diverging intersections and exiting intersections belong to the above-mentioned separation intersections. When a diverging intersection and / or an exiting intersection is detected within the first preset range, the detected diverging intersection and / or exiting intersection is determined as the target intersection. Merging intersections and entering intersections belong to the above-mentioned merging intersections. When a merging intersection and / or an entering intersection is detected within the second preset range, the detected merging intersection and / or entering intersection is determined as the target intersection.

[0067] Step 103: Obtain the lane connectivity relationship of the target intersection and the navigation direction of the vehicle at the target intersection.

[0068] The lane connectivity relationship expresses the connectivity between lanes. The lane connectivity relationship of the target intersection can express the connectivity between the lanes at the target intersection. Through the lane connectivity relationship, it is possible to know which are the preceding and succeeding lanes of all lanes in the current driving road of the vehicle.

[0069] The in-vehicle navigation module in the embodiments of the present application can perform navigation based on a high-precision map. High-precision map: Also known as (High, Definition, HD) high-resolution map. In the high-precision map, road information (including road grade, total number of lanes), lane information (including lane linear points, center line linear points, lane line attributes, lane curvature, lane connectivity relationship, etc.) and intersection node information are expressed and stored. The characteristic is high precision, and the error can be guaranteed to be centimeter-level. The lane connectivity relationship in the high-precision map stored in the vehicle can be obtained.

[0070] The navigation direction is the direction in which the vehicle will travel according to the planned destination. The navigation direction of the target intersection is the direction in which the vehicle will travel at the target intersection. The driving direction of the vehicle at the target intersection can be determined according to the planned navigation path.

[0071] It should be understood that the vehicle can have different navigation directions at different types of target intersections, and the vehicle can also have different navigation directions at the same target intersection when the destination is different. The navigation directions for different intersection types can be divided into: left merging and right merging when the vehicle merges into the intersection; left straight and right straight when other vehicles merge into the intersection; left straight and right straight at the merging intersection; left straight, right straight, left exiting, and right exiting at the exiting intersection; left straight and right straight at the diverging intersection.

[0072] Step 104: Determine at least one recommended lane according to the lane connectivity relationship and the navigation direction; the recommended lane is used for the vehicle to pass through the target intersection.

[0073] All lanes that a vehicle can travel on can be determined based on the lane connection relationship at the target intersection and the navigation direction of the vehicle at the target intersection, and at least one recommended lane is determined from all the lanes that the vehicle can travel on.

[0074] It should be understood that the target intersection includes an intersection starting point and an intersection ending point. The determined recommended lane can be the lane from the current position of the vehicle to the intersection ending point of the target intersection, so that the vehicle can pass through the target intersection according to the recommended lane.

[0075] In the above method, the target intersection within the preset range is determined by obtaining the current navigation path of the vehicle. At least one recommended lane can be determined according to the lane connection relationship and the navigation direction of the vehicle at the target intersection and recommended to the user. Among them, the intersections within the preset range are detected, and the recommended lane is determined according to the connection relationship and the navigation direction. Since the connection relationship is the lane connection relationship at the target intersection and the navigation direction is the direction that the vehicle is about to travel at the target intersection, at least one lane that the vehicle can travel on at the target intersection can be accurately determined, ensuring that the vehicle passes through the target intersection accurately, and the number of invalid lane changes of the vehicle can be reduced as much as possible. Moreover, the recommended lane is within the preset range of the target intersection, enabling the user to change lanes to the recommended lane at a relatively long distance in advance. When the user changes lanes to the recommended lane at a relatively long distance in advance, it can avoid the unstable driving state of the vehicle caused by the user's hasty lane change when driving to the intersection. The user's early lane change at a relatively long distance can increase the driving stability of the vehicle, enabling the vehicle to pass through the target intersection quickly and safely according to the at least one recommended lane.

[0076] In a possible implementation manner, determining at least one recommended lane according to the lane connection relationship and the navigation direction includes: determining the current road where the vehicle is located; determining the target road that the vehicle is about to enter at the target intersection according to the navigation direction; and determining at least one recommended lane among the lanes of the current road according to the lane connection relationship and the target road.

[0077] The determined recommended lane is a lane in the current road where the vehicle is located. The current position of the vehicle can be determined according to the positioning module in the in-vehicle navigation, and then the road where the vehicle is currently located can be determined according to the stored high-precision map.

[0078] The place where roads converge or diverge is called an intersection, that is, there are at least two roads at the target intersection, one of which is the current road where the vehicle is located. The target road that the vehicle is about to enter at the target intersection can be determined according to the navigation direction. The target road can be the current road on which the vehicle is traveling or another road that converges with the current road at the target intersection.

[0079] The lane connection relationship at the lane target intersection is the connection relationship of the lanes included in the roads that intersect at the target intersection.

[0080] In some embodiments, according to the lane connection relationship, the lanes in the current road where the vehicle is located that are connected to the lanes in the target road that the vehicle is about to enter at the target intersection can be determined, and at least one recommended lane can be determined therefrom.

[0081] In a possible implementation, when the target intersection is a confluence intersection, the current road is the target confluence branch road, and the target road is the confluence main road formed by the merger of multiple confluence branch roads including the target confluence branch road. Determining at least one recommended lane among the lanes of the current road according to the lane connection relationship and the target road includes: determining the first candidate lanes in the target confluence branch road according to the lane connection relationship; wherein, the first candidate lanes do not include the disappearing lanes, and the disappearing lanes are not connected to all the lanes on the confluence main road; determining at least one recommended lane among the first candidate lanes.

[0082] A confluence intersection means that in the direction of vehicle travel, there is at least one other branch road at this intersection that merges with the branch road where the vehicle is currently traveling into a main road. The multiple branch roads before confluence are of equal importance and merge into a main road from different directions at the confluence intersection. Confluence lanes are mostly seen in the ramps for entering and exiting the highway.

[0083] When the target intersection is a confluence intersection, obtaining the current position of the vehicle can obtain that the current road where the vehicle is located is the branch road before confluence. In this application, the branch road where the vehicle is located is also referred to as the target confluence branch road. The road that the vehicle is about to enter is the confluence main road, which can also be referred to as the target road in this application.

[0084] The confluence branch roads at the confluence intersection at least include two, namely the current road where the vehicle is located and other branch roads. When there are two confluence branch roads, the direction of vehicle travel can be defaulted as the front. According to the position of the vehicle in the current target confluence branch road, the navigation directions of the vehicle at the confluence intersection are divided into the left straight and right straight of the confluence intersection.

[0085] Figure 2 It is a schematic diagram of a confluence intersection provided by an embodiment of the present application.

[0086] Exemplarily, as Figure 2 shown, the confluence intersection 200 includes a confluence branch road 201, a confluence branch road 202, and a confluence main road 203. The navigation directions include direction 204 and direction 205, where direction 204 is the left straight of the confluence intersection, and direction 205 is the right straight of the confluence intersection.

[0087] It should be understood that the driving direction of the vehicle on the road can be determined as the front, the left and right of the road can be determined, and the above-mentioned merging branch roads can be divided into a left merging branch road and a right merging branch road. Specifically, the merging branch road 201 is the left merging branch road, and the merging branch road 202 is divided into the right merging branch road. When the vehicle enters the merging main road from the left merging branch road, the navigation direction is defined as the left straight at the merging intersection. When the vehicle enters the merging main road from the right merging branch road, the navigation direction is defined as the right straight at the merging intersection.

[0088] When the target intersection is a merging intersection, the position of the vehicle can be obtained to determine that the current road where the vehicle is located is a merging branch road, and the merging branch road where the vehicle is located is determined as the target merging branch road. The navigation direction of the vehicle at the target intersection is determined according to the current road where the vehicle is located and the driving path, and the target road that the vehicle is about to enter is determined as the merging main road according to the determined navigation direction, where the merging branch road can be any one of multiple merging branch roads.

[0089] For example Figure 2 In [example], when the vehicle 10 is located on the merging branch road 201, the navigation direction of the vehicle at the merging intersection is determined as the left straight at the merging intersection in the direction 204 according to the driving path. When the vehicle 10 is located on the merging branch road 202, the navigation direction of the vehicle at the merging intersection is determined as the right straight at the merging intersection in the direction 205 according to the driving path.

