Intersection passing method, apparatus and device, and storage medium

Abstract

An intersection passing method, apparatus and device, and a storage medium, for achieving stable and smooth passing through each intersection of a vehicle during driving assistance without a high-precision map, and improving the user experience and feeling. The method comprises: when it is determined, on the basis of path navigation information and the current position of a target vehicle, that the target vehicle is located at an intersection to be passed through, determining a target passing direction of said intersection (S10); determining a target passing area on the basis of the target passing direction and environment sensing information (S20); determining a target passing exit on the basis of the target passing area and the environment sensing information (S30); and performing path planning on the basis of the target passing exit, and passing through said intersection according to the planned path (S40).

Description

Intersection passage method, device, equipment and storage medium

[0001] Related applications

[0002] This application claims priority to Chinese patent application number 202311861891.5 filed on December 29, 2023. Technical Field

[0003] The present application relates to the field of vehicle technology, and in particular to a method, device, equipment and storage medium for passing through an intersection. Background Art

[0004] Currently, there are two main types of driver assistance systems for navigating intersections. One uses HD maps to provide prior information to plan the desired direction of travel. The other relies solely on visual perception and following the preceding vehicle, a method known as Traffic Jam Assistant (TJA), without HD maps. The first type's drawback is its complete reliance on HD maps, which has limited coverage and high maintenance costs. The second type's drawback is that it only supports straight driving in most situations, not left or right turns. Furthermore, its capabilities are severely weakened without the guidance of a preceding vehicle.

[0005] The above content is only used to assist in understanding the technical solution of this application and does not constitute an admission that the above content is prior art.

[0006] Application Contents

[0007] The main purpose of this application is to provide a method, device, equipment and storage medium for passing through intersections, aiming to solve the technical problem of how to pass through various intersections stably and smoothly without relying on high-precision maps.

[0008] To achieve the above objectives, the present application provides a method for passing through an intersection, the method comprising the following steps:

[0009] When it is determined that the target vehicle is at a pending intersection based on the path navigation information and the current location of the target vehicle, a target passing direction of the pending intersection is determined;

[0010] Determine the target passage area according to the target passage direction and environmental perception information;

[0011] Determining a target exit based on the target passage area and the environmental perception information;

[0012] A path is planned based on the target exit, and the intersection to be passed is passed according to the planned path.

[0013] Optionally, determining the target passage area according to the target passage direction and environmental perception information includes:

[0014] Determining a plurality of key perception elements of the intersection to be passed according to the environmental perception information;

[0015] Determining a pass area screening method for the intersection to be passed according to the element priorities of multiple key perception elements of the intersection to be passed;

[0016] The target passage area is determined according to the target passage direction and the passage area screening method of the intersection to be passed.

[0017] Optionally, the determining of the target passage area according to the target passage direction and the passage area screening method of the to-be-passed intersection includes:

[0018] When the target passing direction is a left turn direction of the vehicle and the passing area screening method of the to-be-passed intersection is a road boundary screening method, determining a road boundary element according to a plurality of key perception elements of the to-be-passed intersection;

[0019] constructing a virtual road according to the road boundary elements and the left turn direction of the vehicle;

[0020] A target traffic area is determined according to the virtual road.

[0021] Optionally, the determining of the target passage area according to the target passage direction and the passage area screening method of the to-be-passed intersection includes:

[0022] When the target passing direction is a left turn direction of the vehicle and the passing area screening mode of the to-be-passed intersection is a sidewalk screening mode, determining a sidewalk element according to a plurality of key perception elements of the to-be-passed intersection;

[0023] Get the location of the sidewalk element;

[0024] The target passage area is determined according to the location of the sidewalk element and the left turn direction of the vehicle.

[0025] Optionally, the determining of the target passage area according to the target passage direction and the passage area screening method of the to-be-passed intersection includes:

[0026] When the target passing direction is a left turn direction of the vehicle and the passing area screening mode of the to-be-passed intersection is a direction indication screening mode, determining a same-direction indication element according to a plurality of key perception elements of the to-be-passed intersection;

[0027] Determining adjacent areas and key perception elements present in the adjacent areas according to the locations of the same-direction indicator elements;

[0028] The target passage area is determined according to the key perception elements existing in the adjacent area, the location of the same-direction indication element, and the left turn direction of the vehicle.