[0090] Assume as Figure 2 shown, the current position of the vehicle 10 is obtained, and it is determined that the current road where the vehicle 10 is located is the merging branch road 202, then the merging branch road 202 is determined as the target merging branch road. The navigation direction of the vehicle is determined as the right straight at the merging intersection in the direction 205 according to the driving path, and the target road that the vehicle is about to enter at the merging intersection is determined as the merging main road 203 according to the navigation direction of the right straight at the merging intersection.

[0091] According to the lane connection relationship, the first candidate lane is determined in the target merging branch road; the first candidate lane does not include the disappearing lane, and the disappearing lane is not connected to any of the lanes on the merging main road, that is, the first candidate lane is connected to the lanes on the merging main road.

[0092] Among them, the disappearing lane can be understood as the lane that disappears at the target intersection. In some embodiments, the lane can be segmented, and the disappearing lane can be understood as the lane including the triangular lane segment. As Figure 2 shown, the lane is divided into different lane segments based on the longitudinal dotted line in the figure. Among them, lane 3 includes a triangular lane segment 206 at the target intersection, so lane 3 is the disappearing lane.

[0093] Exemplarily, as Figure 2As shown in the figure, the current road merging branch 202 where the vehicle is located includes Lane 1, Lane 2, and Lane 3. The merging main road includes Lane 4, Lane 5, Lane 6, and Lane 7. Since Lane 3 is not connected to any of Lane 4, Lane 5, Lane 6, and Lane 7 in the merged main road at the merging intersection, it is determined that Lane 3 is the above-mentioned disappearing lane, and Lane 3 is excluded from the merging branch 202 to obtain the first candidate lanes, where the first candidate lanes include Lane 1 and Lane 2. At least one recommended lane is selected from Lane 1 and Lane 2.

[0094] Optionally, all lanes in the first candidate lanes can be determined as recommended lanes to obtain at least one recommended lane. Or, a preset number of lanes can be arbitrarily selected from the first candidate lanes to be determined as recommended lanes to obtain at least one recommended lane. Or, in combination with the current road conditions, such as the congestion of vehicles on the lane or the distance between surrounding vehicles and the vehicle itself, lanes that can reduce the user's lane change, reduce driving time, and ensure driving safety can be selected from the first candidate lanes as recommended lanes to obtain at least one recommended lane.

[0095] In the above method, when the target intersection is a merging intersection, by excluding the disappearing lanes on the merging branch and only taking the lanes on the merging branch that are connected to the merging main road as recommended lanes, it is possible to prevent the vehicle from driving on the disappearing lane and requiring the user to change lanes to other lanes when the lane is about to disappear. It can reduce the user's operations. Taking all lanes other than the disappearing lane as the first candidate lanes can provide multiple recommended lanes to the user or the intelligent driving system, enabling the backend to have more lane selection strategies without affecting the success rate of passing through the intersection in combination with road congestion or the distance between surrounding vehicles and the vehicle itself.

[0096] In a possible implementation, when the target intersection is a diverging intersection, the current road is the diverging main road, and the target road is the target diverging branch after the diverging main road diverges. According to the lane connection relationship and the target road, at least one recommended lane is determined among the lanes of the current road, including: according to the lane connection relationship, lanes that are connected to the lanes of the target diverging branch are selected as recommended lanes among the lanes of the diverging main road.

[0097] A diverging intersection means that in the direction of the vehicle's travel, at this intersection, the current road where the vehicle is located is divided into multiple branches, and the multiple branches after divergence have no primary or secondary distinction, and the diverging branches lead to different directions.

[0098] When the target intersection is a diverging intersection, the current road where the vehicle is located is the diverging main road, and the diverging branch that the vehicle is about to enter at the diverging intersection is determined as the target diverging branch, that is, the target road.

[0099] After the diversion at the diversion intersection, there are at least two diversion branches: the target diversion branch that the vehicle is about to enter and other branches. When there are two diversion branches, the driving direction of the vehicle can be defaulted as the front. According to the position of the target diversion branch that the vehicle is about to enter, the navigation direction of the vehicle at the diversion intersection is divided into left straight and right straight at the diversion intersection.

[0100] Figure 3 It is a schematic diagram of a diversion intersection provided by an embodiment of the present application.

[0101] Exemplarily, as Figure 3 shown, the diversion intersection 300 includes: a diversion main road 301, a diversion branch 302, and a diversion branch 303. The navigation directions include direction 304 and direction 305, where direction 304 is the left straight at the diversion intersection, and direction 305 is the right straight at the diversion intersection.

[0102] As in the above embodiment, the driving direction of the vehicle on the road can be determined as the front, the left and right of the road can be determined, and the above diversion branches are divided into a left diversion branch and a right diversion branch. Specifically, the diversion branch 302 is the left diversion branch, and the diversion branch 303 is the right diversion branch. When the vehicle drives from the diversion main road into the left diversion branch, the navigation direction is defined as the left straight at the diversion intersection. When the vehicle drives from the diversion main road into the right diversion branch, the navigation direction is defined as the right straight at the diversion intersection.

[0103] Determine the navigation direction of the vehicle at the target intersection according to the driving path. According to the determined navigation direction, the target road that the vehicle is about to enter can be determined as.

[0104] Specifically, when it is determined according to the driving path that the navigation direction of the vehicle 10 at the diversion intersection is the left straight in direction 304 at the diversion intersection, it is determined that the vehicle 10 is about to enter the diversion branch 302 according to the left straight in direction 304 at the diversion intersection. When it is determined according to the driving path that the navigation direction of the vehicle 10 at the diversion intersection is the right straight in direction 305 at the diversion intersection, it is determined that the vehicle 10 is about to enter the diversion branch 303 according to the right straight in direction 305 at the diversion intersection.

[0105] Assume as Figure 3 shown, obtain the current position of the vehicle 10 to determine that the vehicle 10 is on the diversion main road 301, then determine the diversion main road 301 as the current road. Determine the navigation direction of the vehicle as the right straight in direction 305 at the diversion intersection according to the driving path. Determine the target road that the vehicle is about to enter at the diversion intersection as the diversion branch 303 according to the right straight in the navigation direction at the diversion intersection, that is, determine the diversion branch 303 as the target diversion branch.

[0106] The lanes on the diversion main road that are connected to the lanes in the target diversion branch can be obtained according to the lane connection relationship as the recommended lanes.

[0107] In some embodiments, the lanes on the diversion main road that are connected to the lanes in the target diversion branch can be used as candidate lanes, and at least one recommended lane is determined from the candidate lanes.

[0108] Exemplarily, as Figure 3 shown, the diversion main road 301 includes lane 1, lane 2, lane 3, and lane 4, and the target diversion branch 303 includes lane 5 and lane 6. Lane 3 in the diversion main road 301 is connected to lane 5 in the target diversion branch 303, and lane 4 in the diversion main road 301 is connected to lane 6 in the target diversion branch 303. Then, lane 3 and lane 4 in the diversion main road 301 are determined as candidate lanes, and at least one recommended lane is determined from the candidate lanes.

[0109] It should be understood that the method for determining at least one recommended lane from the candidate lanes is the same as the method for determining at least one recommended lane from the first candidate lanes in the above embodiments, and will not be elaborated here.

[0110] In the above method, when the target intersection is a diversion intersection, according to the navigation direction and the connectivity relationship, the lanes in the current road that are connected to the lanes of the target road are determined, which can ensure that when the vehicle drives on the recommended lane and passes through the diversion intersection, it can accurately and directly drive into the target road, ensuring the stable driving of the vehicle, and avoiding lane-changing operations when the vehicle drives into the target road on a lane that is not connected to the target lane.

[0111] In a possible implementation, when the target intersection is an exit intersection, at least one recommended lane is determined from the lanes of the current road according to the lane connectivity relationship and the target road, including: when the current road and the target road are the same road, according to the lane connectivity relationship, the second candidate lanes are determined in the current road, and the second candidate lanes do not include the first redundant lanes; the first redundant lanes are connected to the lanes of the exit branch of the target intersection, and the exit branch and the current road belong to different roads; at least one recommended lane is determined from the second candidate lanes; when the target road is the exit branch, according to the lane connectivity relationship, the lanes in the current road that are connected to the lanes of the exit branch are selected as the recommended lanes.

[0112] An exit intersection means that on the direction of the vehicle's travel, a main road adds a road different from the main road at this intersection, and at least one lane in the main road is connected and intersects with at least one lane in the exit branch within the range from the starting point to the ending point of the exit intersection. In the embodiments of the present application, the added road is called the exit branch, and the main road is called the exit main road. The exit main road and the exit branch extend in different directions through the exit intersection.

[0113] There are two navigation directions for the vehicle at the exit intersection. One is that the current road where the vehicle is located is the exit main road, and the target road that the vehicle is about to drive into is the exit branch, and the navigation direction is for the vehicle to exit at the exit intersection.

[0114] Another case is that the current road where the vehicle is located is the exit main road, the target road that the vehicle is about to enter is the exit main road, and the navigation direction is for the vehicle to go straight at the exit intersection.

[0115] It should be understood that the above-mentioned exit main road includes both sides. According to the direction of vehicle travel as front and back, the two sides of the exit main road are divided into the left side and the right side. The exit branch road can also be divided into the left exit branch road and the right exit branch road. The navigation direction can be specifically divided into four types: left exit, right straight, right exit, and left straight.

[0116] When the exit branch road is on the left side of the exit main road, the exit branch road is the left exit branch road, and at least one lane in the left exit branch road is connected and intersects with the leftmost lane of the exit main road.

[0117] Figure 4 is a schematic diagram of an exit intersection provided by an embodiment of the present application.

[0118] The exit intersection 400 includes the left exit intersection shown in Figure 4(a) and the right exit intersection shown in Figure 4(b).

[0119] Exemplarily, as shown in Figure 4(a), the left exit intersection includes: an exit main road 4011 and a left exit branch road 4021. The exit main road 4011 includes lane 1, lane 2, lane 3, and lane 4, and the left exit branch road 4021 includes lane 5. At the exit intersection, the leftmost lane 1 in the exit main road 4011 is connected to lane 5 in the left exit branch road 4021. The navigation directions include direction 4031 and direction 4041, where direction 4031 is for left exit and direction 4041 is for right straight.

[0120] When the exit branch road is on the right side of the exit main road, the exit branch road is the right exit branch road, and at least one lane in the right exit branch road is connected and intersects with the rightmost lane of the exit main road.

[0121] Exemplarily, as shown in Figure 4(b), the right exit intersection includes: an exit main road 4012 and a right exit branch road 4022. The exit main road 4012 includes lane 1, lane 2, lane 3, and lane 4, and the right exit branch road 4022 includes lane 5. At the exit intersection, the rightmost lane 4 in the exit main road 4012 is connected to lane 5 in the right exit branch road 4022. The navigation directions include: direction 4032 and direction 4042, where direction 4032 is for right exit and direction 4042 is for left straight.

[0122] When the target intersection is an exit intersection, the position of the vehicle can be obtained to determine that the current road where the vehicle is located is the exit main road, the navigation direction of the vehicle at the target intersection can be determined according to the driving path, and the target road that the vehicle is about to enter can be determined according to the determined navigation direction, where the target road can be an exit branch road or an exit main road.

[0123] In some embodiments, the type of the merging exit can be determined according to the position of the merging branch first, that is, it is determined whether the merging exit is a left merging exit or a right merging exit, and then the current road where the vehicle is located and the target road to be entered are determined.

[0124] When it is determined that the merging exit is a left merging exit, as shown in FIG. 4(a), the current position of the vehicle 10 is obtained to determine that the current road where the vehicle is located is the main merging road 4011. Assuming that the navigation direction of the vehicle obtained according to the driving route is the left merging direction 4031, the target road that the vehicle 10 is about to enter can be determined as the left merging branch 4021 according to the left merging direction 4031. At this time, it is judged whether the current road and the target road are the same road.

[0125] When it is determined that the merging exit is a right merging exit, as shown in FIG. 4(b), the current position of the vehicle 10 is obtained to determine that the current road where the vehicle is located is the main merging road 4012. Assuming that the navigation direction of the vehicle obtained according to the driving route is the left straight direction 4042, the target road that the vehicle 10 is about to enter can be determined as the main merging road 4012 according to the left straight direction 4042. At this time, it is judged whether the current road and the target road are the same road.

[0126] It should be understood that in the example shown in FIG. 4(a), the navigation direction determined by the vehicle 10 can also be the left straight direction 4041. In the example shown in FIG. 4(b), the navigation direction determined by the vehicle 10 can also be the right merging direction 4032. The above navigation directions in the embodiments of the present application are only examples.

[0127] When the target road is the main merging road, it is judged that the current road where the vehicle is located and the target road to be entered are the same road. It indicates that the vehicle only passes through this merging exit. At this time, according to the lane connection relationship, the second candidate lane is determined in the current road, and at least one recommended lane is determined in the second candidate lane; the second candidate lane does not include the first redundant lane, and the first redundant lane is connected to the lane of the merging branch of the target intersection, that is, the second candidate lane is the lane in the current road that is not connected to the lane of the merging branch.

[0128] Exemplarily, as in the embodiment shown in FIG. 4(b) above, it is determined that the current road is the main merging road 4012, the target road is the main merging road 4012, and it is judged that the current road and the target road are the same road. The current main merging road 4012 includes lane 1, lane 2, lane 3 and lane 4, and the right merging branch includes lane 5, where lane 5 and lane 4 are connected. Then the first redundant lane is determined as lane 4, and the second candidate lanes are determined as lane 1, lane 2 and lane 3. At least one recommended lane is determined among the second candidate lanes: lane 1, lane 2 and lane 3.

[0129] When the target road is an exit branch road, it is determined that the current road where the vehicle is located and the target road to be entered are not the same road. At this time, according to the lane connection relationship, the lane in the current road that is connected to the lane of the exit branch road is determined as the recommended lane.

[0130] Exemplarily, in the embodiment shown in FIG. 4(a) above, it is determined that the current road is the exit main road 4011 and the target road is the left exit branch road 4021. It can be judged that the exit main road 4011 and the left exit branch road 4021 are different roads, that is, the current road and the target road are not the same road. The exit main road 4011 includes lanes 1, 2, 3, and 4, and the right exit branch road includes lane 5, where lane 5 is connected to lane 1, then lane 1 is determined as the recommended lane.

[0131] In the above method, when the target intersection is an exit intersection and the vehicle's current road and the target road are the same, the first redundant lanes connected to the exit intersection in the current road are excluded, and the other lanes are used as recommended lanes, which can effectively prevent the user from driving on the first redundant lanes and avoid congestion caused by other vehicles decelerating when exiting from the first redundant lanes, and can also avoid the user changing lanes in case of congestion. Taking all other lanes as the second candidate lanes can provide multiple recommended lanes to the user or the intelligent driving system, enabling the backend to have more lane selection strategies in combination with road congestion or the distance between surrounding vehicles and the vehicle itself without affecting the success rate of passing through the intersection.

[0132] This method can enable the vehicle to automatically merge into and out of the target lane at a relatively long distance in advance at the highway entrance, and has strong stability. On the premise of ensuring the success rate of merging and exiting, the number of ineffective lane changes is reduced as much as possible.

[0133] In a possible implementation manner, when the target intersection is an entrance intersection, at least one recommended lane is determined among the lanes of the current road according to the lane connection relationship and the target road, including: when the current road and the target road are the same road, according to the lane connection relationship, among the lanes of the current road, the third candidate lanes are determined, and the third candidate lanes do not include the second redundant lanes; the second redundant lanes are connected to the lanes of the entrance branch road of the target intersection; the entrance branch road and the current road belong to different roads; at least one recommended lane is determined among the third candidate lanes; when the current road and the target road are different roads, according to the lane connection relationship, among the lanes of the current road, the fourth candidate lanes are determined, and the fourth candidate lanes do not include the third redundant lanes, and the third redundant lanes are not connected to all lanes of the target road; at least one recommended lane is determined among the fourth candidate lanes.

[0134] An access intersection means that at this intersection, a branch road can enter the main road. At least one lane in the branch road entering the main road is connected to a lane in the main road within the range from the starting point to the ending point of the access intersection, and the branch road merges into the main road through the access intersection. In this application, the branch road entering the main road is called the access branch road, and the main road is called the access main road.

[0135] There are two navigation directions for a vehicle at an access intersection. One is that the current road where the vehicle is located is the access main road, and the target road that the vehicle is about to drive into is also the access main road, and the navigation direction is for the vehicle to go straight at the access intersection.

[0136] The other is that the current road where the vehicle is located is the access branch road, and the target road that the vehicle is about to drive into is the access main road, and the navigation direction is for the vehicle to drive into the above-mentioned access main road at the access intersection, that is, the navigation direction is access.