[0029] Optionally, the determining of the target passage area according to the target passage direction and the passage area screening method of the to-be-passed intersection includes:

[0030] When the target passing direction is a left turn direction of the vehicle and the passing area screening mode of the to-be-passed intersection is an indicator light screening mode, determining an indicator light element according to a plurality of key perception elements of the to-be-passed intersection;

[0031] Determining a waiting area for selection based on the location of the indicator light element;

[0032] The target passage area is determined according to the key perception elements existing in the selected passage area and the left turn direction of the vehicle.

[0033] Optionally, determining a target exit according to the target passage area and the environmental perception information includes:

[0034] determining whether there is an adjacent vehicle in the same direction according to the environmental perception information;

[0035] When there is no adjacent vehicle in the same direction, determining the entrance driving point and entrance road width according to the intersection driving information of the target vehicle;

[0036] Determining an entrance driving ratio according to the entrance driving point and the entrance road width;

[0037] A target traffic exit is determined according to the entrance travel ratio and a target road width corresponding to the target traffic area.

[0038] In addition, to achieve the above-mentioned purpose, the present application also proposes a road intersection passage device, which includes:

[0039] a processing module, configured to determine a target direction of the intersection to be passed when determining that the target vehicle is at the intersection to be passed based on the path navigation information and the current position of the target vehicle;

[0040] The processing module is further configured to determine a target passage area based on the target passage direction and environmental perception information;

[0041] The processing module is further configured to determine a target exit based on the target passage area and the environmental perception information;

[0042] A planning module is used to plan a path based on the target exit and pass through the intersection to be passed according to the planned path.

[0043] In addition, to achieve the above-mentioned purpose, the present application also proposes a road intersection passage device, which includes: a memory, a processor, and an intersection passage program stored on the memory and executable on the processor, wherein the intersection passage program is configured to implement the steps of the intersection passage method described above.

[0044] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, on which a road intersection passage program is stored. When the road intersection passage program is executed by a processor, the steps of the road intersection passage method described above are implemented.

[0045] This application determines the target direction of the intersection to be passed by determining that the target vehicle is at the intersection to be passed based on the path navigation information and the current position of the target vehicle; determines the target passage area based on the target passage direction and environmental perception information; determines the target passage exit based on the target passage area and the environmental perception information; and plans the path based on the target passage exit, passing through the intersection to be passed according to the planned path. Through the above method, when it is determined that the target vehicle is at the intersection to be passed, the target direction of the intersection to be passed is determined, and the target passage area is determined in combination with the environmental perception information. Finally, the target passage exit is determined using the target passage area, and the target passage exit is passed through the intersection to be passed based on the target passage. This achieves the goal of allowing the vehicle to pass through various intersections stably and smoothly without high-precision map driving assistance, thus solving the limitations of the driving assistance system and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] FIG1 is a schematic diagram of the structure of a road crossing device in a hardware operating environment according to an embodiment of the present application;

[0047] FIG2 is a schematic diagram of a flow chart of a first embodiment of the method for passing through an intersection of the present application;

[0048] FIG3 is a schematic diagram of the system architecture of an embodiment of the intersection passage method of the present application;

[0049] FIG4 is a schematic diagram of an exit selection method according to an embodiment of the present invention;

[0050] FIG5 is a flow chart of a second embodiment of the method for passing through an intersection of the present application;

[0051] FIG6 is a schematic diagram of a left-turn area selection process according to an embodiment of a method for passing through an intersection of the present application;

[0052] FIG7 is a schematic diagram of a straight-through area selection process according to an embodiment of a method for passing through an intersection of the present application;

[0053] FIG8 is a schematic diagram of a right-turn area selection process according to an embodiment of a method for passing through an intersection of the present application;

[0054] FIG9 is a schematic diagram of area division according to an embodiment of the method for passing through an intersection of the present application;

[0055] FIG10 is a structural block diagram of the first embodiment of the intersection passage device of the present application.