[0137] It should be understood that the above-mentioned access main road includes two sides. According to the direction of vehicle travel as front and back, the two sides of the access main road are divided into the left side and the right side. The access branch road can also be divided into the left access branch road and the right access branch road. When the vehicle goes straight at the access intersection, the access intersection is the access intersection for other vehicles. The navigation direction can be specifically divided into four types: left access, right straight at the access intersection for other vehicles, right access, and left straight at the access intersection for other vehicles.

[0138] Specifically, when the access branch road is on the left side of the access main road, the access branch road is the left access branch road, and at least one lane in the left access branch road is connected and intersects with the leftmost lane of the access main road.

[0139] Figure 5 is a schematic diagram of an access intersection provided by an embodiment of this application.

[0140] The access intersection 500 includes the left access intersection shown in Figure 5(a) and the right access intersection shown in Figure 5(b).

[0141] Exemplarily, as shown in Figure 5(a), the left access intersection includes: the access main road 5011 and the left access branch road 5021. The access main road 5011 includes lane 1, lane 2, lane 3, and lane 4, and the left access branch road 5021 includes lane 5. At the access intersection, the leftmost lane 1 in the access main road 5011 is connected to lane 5 in the left access branch road 5021. The navigation directions in the left access intersection include: direction 5031 and direction 5041, where direction 5031 is left access, and direction 5041 is right straight at the access intersection for other vehicles.

[0142] When the access branch road is on the right side of the access main road, the access branch road is the right access branch road, and at least one lane in the right access branch road is connected and intersects with the rightmost lane of the access main road.

[0143] Exemplarily, as shown in FIG. 5(b), the right merging intersection includes: a main road 5012 for merging and a right merging branch road 5022. The main road 5012 for merging includes lane 1, lane 2, lane 3, and lane 4, and the right merging branch road 5022 includes lane 5 and lane 6. The rightmost lane 4 in the main road 5012 for merging is connected to lane 5 in the right merging branch road 5022 at the merging intersection. The navigation directions in the right merging intersection include: direction 5032 and direction 5042. Among them, direction 5032 is for right merging, and direction 5042 is for the left straight of other vehicles merging into the intersection.

[0144] When the target intersection is a merging intersection, the position of the vehicle can be obtained to determine the current road where the vehicle is located, the navigation direction of the vehicle at the target intersection can be determined according to the driving path, and the target road that the vehicle is about to enter can be determined as the main road for merging according to the determined navigation direction. Among them, the current road where the vehicle is located can be either the main road for merging or the merging branch road.

[0145] In some embodiments, the type of the merging intersection, that is, whether the merging intersection is a left merging intersection or a right merging intersection, can be determined first according to the position of the merging branch road, and then the current road where the vehicle is located and the target road that the vehicle is about to enter can be determined.

[0146] When it is determined that the merging intersection is a left merging intersection, as shown in FIG. 5(a), the current position of vehicle 10 is obtained to determine that the current road where vehicle 10 is located is the main road 5011 for merging. Assuming that the navigation direction of the vehicle obtained according to the driving path is direction 5041, the right straight of other vehicles merging into the intersection, the target road that vehicle 10 is about to enter can be determined as the main road 5011 for merging according to direction 5041, the right straight of other vehicles merging into the intersection. At this time, it is determined that the current road and the target road are the same road, that is, the main road 5011 for merging.

[0147] When it is determined that the merging intersection is a right merging intersection, as shown in FIG. 5(b), the current position of vehicle 10 is obtained to determine that the current road where the vehicle is located is the right merging branch road 5022. Assuming that the navigation direction of the vehicle obtained according to the driving path is direction 5032, right merging, the target road that vehicle 10 is about to enter can be determined as the main road 5012 for merging according to direction 5032, right merging. At this time, it is determined that the current road and the target road are not the same road.

[0148] It should be understood that in the example shown in FIG. 5(a), vehicle 10 can also be currently located on the merging branch road 5021, and the navigation direction is direction 5031, left merging. In the example shown in FIG. 5(b), vehicle 10 can also be currently located on the main road 5012 for merging, and the navigation direction is direction 5042, the left straight of other vehicles merging into the intersection. The above current road and navigation direction in the embodiments of the present application are only examples.

[0149] When both the current road and the target road are roads that merge out of the main road, if it is determined that the current road and the target road are the same road, it indicates that the vehicle is just passing through the merging intersection. At this time, according to the lane connectivity relationship, among the lanes of the current road, the third candidate lanes are determined. The third candidate lanes do not include the second redundant lanes, and the second redundant lanes are the lanes that are connected to the lanes of the merging branch road, that is, the third candidate lanes are the lanes in the current road that are not connected to the lanes of the merging branch road.

[0150] Exemplarily, as shown in the embodiment of FIG. 5(a) above, it is determined that the current road is the merging main road 5011, and the target road is the merging main road 5011. It is judged that the current road and the target road are the same road. The current road merges into the main road 5011, including lanes 1, 2, 3, and 4, and the left merging branch road includes lane 5, where lane 5 is connected to lane 1. Then, it is determined that the first redundant lane is lane 1, and the second candidate lanes are lanes 2, 3, and 4. Among the second candidate lanes: lanes 2, 3, and 4, at least one recommended lane is determined.

[0151] When the current road is a merging branch road and the target road is the main road to be merged into, if it is determined that the current road and the target road are not the same road, it indicates that the vehicle drives into the main road from the merging intersection. At this time, according to the lane connectivity relationship, among the lanes of the current road, the fourth candidate lanes are determined. The fourth candidate lanes do not include the third redundant lanes, and the third redundant lanes are the lanes that are not connected to all the lanes of the target road, that is, the fourth candidate lanes are the lanes in the merging branch road that are connected to the target lanes.

[0152] Exemplarily, as shown in the embodiment of FIG. 5(b) above, it is determined that the current road is the right merging branch road 5022, and the target road is the merging main road 5012. It is judged that the current road and the target road are not the same road. The target road merges into the main road 5012, including lanes 1, 2, 3, and 4, and the current road right merging branch road includes lanes 5 and 6, where lane 6 is not connected to any of the lanes 1, 2, 3, and 4 in the target lane merging into the main road 5012. Then, it is determined that lane 6 is the third redundant lane, and the fourth candidate lane is lane 5, and lane 5 is determined as the recommended lane.

[0153] In some embodiments, when the fourth candidate lanes include multiple lanes, at least one recommended lane can be determined from the fourth candidate lanes according to the method provided in the above embodiments.

[0154] In some embodiments, when the current road is an access branch road and the target road is the access main road, if it is determined that the current road and the target road are not the same road, it indicates that the vehicle enters the access main road from the access intersection. At this time, according to the lane connection relationship, the lane including the triangular block in the map block at the end of the access intersection is determined as the recommended lane. Here, the block is the lane segment, and the triangular block is the triangular lane segment in the above embodiments.

[0155] Exemplarily, as shown in the embodiment of FIG. 5(b) above, the map block is the block divided by the vertical dotted line and the lane line in the figure. It is determined that the current road is the right access branch road 5022 and the target road is the access main road 5012, and it is judged that the current road and the target road are not the same road. The map block divided by the access main road 5012 at the end of the access intersection includes five blocks, namely block a, block b, block c, block d, and block e, where block e is the triangular block, and the lane including the triangular block e is lane 5. At this time, lane 5 is determined as the recommended lane.

[0156] In some embodiments, the access branch road may only include one lane. When the current road where the vehicle is located is this access branch road, then one lane of this branch road is used as the recommended lane.

[0157] In the above method, the target intersection is the access intersection. When the current road where the vehicle is located is the same as the target road, both being the access main road, the second redundant lane connected in the access branch road is excluded from the current road. Since the speed of the vehicle just entering is generally low, it is possible to avoid the vehicle colliding with the vehicle just entering while driving on the second redundant lane. The other lanes are all used as the third candidate lanes, which can provide multiple recommended lanes to the user or the intelligent driving system, so that the backend can combine road congestion or the distance between surrounding vehicles and the vehicle itself, and can have more lane selection strategies on the premise of not affecting the success rate of passing the intersection.

[0158] In a possible implementation manner, determining at least one recommended lane from the fourth candidate lanes includes: judging whether the fourth candidate lanes include an acceleration lane; if the fourth candidate lanes include an acceleration lane, then the acceleration lane is determined as at least one recommended lane.

[0159] The acceleration lane is a lane for the vehicle to accelerate before entering the main road. In the embodiments of the present application, it is taken as an example that the acceleration lane includes a section of lane parallel to the main road, and the length of the parallel lane is greater than one hundred meters. It should be understood that the acceleration lane can also be defined in other ways, and the embodiments of the present application do not limit this.