[0056] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. Modes for Carrying Out the Invention

[0057] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0058] Refer to Figure 1, which is a schematic diagram of the intersection traffic equipment structure of the hardware operating environment involved in the embodiment of the present application.

[0059] As shown in Figure 1, the intersection access device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display and an input unit, such as a keyboard. Optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. Optionally, the memory 1005 may be a storage device independent of the processor 1001.

[0060] Those skilled in the art will understand that the structure shown in FIG1 does not constitute a limitation on the intersection traffic equipment, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0061] As shown in FIG. 1 , the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and an intersection passage program.

[0062] In the intersection passage device shown in Figure 1, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the intersection passage device of the present application can be set in the intersection passage device, and the intersection passage device calls the intersection passage program stored in the memory 1005 through the processor 1001, and executes the intersection passage method provided by the embodiment of the present application.

[0063] An embodiment of the present application provides a method for passing through an intersection. Referring to FIG. 2 , FIG. 2 is a flow chart of a first embodiment of a method for passing through an intersection of the present application.

[0064] In this embodiment, the intersection passage method includes the following steps:

[0065] Step S10: When it is determined that the target vehicle is at an intersection to be passed based on the path navigation information and the current position of the target vehicle, a target passing direction of the intersection to be passed is determined.

[0066] It should be noted that the executor of this embodiment is the intersection traffic equipment, wherein the intersection traffic equipment has functions such as data processing, data communication and program running. The intersection traffic equipment can be an integrated controller, control computer and other devices, and of course it can also be other devices with similar functions. This embodiment does not limit this.

[0067] It can be understood that the target vehicle refers to the vehicle that needs to pass through the intersection. There is a driving assistance system on the target vehicle. The driving assistance system includes but is not limited to a positioning module, a navigation map module, an environmental perception module, a scene recognition module, an intersection traffic mode selection module and a regulation and control module. Its specific architecture is shown in Figure 3. The positioning module is responsible for confirming the actual position of the vehicle in order to match the navigation; the navigation map module is responsible for loading and sending navigation data; the environmental perception module is responsible for environmental perception and outputs a variety of different perception elements; the scene recognition module is used to integrate navigation and positioning information, identify scenes by simulating human driving experience, and screen key elements; the intersection traffic mode selection module selects the most reasonable intersection traffic mode according to the judgment of the scene recognition module; the regulation and control module is responsible for converting the results of the traffic mode selection module into lateral and longitudinal control instructions to control the vehicle to travel along the expected route.

[0068] In a specific implementation, the path navigation information includes the set destination and navigation information for reaching the destination. The navigation information includes but is not limited to the intersections on the path to the destination, the location information of each intersection, and the direction the target vehicle needs to move at each intersection.

[0069] It should be noted that the target vehicle is determined to be at an intersection in real time based on the route navigation information and its current location. If the target vehicle is at an intersection and has not yet passed through, the intersection is considered a pending intersection. The target vehicle's intended direction of movement at the pending intersection is determined based on the route navigation information. The target vehicle's intended direction of movement at the pending intersection is the target direction of travel. For example, if the target vehicle arrives at pending intersection A and its destination is B, Path 1 is selected to reach destination B. Path 1 indicates that the target vehicle needs to proceed straight after arriving at pending intersection A. In this case, the target direction of travel for pending intersection A is straight.

[0070] Step S20: determining a target passage area according to the target passage direction and environmental perception information.

[0071] It should be noted that environmental perception information refers to the various different perception elements and surrounding objects output by the environmental perception module after performing environmental perception. The perception elements include but are not limited to road boundaries, lane lines, ground arrows, stop lines, crosswalks, etc., and the surrounding objects include but are not limited to vehicles, pedestrians, and guardrails.

[0072] It is understandable that by simulating human driving experience, the scene is identified, and the environmental perception information and the target travel direction are used to screen out the target travel area in the current environment of the intersection to be traveled.

[0073] Step S30: Determine a target exit based on the target traffic area and the environmental perception information.

[0074] It should be noted that after determining the target traffic area, the intersection traffic mode selection module makes a judgment based on the target traffic area and environmental perception information, and selects the most reasonable exit in the target traffic area. The most reasonable exit in the target traffic area is the target exit.

[0075] It can be understood that in order to accurately select the target exit based on the target traffic area and environmental perception information, further, the target exit is determined according to the target traffic area and the environmental perception information, including: determining whether there are adjacent vehicles in the same direction according to the environmental perception information; when there are no adjacent vehicles in the same direction, determining the entrance driving point and the entrance road width according to the intersection driving information of the target vehicle; determining the entrance driving ratio according to the entrance driving point and the entrance road width; and determining the target exit according to the entrance driving ratio and the target road width corresponding to the target traffic area.

[0076] In a specific implementation, the system determines whether there are vehicles in front of or beside the target vehicle based on environmental perception information. If there are vehicles in front of or beside the target vehicle, the system determines the vehicle's direction of travel based on the ground arrows in the lane where the vehicle is located. If the vehicle's direction of travel is the same as the target vehicle's target direction, it indicates that there are adjacent vehicles traveling in the same direction around the target vehicle. If there are adjacent vehicles traveling in the same direction around the target vehicle, the system follows the adjacent vehicles and selects the target exit in the target passage area.

[0077] It should be noted that if there are no adjacent vehicles traveling in the same direction around the target vehicle, the point at which the target vehicle enters the intersection to be passed is determined based on the target vehicle's intersection driving information. The point at which the target vehicle enters the intersection to be passed is the entry driving point. The distance from the entry driving point to the road edge is determined, and the entry driving ratio is calculated based on this distance and the road width corresponding to the entry driving point. The road width corresponding to the entry driving point is the entry road width.

[0078] It can be understood that, based on the target road width and entrance driving ratio corresponding to the target traffic area, a point with the same entrance driving ratio is selected in the target traffic area, which is the target traffic exit. The above method adopts the principle of equal proportion / target vehicle heading+minimum curvature change to select the target traffic exit. For example, as shown in Figure 4, A is the entrance driving point, B is the target traffic exit, l1 is the distance from the entrance driving point to the edge of the road, l2 is the entrance road width, l3 is the distance from the target traffic exit to the edge of the road, and l4 is the target road width corresponding to the target traffic area. At this time, the target traffic exit B selected in the target traffic area satisfies l1 / l2 = l3 / l4.

[0079] Step S40: performing path planning based on the target exit, and passing through the intersection to be passed according to the planned path.

[0080] It should be noted that after determining the target exit, a path is planned based on the current position and the target exit, and the intersection to be passed is passed based on the planned path.

[0081] This embodiment determines the target direction of the intersection to be passed by determining that the target vehicle is at the intersection to be passed based on the path navigation information and the current position of the target vehicle; determines the target passage area based on the target passage direction and the environmental perception information; determines the target passage exit based on the target passage area and the environmental perception information; and plans the path based on the target passage exit, passing through the intersection to be passed according to the planned path. Through the above method, when it is determined that the target vehicle is at the intersection to be passed, the target direction of the intersection to be passed is determined, and the target passage area is determined in combination with the environmental perception information. Finally, the target passage exit is determined using the target passage area, and the target passage exit is passed through the intersection to be passed based on the target passage. This achieves the goal of allowing the vehicle to pass through various intersections stably and smoothly without high-precision map driving assistance, thus solving the limitations of the driving assistance system and improving the user experience.

[0082] Refer to FIG5 , which is a flow chart of a second embodiment of a method for passing through an intersection according to the present application.

[0083] Based on the first embodiment described above, the intersection passage method of this embodiment includes, in step S20:

[0084] Step S21: determining a plurality of key perception elements of the intersection to be passed according to the environmental perception information.

[0085] It should be noted that since there are multiple perception elements of the intersection to be passed in the environmental perception information, the multiple perception elements are screened to find relevant elements related to the current driving of the target vehicle, such as road boundaries, lane lines, ground arrows, stop lines, crosswalks, etc., and they are used as key perception elements of the intersection to be passed.

[0086] Step S22: determining a method for screening a passage area of ​​the intersection to be passed according to the element priorities of the multiple key perception elements of the intersection to be passed.