[0160] Exemplarily, in the embodiment shown in FIG. 5(b) above, it is determined that the fourth candidate lane is lane 5, the length of lane 5 parallel to the main road 5012 is A, and when A is greater than 100 m, it is determined that lane 5 is an acceleration lane, and at this time, the acceleration lane, lane 5, is used as the recommended lane.

[0161] In some embodiments, the fourth candidate lane may further include multiple lanes. As shown in FIG. 5(c), the right merging branch road 5023 includes lanes 3 and 4, and the merging into the main road 5013 includes lanes 1 and 2, wherein both lanes 3 and 4 are connected to lane 2, and there is no disappearing lane in the merging branch road 5023. That is, the fourth candidate lane includes lanes 3 and 4. The length of lane 3 parallel to the main road 5013 is B, and the length of lane 4 parallel to the main road 5013 is C. Assuming that B is greater than one hundred meters and C is less than one hundred meters, it is determined that lane 3 in the fourth candidate lane is an acceleration lane, and at this time, lane 3 is determined as the recommended lane.

[0162] In some embodiments, when multiple lanes in the merging branch road are not disappearing lanes and are all acceleration lanes, or when multiple lanes in the merging branch road are not disappearing lanes and are not acceleration lanes, the outermost lane in the merging branch road is used as the recommended lane.

[0163] Exemplarily, as shown in FIG. 5(c), the right merging branch road 5023 includes lanes 3 and 4, and neither lane 3 nor lane 4 is a disappearing lane. When both B and C are greater than one hundred meters, both lanes are acceleration lanes. When both B and C are less than one hundred meters, neither lane is an acceleration lane. At this time, it can be determined that the outermost lane 4 is the recommended lane. Determining the outermost lane as the recommended lane can reduce vehicle lane changes and reduce user operations.

[0164] In the above method, when there is an acceleration lane in the merging branch road, determining the acceleration lane as the recommended lane can ensure that the vehicle merges into the main road at an appropriate speed and increase the stability of vehicle driving.

[0165] In some embodiments, there may also be multiple consecutive intersections within the preset range, that is, the determined target intersection may also be multiple consecutive intersections. At this time, the preset range can be the range of the high-precision map provided by the manufacturer in the above embodiments.

[0166] In a possible implementation, the target intersection further includes a plurality of consecutive intersections, and the method further includes: sequentially determining the recommended lanes of the vehicle at each of the plurality of consecutive intersections according to the lane connection relationship of each intersection in the plurality of consecutive intersections and the driving direction of the vehicle at each intersection; in the case where there is an intersection in the determined recommended lanes of each intersection, determining at least one recommended lane from the intersection; in the case where there is no intersection in the determined recommended lanes of each intersection, determining whether the recommended lanes of each intersection are on the same road; when the recommended lanes of each intersection are on the same road, determining at least one recommended lane from the recommended lanes determined at the last intersection among each intersection.

[0167] When a plurality of intersections are detected within a preset range, the target intersection can be determined as a plurality of consecutive intersections. The plurality of consecutive intersections can be any combination of various types of intersections in the above embodiments. The distance between the plurality of consecutive intersections is relatively close, so the plurality of consecutive intersections can be regarded as the target intersection. Specifically, when determining the recommended lane, each intersection can be disassembled, and the recommended lane between the current position of the vehicle and the end of each intersection can be determined according to the method in the above embodiment. Then, take the intersection of the recommended lanes between the current position of the vehicle and the end of each intersection, and determine at least one recommended lane from the intersection.

[0168] Assume that the target intersection includes two consecutive intersections. Then the target intersection includes three cases: two merging intersections, two diverging intersections, and one merging intersection and one diverging intersection.

[0169] Exemplarily, as shown in FIG. 6, when the target intersection includes two merging intersections, it specifically includes three types as shown in FIGS. 6(a), 6(b), and 6(c).

[0170] Specifically, in FIG. 6(a), it includes a main road 6011 for merging, a first merging branch 6021, and a second merging branch 6031. The main road 6011 for merging includes lane 1 and lane 2, the first merging branch 6021 includes lane 3 and lane 4, and the second merging branch 6031 includes lane 5 and lane 6. As shown in FIG. 6(a), lane 4 and lane 6 are disappearing lanes, and lane 3 is an acceleration lane.

[0171] Assume that as shown in FIG. 6(a), vehicle 10 is located on the first merging branch 6021. Determine that the current road is the first merging branch 6021. At the first intersection, determine the target road of the vehicle as the first merging branch 6021 according to the navigation direction of the vehicle. The current road is the same as the target road. At this time, determine the lanes in the first merging branch 6021 that are not connected to the lanes in the second merging branch 6031, that is, determine lane 3 as the recommended lane. At the second intersection, determine the target road of the vehicle as the main road 6011 according to the navigation direction of the vehicle. The current road is not the same as the target road. At this time, determine the candidate lanes in the first merging branch 6021 that are connected to the main road 6011, and exclude the disappearing lanes, that is, exclude lane 4 in the first merging branch 6021, to obtain candidate lanes. Lane 3 in the candidate lanes is the acceleration lane, so determine lane 3 as the recommended lane. Take the intersection of the recommended lanes at the two intersections to obtain the recommended lane as lane 3.

[0172] Specifically, in FIG. 6(b), it includes the main road 6012 exiting, the first exiting branch 6022, and the second exiting branch 6032. The main road 6011 exiting includes lane 1 and lane 2, the first exiting branch 6022 includes lane 3, and the second exiting branch 6032 includes lane 4.

[0173] Assume that as shown in FIG. 6(b), vehicle 10 is located on the main road 6012 exiting. Determine that the current road is the main road 6012 exiting. At the first intersection, determine the target road of the vehicle as the main road 6012 exiting according to the navigation direction of the vehicle. The current road is the same as the target road. At this time, determine the lanes in the main road 6012 exiting that are not connected to the lanes in the first exiting branch 6022, that is, determine lane 1 as the recommended lane. At the second intersection, determine the target road of the vehicle as the main road 6012 exiting according to the navigation direction of the vehicle. The current road is the same as the target road. At this time, determine the lanes in the main road 6012 exiting that are not connected to the lanes in the second exiting branch 6032, that is, determine lane 1 as the recommended lane. Take the intersection of the recommended lanes at the two intersections to obtain the recommended lane as lane 1.

[0174] Specifically, in FIG. 6(c), it includes the main road 6013, the merging branch 6023, and the exiting branch 6033. The main road 6013 includes lane 1 and lane 2, the merging branch 6023 includes lane 3 and lane 4, and the exiting branch 6033 includes lane 5.

[0175] Assume that vehicle 10 is located on the main road 6013 as shown in FIG. 6(c). Determine that the current road is the main road 6013. At the first intersection, determine the target road of the vehicle as the main road 6013 according to the navigation direction of the vehicle. The current road is the same as the target road. At this time, determine the lanes in the main road 6013 that are not connected to the lanes in the merging branch road 6023, that is, determine lane 1 as the recommended lane. At the second intersection, determine the target road of the vehicle as the main road 6013 according to the navigation direction of the vehicle. The current road is the same as the target road. At this time, determine the lanes in the main road 6013 that are not connected to the lanes in the exiting branch road 6033, that is, determine lane 1 as the recommended lane. Take the intersection of the recommended lanes at the two intersections to obtain the recommended lane as lane 1.

[0176] In some embodiments, when the current roads where the vehicle is located at different intersections are different and the navigation directions at different intersections are different, the recommended lanes determined according to different intersections may be on different roads. When the recommended lane in the intersection is zero, determine whether the recommended lanes at different intersections are on different roads. When it is determined that the recommended lanes at different intersections are on different roads, take the union of the recommended lanes.