[0087] It should be noted that when screening the target passage area, the target passage area can be screened out at the intersection to be passed based on the passage area screening method corresponding to each key perception element of the intersection to be passed. Since different key perception elements have different passage area screening methods, the passage area screening method of the intersection to be passed is determined based on the priority corresponding to each key perception element.

[0088] It can be understood that the traffic area screening method includes a road boundary screening method, a sidewalk screening method, a direction indication screening method, a light indicator screening method and a sign position screening method. In this embodiment, the priority of the key perception elements is set to: road boundary>sidewalk / stop line>ground arrow>traffic light>navigation sign position, the traffic area screening method corresponding to the road boundary is the road boundary screening method, the traffic area screening method corresponding to the sidewalk / stop line is the sidewalk screening method, the traffic area screening method corresponding to the ground arrow is the direction indication screening method, the traffic area screening method corresponding to the traffic light is the light indicator screening method, and the traffic area screening method corresponding to the navigation sign position is the sign position screening method. In this embodiment, the navigation sign position refers to the mark that reflects the direction of the road.

[0089] In a specific implementation, when there is a road boundary in the key perception element, the road boundary screening method is used as the traffic area screening method for the intersection to be passed; when there is no road boundary in the key perception element but there is a sidewalk / stop line, the sidewalk screening method is used as the traffic area screening method for the intersection to be passed; when there is neither a road boundary nor a sidewalk / stop line in the key perception element but there is a ground arrow, the direction indication screening method is used as the traffic area screening method for the intersection to be passed; when there is no road boundary, sidewalk / stop line and ground arrow in the key perception element but there is a traffic light, the indicator light screening method is used as the traffic area screening method for the intersection to be passed; when none of the above key perception elements exist, the sign position screening method is used as the traffic area screening method for the intersection to be passed.

[0090] Step S23: determining a target passage area according to the target passage direction and the passage area screening method of the intersection to be passed.

[0091] It should be noted that the traffic area screening method will have different screening strategies for different target traffic directions. Therefore, it is necessary to determine the target traffic area of ​​the intersection to be passed based on the target traffic direction and the traffic area screening method of the intersection to be passed. In order to ensure the accuracy of area screening in different situations, further, the target traffic area is determined according to the target traffic direction and the traffic area screening method of the intersection to be passed, including: when the target traffic direction is the left turn direction of the vehicle and the traffic area screening method of the intersection to be passed is the road boundary screening method, determining the road boundary element according to multiple key perception elements of the intersection to be passed; constructing a virtual road according to the road boundary element and the left turn direction of the vehicle; and determining the target traffic area according to the virtual road.

[0092] It can be understood that when the target traffic direction is the left turn direction of the vehicle and the traffic area screening method of the intersection to be passed is the road boundary screening method, the road boundary is determined among multiple key perception elements, and the road boundary on the right side (left drive) and the left side (right drive) of the middle of the road are selected as the target boundary based on the road boundary and the left turn direction of the vehicle to construct a virtual road. The virtual road is as close as possible to the center of the entire road (including forward and reverse directions), and the target traffic area is determined based on the virtual road.

[0093] It should be understood that when the target travel direction is a right turn and the traffic area screening method for the intersection to be passed is road boundary screening, the road boundary is determined from multiple key perception elements. Based on the road boundary and the vehicle's left turn direction, the road boundary on the right side (left-hand drive) and left side (right-hand drive) of the middle road are selected as the target boundary to construct a virtual road. The virtual road is as close as possible to the center of the entire road (including forward and reverse directions), and the target traffic area is determined based on the virtual road. In this embodiment, when the target travel direction is a straight ahead direction and the traffic area screening method for the intersection to be passed is road boundary screening, the target traffic area is determined in the same manner as when the vehicle is turning right.

[0094] In a specific implementation, in order to accurately obtain the target passage area under the sidewalk screening mode, further, the target passage area is determined according to the target passage direction and the passage area screening mode of the intersection to be passed, including: when the target passage direction is the left turn direction of the vehicle and the passage area screening mode of the intersection to be passed is the sidewalk screening mode, the sidewalk element is determined according to multiple key perception elements of the intersection to be passed; the location of the sidewalk element is obtained; and the target passage area is determined according to the location of the sidewalk element and the left turn direction of the vehicle.