[0177] As shown in FIG. 6(a), assume that the vehicle is currently in the second merging branch road 6031, and the current road is the second merging branch road 6031. At the first intersection, determine the target road as the first merging branch road 6021 according to the navigation direction. The current road is not the same as the target road. At this time, determine the other lanes in the second merging branch road 6031 except the disappearing lane, that is, the above-mentioned lane 6, as candidate lanes, and determine the recommended lane from the candidate lanes. The candidate lane is lane 5, that is, determine the recommended lane before the end of the vehicle at the first intersection as lane 5. Make the vehicle merge into the first merging branch road 6021 according to lane 5. At the second intersection, determine the target road as the main road 6011 to be merged according to the navigation direction. At this time, the current road is the first merging branch road 6021, and the current road is not the same as the target road. Determine the other lanes in the first merging branch road 6021 except the disappearing lane, that is, the above-mentioned lane 4, as candidate lanes, and determine the recommended lane from the candidate lanes. The candidate lanes include the acceleration lane, that is, the above-mentioned lane 3. At this time, determine the recommended lane before the end of the vehicle at the second intersection as lane 3. Lane 5 is the lane on the second merging branch road 6031, and lane 3 is the lane on the first merging branch road 6021. Determine that the recommended lanes at the first intersection and the second intersection are on different roads. At this time, take the union of the recommended lanes. Take lane 3 and lane 5 as the recommended lanes.

[0178] In some embodiments, due to the different types of each intersection in consecutive intersections, the navigation recommendation strategies of the vehicle at the intersections are different. There may be a situation where there is no intersection in the recommended lanes of each intersection.

[0179] Exemplarily, as shown in FIG. 6(c), the target intersection includes two consecutive intersections. The first intersection is an entrance intersection, and the second intersection is an exit intersection. Assume that the navigation direction of the vehicle at the first intersection is straight to the left, and the navigation direction of the vehicle at the second intersection is to merge out to the right. The recommended lane determined at the first intersection is lane 1, and the recommended lane determined at the second intersection is lane 2. Then, there is no intersection in the recommended lanes determined.

[0180] The lane information in each road where multiple consecutive intersections meet can be obtained according to the high-precision map stored in the vehicle, and it can be determined whether the recommended lanes are on the same road.

[0181] It is also possible to split multiple consecutive intersections and determine the current road and the target road of the vehicle at each intersection respectively to determine the recommended road. If the recommended lanes at each intersection are on the same road, it indicates that the current roads determined by the vehicle at each intersection are the same road. The last intersection is the intersection farthest from the current position of the vehicle.

[0182] Exemplarily, as shown in FIG. 6, the two intersections are split. It is determined that the current lane of the vehicle at the first intersection is the main road 6013, and the current lane of the vehicle at the second intersection is the main road 6013, which is the same as the current road determined at the first intersection. That is, it is determined that the recommended lanes at the first intersection and the second intersection are on the same road, the main road 6013. At this time, it is determined that the recommended lane determined at the second intersection is used as the target recommended lane.

[0183] In some embodiments, when the intersection of the recommended lanes at two intersections is zero, and the recommended lanes at different intersections are on the same road, the priority can also be determined for different intersections according to the navigation direction of the vehicle at the consecutive intersections, and the recommended lane determined at the intersection with the higher determined priority is determined as the target recommended lane.

[0184] For example, for two consecutive entrance intersections, the navigation direction of the vehicle at the first entrance intersection is straight, and the navigation direction at the second intersection is to merge. At this time, it is determined that the priority of the second intersection is higher than that of the first intersection.

[0185] Specifically, in FIG. 6(d), it includes an entrance main road 6014, a first entrance branch road 6024, and a second entrance branch road 6034. The entrance main road 6014 includes lane 1 and lane 2, the first entrance branch road 6024 includes lane 3 and lane 4, and the second entrance branch road 6034 includes lane 5 and lane 6. As shown in FIG. 6(d), lane 6 is a disappearing lane. The first entrance branch road 6024 does not include a disappearing lane, and lane 4 is an acceleration lane.

[0186] Assume as shown in FIG. 6(d), assume that vehicle 10 is located on the first merging branch 6024, determine that the current road is the first merging branch 6024. At the first intersection, according to the navigation direction of the vehicle, determine that the target road of the vehicle is the first merging branch 6021, and the current road is the same as the target road. At this time, determine the lanes in the first merging branch 6024 that are not connected to the lanes in the second merging branch 6034, that is, determine lane 3 as the recommended lane. At the second intersection, according to the navigation direction of the vehicle, determine that the target road of the vehicle is the main road merging section 6014, and the current road is not the same as the target road. At this time, determine the candidate lanes in the first merging branch 6024 that are connected to the main road merging section 6014, exclude the disappearing lanes, and obtain the candidate lanes: lane 3 and lane 4. Lane 4 in the candidate lanes is the acceleration lane, so determine lane 4 as the recommended lane. The intersection of the recommended lanes at the two intersections is zero, and both recommended lanes 3 and 4 are lanes in the first merging branch. At this time, according to the navigation direction, determine that the priority of the second intersection is higher than that of the first intersection, so determine lane 4 as the target recommended lane.

[0187] In the above method, when the target intersection is multiple consecutive intersections, the recommended lane can be determined according to the navigation direction, the lane connection relationship and the information between each intersection. The recommended lane combines the information of multiple intersections, is compatible with the recommendations of multiple intersections, and can enable the vehicle to pass through multiple consecutive intersections smoothly.

[0188] In some embodiments, the high-precision map stores lanes marked in blocks. First, the lanes recommended at the end block of the intersection can be determined, and then the predecessor lanes of the recommended lanes are obtained until the current position block of the vehicle to obtain the recommended lanes. The following combines Figure 7 Describe this situation:

[0189] Figure 7 FIG. is a schematic flowchart of another lane recommendation method provided by an embodiment of the present application.

[0190] Exemplarily, as Figure 7 shown, the method includes:

[0191] Step 701, determine the recommended range of the target intersection.

[0192] Since the target intersection in the present application may include multiple consecutive intersections that are relatively close, it is necessary to first determine the recommended range at the target intersection.

[0193] In some embodiments, when the target intersection is only one intersection, the recommended range is between the current position block of the vehicle and the end block of the target intersection. When the target intersection includes multiple consecutive intersections, the multiple consecutive intersections are split, and each of the split intersections is regarded as the target intersection in turn to determine the recommended range of each intersection.

[0194] Exemplarily, assume that the target intersection includes two consecutive intersections. When the target intersection is the first intersection, the recommended range is determined to be from the current position block of the vehicle to the end block of the first intersection. When the target intersection is the second intersection, the type of the first intersection is judged. When the first intersection is an outgoing merging intersection, the recommended range is the range between the end block of the first intersection and the end block of the second intersection. When the first intersection is a self-vehicle merging intersection with a disappearing lane, the recommended range is determined to be the range between the end block of the first intersection and the end of the second intersection, and so on.

[0195] Step 702, determine whether the target intersection is a fork intersection. When it is determined that the target intersection is a fork intersection, execute Step 703; otherwise, execute Step 709.

[0196] Step 703, determine whether the target intersection is an outgoing intersection. When it is determined that the target intersection is an outgoing intersection, execute Step 704; otherwise, execute Step 707.

[0197] Step 704, determine whether the vehicle goes straight at the outgoing intersection. When it is determined that the vehicle goes straight at the outgoing intersection, execute Step 705; otherwise, execute Step 706.

[0198] Step 705, exclude the leftmost or rightmost lane on the main road at the end of the intersection that leads to the branch road.

[0199] Step 706, recommend the leftmost or rightmost lane on the main road at the end of the intersection that leads to the branch road.

[0200] Among them, when the target intersection is an outgoing intersection, the main road is the outgoing main road in the above embodiment, the branch road is the above-mentioned outgoing branch road, and the outgoing intersection includes a starting point and an end point. The starting point is the intersection where the outgoing branch road and the outgoing main road start, and the end point is the intersection where the outgoing branch road and the outgoing main road end.

[0201] The vehicle going straight at the outgoing intersection means that the target road the vehicle travels on is the same as the current road. Specifically, the outgoing intersection also includes two types: left outgoing and right outgoing. When the outgoing intersection is the left outgoing intersection shown in Fig. 4(a), at this time, exclude the leftmost lane, lane 1, on the outgoing main road at the end of the intersection that leads to the outgoing branch road, and take lanes 2, 3, and 4 as the recommended lanes. When the outgoing intersection is the right outgoing intersection shown in Fig. 4(b), at this time, exclude the rightmost lane, lane 4, on the outgoing main road at the end of the intersection that leads to the outgoing branch road, and take lanes 1, 2, and 3 as the recommended lanes.

[0202] When the vehicle does not go straight at the exit intersection, that is, the vehicle is about to enter the exit branch road, and the target road for the vehicle to travel is different from the current road. When the exit intersection is the left exit intersection shown in Fig. 4(a), at this time, the leftmost lane, Lane 1, on the exit main road leading to the exit branch road at the end of the intersection is determined as the recommended lane. When the exit intersection is the right exit intersection shown in Fig. 4(b), at this time, the rightmost lane, Lane 4, on the exit main road leading to the exit branch road at the end of the intersection is determined as the recommended lane.