[0095] It should be noted that when the target travel direction is a left turn and the travel area screening method is sidewalk screening, the sidewalk is determined from multiple key perception elements and its location is obtained. Based on the left turn direction and the sidewalk's location, the area with a sidewalk but no stop line is selected as the target travel area. In this embodiment, the area screening process using the sidewalk screening method for right turns and straight travel is the same as described above. The target travel area screening process for a left turn is shown in Figure 6.

[0096] It can be understood that in order to accurately obtain the target passage area under the direction indication screening mode, further, the target passage area is determined according to the target passage direction and the passage area screening mode of the intersection to be passed, including: when the target passage direction is the left turn direction of the vehicle and the passage area screening mode of the intersection to be passed is the direction indication screening mode, determining the same-direction indication element according to multiple key perception elements of the intersection to be passed; determining the adjacent area and the key perception elements existing in the adjacent area according to the location of the same-direction indication element; determining the target passage area according to the key perception elements existing in the adjacent area, the location of the same-direction indication element and the left turn direction of the vehicle.

[0097] In a specific implementation, when the target passage direction is the left turn direction of the vehicle and the passage area screening method is the direction indication screening method, the forward arrow in the ground arrow is determined among the multiple key perception elements. The forward arrow in the ground arrow is the same direction indication element. The area adjacent to the area where the same direction indication element is located is determined according to the location of the same direction indication element, and the key perception elements in the adjacent area are obtained. According to the key perception elements in the adjacent area, the location of the same direction indication element and the left turn direction of the vehicle, the area with a forward arrow and no reverse arrow on the other side is selected as the target passage area at the intersection to be passed. In this embodiment, when the vehicle is turning right and the vehicle is going straight, the process of area screening by the sidewalk screening method is the same as the above process. The screening process of the target passage area when the vehicle is going straight is shown in Figure 7.

[0098] It should be noted that when the target traffic direction is a left turn and the traffic area screening method is the indicator light screening method, the traffic light is determined from multiple key perception elements. Based on the location of the traffic light, the relatively large number of oncoming vehicles, and the left turn direction of the vehicle, the area near / below the traffic light at the intersection to be passed and without oncoming vehicles is selected as the target traffic area. In this embodiment, the process of area screening using the indicator light screening method is the same as the above process when the vehicle is turning right or going straight. The screening process of the target traffic area when the vehicle is turning right is shown in Figure 8.

[0099] It should be noted that when the target travel direction is a left turn and the travel area selection method is marker selection, the right half of a two-way road is selected based on the navigation marker and the vehicle's left turn direction, and the side with the smoothest trajectory of a one-way road is selected as the target travel area. In this embodiment, the area selection process using marker selection for right turns and straight ahead is the same as described above. In this embodiment, the division of the target travel area is shown in Figure 9.

[0100] This embodiment determines multiple key perception elements of the intersection to be passed based on the environmental perception information; determines a pass area screening method for the intersection to be passed based on the element priorities of the multiple key perception elements; and determines a target pass area based on the target travel direction and the pass area screening method for the intersection to be passed. This ensures accurate screening of the target pass area and lays the foundation for subsequent selection of the target exit.

[0101] In addition, an embodiment of the present application further proposes a storage medium, on which a road intersection passage program is stored. When the road intersection passage program is executed by a processor, the steps of the road intersection passage method described above are implemented.

[0102] Refer to FIG. 10 , which is a structural block diagram of the first embodiment of the intersection passage device of the present application.

[0103] As shown in FIG10 , the intersection passage device proposed in the embodiment of the present application includes:

[0104] The processing module 10 is used to determine a target passing direction of the intersection to be passed when determining that the target vehicle is at the intersection to be passed based on the path navigation information and the current position of the target vehicle.

[0105] The processing module 10 is further configured to determine a target passage area according to the target passage direction and the environmental perception information.

[0106] The processing module 10 is further configured to determine a target exit based on the target passage area and the environmental perception information.

[0107] The planning module 20 is used to plan a path based on the target exit and pass through the intersection to be passed according to the planned path.