[0203] Step 707, determine that the target intersection is a diversion intersection;

[0204] Step 708, recommend the left or right lane at the end of the diversion intersection leading to the branch path.

[0205] Among them, when determining that the target intersection is Figure 3 the diversion intersection shown, the branch path is the above-mentioned diversion branch road. Figure 3 For the diversion intersection shown, the start and end points are the same, both are P. The left lanes at point P leading to the branch path include Lane 1 and Lane 2, and the right lanes at point P leading to the branch path include Lane 3 and Lane 4. Assume that when the vehicle goes straight to the right at the diversion intersection, then the right lanes, Lane 3 and Lane 4, at point P leading to the branch path are determined as the recommended lanes.

[0206] Step 709, determine whether the target intersection is an entrance intersection; when the target intersection is an entrance intersection, execute Step 710; otherwise, execute Step 713;

[0207] Step 710, determine whether the vehicle is self-entering at the target intersection; when the vehicle is not self-entering at the target intersection, execute Step 711, otherwise execute Step 712;

[0208] Step 711, exclude the leftmost or rightmost lane on the main road at the start of the entrance intersection;

[0209] Step 712, obtain the leftmost or rightmost lane on the main road at the end of the entrance intersection.

[0210] Among them, when the target intersection is an entrance intersection, the main road is the entrance main road in the above-mentioned embodiment, the branch road is the entrance branch road in the above-mentioned embodiment, the entrance intersection includes a start point and an end point, the start point is the intersection where the entrance branch road and the entrance main road start, and the end point is the intersection where the entrance branch road and the entrance main road end. When the entrance branch road and the entrance main road start to intersect at the entrance intersection, the lanes in the entrance branch road at the entrance intersection can also be incorporated into the entrance main road, as shown in Fig. 5(b). Before the start of the entrance intersection, the entrance main road includes Lane 1, Lane 2, Lane 3, and Lane 4. At the entrance intersection, the entrance main road includes Lane 1, Lane 2, Lane 3, Lane 4, Lane 5, and Lane 6. At the end of the entrance intersection, the entrance main road includes Lane 1, Lane 2, Lane 3, and Lane 4, and Lane 5.

[0211] The vehicle does not merge into the main road at the target intersection, that is, the current road of the vehicle is the merging branch road, the target road is the merging main road, and the current road is the same as the target road. Specifically, when the merging intersection is the right merging intersection shown in Fig. 5(b), at this time, the rightmost lane on the main road at the starting point of the merging intersection is excluded, that is, lane 4 is excluded, and lanes 1, 2, and 3 are used as the recommended lanes.

[0212] The vehicle merges into the main road at the target intersection, that is, the current road of the vehicle is the merging branch road, the target road is the merging main road, and the current road is different from the target road. When the merging intersection is the right merging intersection shown in Fig. 5(b), at this time, the rightmost lane merging into the main road at the end point of the merging intersection is determined, that is, lane 5 is used as the recommended lane.

[0213] Step 713, determine that the target intersection is a confluence intersection;

[0214] Step 714, determine the left or right lane on the main road at the end point of the confluence intersection.

[0215] Among them, when the target intersection is a confluence intersection, the main road is the confluence main road in the above embodiment. The confluence intersection includes a starting point and an end point. The starting point is the intersection where the confluence branch road and at least one other confluence branch road start, and the end point is the intersection where the confluence branch road and at least one other confluence branch road end. As Figure 2 shown, at the end point of the confluence intersection, the confluence main road includes lanes 4, 5, 6, and 7. At this time, the leftmost or rightmost lane at the end point of the confluence intersection is determined, and lane 4 or lane 7 is the recommended lane.

[0216] Step 715, repeatedly obtain the predecessor lanes of the recommended lane at the end point or starting point of the intersection until the current position of the vehicle.

[0217] For example, in the embodiment shown in Fig. 5(b), at the end point of the merging intersection, the rightmost lane 5 merging into the main road is used as the recommended lane. Repeatedly obtain the predecessor lanes of lane 5 until the lane on the merging branch road at the current position of the vehicle, and use the lane on the merging branch road as the recommended lane.

[0218] For example, in Figure 2 the embodiment shown, at the end point of the confluence intersection, it is determined that the recommended lane is the rightmost lane 7. Repeatedly obtain the predecessor lanes of lane 7 until the current branch road of the vehicle. As Figure 2 shown, the predecessor lane of lane 7 is lane 2, and the recommended lane of the vehicle is lane 2 on the confluence branch road.

[0219] In summary, in the present application, by obtaining the current navigation path of the vehicle to determine the target intersections within a preset range, and determining at least one recommended lane according to the lane connection relationship and the navigation direction of the vehicle at the target intersection, the vehicle can quickly and safely pass through the target intersection according to the at least one recommended lane. Detecting the intersections within the preset range and determining the recommended lane according to the connection relationship and the navigation direction can achieve changing lanes to the recommended lane at a relatively long distance in advance, increasing the driving stability of the vehicle, and minimizing the number of ineffective lane changes of the vehicle as much as possible. When the target intersection is a confluence intersection, by excluding the disappearing lanes on the confluence branch roads and only taking the lanes connected to the confluence main road on the confluence branch roads as the recommended lanes, it is possible to prevent the vehicle from driving on the disappearing lanes and requiring the user to change lanes to other lanes when the lanes are about to disappear, thus reducing the user's operations. When the target intersection is an exit intersection and the current road of the vehicle is the same as the target road, excluding the first redundant lane connected to the exit intersection in the current road and taking the other lanes as the recommended lanes can effectively prevent the user from driving on the first redundant lane and avoid the congestion caused by other vehicles decelerating when exiting from the first redundant lane, and can avoid the user changing lanes in the congested situation. When the target intersection is an entrance intersection and the current road where the vehicle is located is the same as the target road, both being the entrance main road, excluding the second redundant lane connected to the entrance branch road in the current road. Since the speed of the newly entered vehicle is generally low, it is possible to prevent the vehicle from colliding with the newly entered vehicle when driving on the second redundant lane. And in the present application, all the lanes other than the disappearing lanes and the redundant lanes in the current road are used as the third candidate lanes, which can provide multiple recommended lanes to the user or the intelligent driving system, enabling the backend to have more lane selection strategies in combination with road congestion or the distance between surrounding vehicles and the vehicle itself on the premise of not affecting the success rate of passing through the intersection. In addition, when the entrance branch road includes an acceleration lane, determining the acceleration lane as the recommended lane can ensure that the vehicle enters the main road at an appropriate speed and increase the driving stability of the vehicle.

[0220] Figure 8 is a schematic structural diagram of a lane recommendation device provided by an embodiment of the present application.

[0221] Exemplarily, as Figure 8 shown, the device 800 includes:

[0222] A first acquisition module 801, configured to acquire the current navigation path of the vehicle;

[0223] A first determination module 802, configured to determine the target intersections within a preset range in front of the vehicle according to the navigation path;

[0224] A second acquisition module 803, configured to acquire the intersection information of the target intersection and the navigation direction of the vehicle at the target intersection;

[0225] The second determination module 804 is configured to determine at least one recommended lane according to the intersection information and the navigation direction; the recommended lane is used for a vehicle to pass through the target intersection.

[0226] In a possible implementation, the second determination module is specifically configured to determine the current road where the vehicle is located; determine the target road that the vehicle is about to enter at the target intersection according to the navigation direction; and determine at least one recommended lane from the lanes of the current road according to the lane connection relationship and the target road.

[0227] In a possible implementation, when the target intersection is a merging intersection, the current road is the target merging branch road, and the target road is the merged main merging road formed by merging multiple merging branch roads including the target merging branch road. The second determination module is specifically configured to determine the first candidate lanes in the target merging branch road according to the lane connection relationship; wherein, the first candidate lanes do not include disappearing lanes, and the disappearing lanes are not connected to any of the lanes on the main merging road; and determine at least one recommended lane from the first candidate lanes.

[0228] In a possible implementation, when the target intersection is a diverging intersection, the current road is the diverging main road, and the target road is the target diverging branch road after the diverging main road diverges. The second determination module is specifically configured to select, as the recommended lanes, the lanes on the diverging main road that are connected to the lanes of the target diverging branch road according to the lane connection relationship.