[0108] This embodiment determines the target direction of the intersection to be passed by determining that the target vehicle is at the intersection to be passed based on the path navigation information and the current position of the target vehicle; determines the target passage area based on the target passage direction and the environmental perception information; determines the target passage exit based on the target passage area and the environmental perception information; and plans the path based on the target passage exit, passing through the intersection to be passed according to the planned path. Through the above method, when it is determined that the target vehicle is at the intersection to be passed, the target direction of the intersection to be passed is determined, and the target passage area is determined in combination with the environmental perception information. Finally, the target passage exit is determined using the target passage area, and the target passage exit is passed through the intersection to be passed based on the target passage. This achieves the goal of allowing the vehicle to pass through various intersections stably and smoothly without high-precision map driving assistance, thus solving the limitations of the driving assistance system and improving the user experience.

[0109] In one embodiment, the processing module 10 is further configured to determine a plurality of key perception elements of the intersection to be passed based on the environmental perception information;

[0110] Determining a pass area screening method for the intersection to be passed according to the element priorities of multiple key perception elements of the intersection to be passed;

[0111] The target passage area is determined according to the target passage direction and the passage area screening method of the intersection to be passed.

[0112] In one embodiment, the processing module 10 is further configured to determine a road boundary element based on a plurality of key perception elements of the intersection to be passed when the target passing direction is a left turn direction of the vehicle and the passing area screening method of the intersection to be passed is a road boundary screening method;

[0113] constructing a virtual road according to the road boundary elements and the left turn direction of the vehicle;

[0114] A target traffic area is determined according to the virtual road.

[0115] In one embodiment, the processing module 10 is further configured to determine a sidewalk element based on a plurality of key perception elements of the intersection to be passed when the target passing direction is a left turn direction of the vehicle and the passing area screening mode of the intersection to be passed is a sidewalk screening mode;

[0116] Get the location of the sidewalk element;

[0117] The target passage area is determined according to the location of the sidewalk element and the left turn direction of the vehicle.

[0118] In one embodiment, the processing module 10 is further configured to determine a same-direction indicator element based on a plurality of key perception elements of the intersection to be passed when the target passing direction is a left turn direction of the vehicle and the passing area screening mode of the intersection to be passed is a direction indication screening mode;

[0119] Determining adjacent areas and key perception elements present in the adjacent areas according to the locations of the same-direction indicator elements;

[0120] The target passage area is determined according to the key perception elements existing in the adjacent area, the location of the same-direction indication element, and the left turn direction of the vehicle.

[0121] In one embodiment, the processing module 10 is further configured to determine an indicator light element based on a plurality of key perception elements of the intersection to be passed when the target passing direction is a left turn direction of the vehicle and the passing area screening method of the intersection to be passed is an indicator light screening method;

[0122] Determining a waiting area for selection based on the location of the indicator light element;

[0123] The target passage area is determined according to the key perception elements existing in the selected passage area and the left turn direction of the vehicle.

[0124] In one embodiment, the planning module 20 is further configured to determine whether there is an adjacent vehicle in the same direction according to the environmental perception information;

[0125] When there is no adjacent vehicle in the same direction, determining the entrance driving point and entrance road width according to the intersection driving information of the target vehicle;

[0126] Determining an entrance driving ratio according to the entrance driving point and the entrance road width;

[0127] A target traffic exit is determined according to the entrance travel ratio and a target road width corresponding to the target traffic area.

[0128] It should be understood that the above is only an example and does not constitute any limitation to the technical solution of the present application. In specific applications, technicians in this field can make settings as needed, and the present application does not impose any restrictions on this.

[0129] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are shown in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence in the order indicated by the arrows. Unless clearly stated herein, the execution of these steps is not strictly limited in order, and they can be performed in other orders. Moreover, at least a portion of the steps in the figure may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0130] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this application. In actual applications, technicians in this field can select part or all of it according to actual needs to achieve the purpose of this embodiment scheme, and no restrictions are imposed here.

[0131] In addition, it should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0132] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0133] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, or the part that contributes to the existing technology, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory (ROM) / RAM, a magnetic disk, or an optical disk) and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of this application.