[0229] In a possible implementation, when the target intersection is an exit intersection, the second determination module is specifically configured to, when the current road and the target road are the same road, determine the second candidate lanes in the current road according to the lane connection relationship, and the second candidate lanes do not include the first redundant lanes; the first redundant lanes are connected to the lanes of the exit branch road of the target intersection, and the exit branch road and the current road belong to different roads; determine at least one recommended lane from the second candidate lanes; when the target road is the exit branch road, select, as the recommended lanes, the lanes on the current road that are connected to the lanes of the exit branch road according to the lane connection relationship.

[0230] In a possible implementation, when the target intersection is an entrance intersection, the second determination module is specifically configured to, when the current road and the target road are the same road, determine the third candidate lanes in the lanes of the current road according to the lane connection relationship, and the third candidate lanes do not include the second redundant lanes; the second redundant lanes are connected to the lanes of the entrance branch road of the target intersection; the entrance branch road and the current road belong to different roads; determine at least one recommended lane from the third candidate lanes; when the current road and the target road are different roads, determine the fourth candidate lanes in the lanes of the current road according to the lane connection relationship, and the fourth candidate lanes do not include the third redundant lanes, and the third redundant lanes are not connected to any of the lanes of the target road; determine at least one recommended lane from the fourth candidate lanes.

[0231] In a possible implementation, the target intersection further includes a plurality of consecutive intersections, and the device further includes: a third determination module, configured to sequentially determine the recommended lanes of the vehicle at each of the plurality of consecutive intersections according to the lane connection relationship at each intersection and the driving direction of the vehicle at each intersection; in the case where there is an intersection among the recommended lanes determined for each intersection, determine at least one recommended lane from the intersection; in the case where there is no intersection among the recommended lanes determined for each intersection, determine whether the recommended lanes at each intersection are on the same road; when the recommended lanes at each intersection are on the same road, determine at least one recommended lane from the recommended lanes determined for the last intersection among the intersections.

[0232] Figure 9 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0233] Exemplarily, as Figure 9 shown, the electronic device 900 includes: a memory 901 and a processor 902. Among them, an executable program code 9011 is stored in the memory 901, and the processor 902 is configured to call and execute the executable program code 9011 to execute a lane recommendation method.

[0234] In this embodiment, the electronic device can be divided into functional modules according to the above method examples. For example, it can correspond to each functional module, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is illustrative, only a logical function division, and there may be other division methods in actual implementation.

[0235] In the case of dividing each functional module corresponding to each function, the electronic device may include: a first acquisition module, a first determination module, a second acquisition module, a second determination module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be cited in the function description of the corresponding functional module, and will not be repeated here.

[0236] The electronic device provided in this embodiment is used to execute the above-mentioned lane recommendation method, and thus can achieve the same effect as the above implementation method.

[0237] In the case of adopting an integrated unit, the electronic device may include a processing module and a storage module. Among them, the processing module can be used to control and manage the actions of the electronic device. The storage module can be used to support the electronic device to execute mutual program codes and data, etc.

[0238] Among them, the processing module can be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits described in connection with the disclosure of the present application. The processor can also be a combination that implements computing functions, such as including a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module can be a memory.

[0239] This embodiment also provides a computer-readable storage medium, in which computer program code is stored. When the computer program code runs on a computer, the computer is caused to execute the above-related method steps to implement a lane recommendation method in the above embodiment.

[0240] This embodiment also provides a computer program product. When the computer program product runs on a computer, the computer is caused to execute the above-related steps to implement a lane recommendation method in the above embodiment.

[0241] In addition, the electronic device provided in the embodiment of the present application can specifically be a chip, a component, or a module. The electronic device can include a processor and a memory connected to each other; among them, the memory is used to store instructions. When the electronic device runs, the processor can call and execute the instructions to cause the chip to execute a lane recommendation method in the above embodiment.

[0242] Among them, the electronic device, computer-readable storage medium, computer program product, or chip provided in this embodiment is all used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be elaborated here.

[0243] Through the description of the above embodiments, those skilled in the art can understand that for the convenience and brevity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0244] In the embodiments provided in the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point, the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical, mechanical, or other form.

[0245] The above content is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A lane recommendation method, characterized in that, The method includes: Obtaining the current navigation path of the vehicle; Determining a target intersection within a preset range in front of the vehicle according to the navigation path; Obtaining the lane connection relationship of the target intersection and the navigation direction of the vehicle at the target intersection; Determining at least one recommended lane according to the lane connection relationship and the navigation direction; the recommended lane is used for the vehicle to pass through the target intersection.

2. The method according to claim 1, characterized in that The determining at least one recommended lane according to the lane connection relationship and the navigation direction includes: Determining the current road where the vehicle is located; Determining the target road that the vehicle is about to enter at the target intersection according to the navigation direction; Determining the at least one recommended lane among the lanes of the current road according to the lane connection relationship and the target road.

3. The method according to claim 2, wherein When the target intersection is a confluence intersection, the current road is the target confluence branch road, and the target road is the confluence main road formed by the merger of multiple confluence branch roads including the target confluence branch road, The determining at least one recommended lane among the lanes of the current road according to the lane connection relationship and the target road includes: Determining a first candidate lane in the target confluence branch road according to the lane connection relationship; wherein, the first candidate lane does not include a disappearing lane, and the disappearing lane is not connected to any lane on the confluence main road; Determining the at least one recommended lane from the first candidate lanes.

4. The method according to claim 2, characterized in that When the target intersection is a diversion intersection, the current road is the diversion main road, and the target road is the target diversion branch road after the diversion of the diversion main road, The determining at least one recommended lane among the lanes of the current road according to the lane connection relationship and the target road includes: Selecting, according to the lane connection relationship, the lanes on the diversion main road that are connected to the lanes of the target diversion branch road as the recommended lanes.

5. The method according to claim 2, wherein When the target intersection is an exit intersection, the determining at least one recommended lane among the lanes of the current road according to the lane connection relationship and the target road includes: When the current road and the target road are the same road, determining a second candidate lane in the current road according to the lane connection relationship, and the second candidate lane does not include a first redundant lane; the first redundant lane is connected to the lanes of the exit branch road of the target intersection, and the exit branch road and the current road belong to different roads; Determining the at least one recommended lane from the second candidate lanes; When the target road is the exit branch road, selecting, according to the lane connection relationship, the lanes on the current road that are connected to the lanes of the exit branch road as the recommended lanes.

6. The method according to claim 2, wherein When the target intersection is an entrance intersection, the determining at least one recommended lane among the lanes of the current road according to the lane connection relationship and the target road includes: When the current road and the target road are the same road, according to the lane connectivity relationship, among the lanes of the current road, determine a third candidate lane, and the third candidate lane does not include a second redundant lane; the second redundant lane is connected to the lane of the merging branch of the target intersection; the merging branch and the current road belong to different roads; Among the third candidate lanes, determine the at least one recommended lane; When the current road and the target road are different roads, according to the lane connectivity relationship, among the lanes of the current road, determine a fourth candidate lane, and the fourth candidate lane does not include a third redundant lane, and the third redundant lane is not connected to all lanes of the target road; Determine the at least one recommended lane among the fourth candidate lanes.

7. The method according to any one of claims 1 to 6, characterized in that The target intersection further includes a plurality of consecutive intersections, and the method further includes: Successively determine the recommended lanes of the vehicle at each of the plurality of consecutive intersections according to the lane connectivity relationship at each of the plurality of consecutive intersections and the driving direction of the vehicle at each of the intersections; In the case where there is an intersection among the recommended lanes determined for each of the intersections, determine the at least one recommended lane in the intersection; In the case where there is no intersection among the recommended lanes determined for each of the intersections, determine whether the recommended lanes at each of the intersections are on the same road; When the recommended lanes at each of the intersections are on the same road, determine the at least one recommended lane from the recommended lanes of the last intersection among the intersections.

8. A lane recommendation device, characterized in that, The device includes: A first acquisition module, configured to acquire the current navigation path of the vehicle; A first determination module, configured to determine a target intersection within a preset range in front of the vehicle according to the navigation path; A second acquisition module, configured to acquire the intersection information of the target intersection and the navigation direction of the vehicle at the target intersection; A second determination module, configured to determine at least one recommended lane according to the intersection information and the navigation direction; the recommended lane is used for the vehicle to pass through the target intersection.

9. An electronic device, characterized in that, The electronic device includes: A memory, configured to store executable program code; A processor, configured to call and run the executable program code from the memory, so that the electronic device executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

Images