[0134] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for intersection passage, wherein, The intersection passing method includes: When it is determined that the target vehicle is at an intersection to be passed according to the path navigation information and the current position of the target vehicle, determining the target passing direction of the intersection to be passed; Determining a target passing area according to the target passing direction and the environment perception information; Determining a target passing exit according to the target passing area and the environment perception information; Performing path planning based on the target passing exit and passing through the intersection to be passed according to the planned path.

2. The intersection passage method according to claim 1, wherein, The determining of the target passing area according to the target passing direction and the environment perception information includes: Determining multiple key perception elements of the intersection to be passed according to the environment perception information; Determining the passing area screening method of the intersection to be passed according to the element priorities of the multiple key perception elements of the intersection to be passed; Determining the target passing area according to the target passing direction and the passing area screening method of the intersection to be passed.

3. The intersection passing method according to claim 2, wherein, The determining of the target passing area according to the target passing direction and the passing area screening method of the intersection to be passed includes: When the target passing direction is the vehicle left-turn direction and the passing area screening method of the intersection to be passed is the road boundary screening method, determining the road boundary elements according to the multiple key perception elements of the intersection to be passed; Constructing a virtual road according to the road boundary elements and the vehicle left-turn direction; Determining the target passing area according to the virtual road.

4. The intersection passing method according to claim 2, wherein, The determining of the target passing area according to the target passing direction and the passing area screening method of the intersection to be passed includes: When the target passing direction is the vehicle left-turn direction and the passing area screening method of the intersection to be passed is the sidewalk screening method, determining the sidewalk elements according to the multiple key perception elements of the intersection to be passed; Obtaining the location of the sidewalk elements; Determining the target passing area according to the location of the sidewalk elements and the vehicle left-turn direction.

5. The intersection passing method according to claim 2, wherein The determining of the target passing area according to the target passing direction and the passing area screening method of the intersection to be passed includes: When the target passing direction is the vehicle left-turn direction and the passing area screening method of the intersection to be passed is the direction indication screening method, determining the same-direction indication elements according to the multiple key perception elements of the intersection to be passed; Determining the adjacent area and the key perception elements existing in the adjacent area according to the location of the same-direction indication elements; Determining the target passing area according to the key perception elements existing in the adjacent area, the location of the same-direction indication elements, and the vehicle left-turn direction.

6. The intersection passing method according to claim 2, wherein, The determining of the target passing area according to the target passing direction and the passing area screening method of the intersection to be passed includes: When the target passing direction is the vehicle left-turn direction and the passing area screening method of the intersection to be passed is the indicator light screening method, determining the indicator light elements according to the multiple key perception elements of the intersection to be passed; Determining the candidate passing area according to the location of the indicator light elements; Determining the target passing area according to the key perception elements existing in the candidate passing area and the vehicle left-turn direction.

7. The intersection passing method according to claim 1, wherein, Determining the target passing exit according to the target passing area and the environment perception information includes: Determining whether there are adjacent vehicles in the same direction according to the environment perception information; When there are no adjacent vehicles in the same direction, determining the entry driving point and the entry road width according to the intersection driving information of the target vehicle; Determining the entry driving ratio according to the entry driving point and the entry road width; Determining the target passing exit according to the entry driving ratio and the target road width corresponding to the target passing area.

8. An intersection passage device, wherein, The intersection passing device includes: A processing module, configured to determine the target passing direction of the to-be-passed intersection when it is determined that the target vehicle is at the to-be-passed intersection according to the path navigation information and the current position of the target vehicle; The processing module is further configured to determine the target passing area according to the target passing direction and the environment perception information; The processing module is further configured to determine the target passing exit according to the target passing area and the environment perception information; A planning module, configured to perform path planning based on the target passing exit and pass through the to-be-passed intersection according to the planned path.

9. An intersection passage device, wherein, The device includes: a memory, a processor, and an intersection passing program stored on the memory and executable on the processor, where the intersection passing program is configured to implement the intersection passing method according to any one of claims 1 to 7.

10. A storage medium, wherein, An intersection passing program is stored on the storage medium, and when the intersection passing program is executed by a processor, it implements the intersection passing method according to any one of claims 1 to 7.

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