Driverless vehicle control method and apparatus, driverless vehicle, and road side unit

Abstract

A driverless vehicle control method and apparatus, a driverless vehicle, and a road side unit. The method comprises: a driverless vehicle receiving current state information of another vehicle via broadcast direct communication, wherein the state information at least comprises path planning information and road priority information of a corresponding vehicle; on the basis of path planning information respectively corresponding to another vehicle and the driverless vehicle, determining a first vehicle, the first vehicle being another vehicle of which the traveling trajectory spatially intersects with the traveling trajectory of the driverless vehicle; determining whether the time at which the first vehicle and the driverless vehicle reach the intersection point satisfies a preset temporal collision condition; if yes, determining the first vehicle as a collision vehicle of which the traveling trajectory spatially and temporally collides with the traveling trajectory of the driverless vehicle; and determining the road priorities of the driverless vehicle and the collision vehicle on the basis of a preset priority principle and road priority information of the collision vehicle and the driverless vehicle, and determining a traveling strategy of the driverless vehicle on the basis of a determination result.

Description

A control method, device, unmanned vehicle, and roadside equipment for an unmanned vehicle. Technical Field

[0001] This disclosure relates to the field of autonomous driving technology, and in particular to a control method, device, autonomous vehicle, and roadside equipment for an unmanned vehicle. Background Technology

[0002] In autonomous driving scenarios, there are numerous open driving environments. Taking autonomous driving in mining as an example, in open multi-vehicle passing scenarios, autonomous vehicles in mining typically rely on sensors such as LiDAR, cameras, and millimeter-wave radar, along with high-precision maps, to make passing decisions through game theory. This shows that the passing effectiveness depends heavily on sensor accuracy. In long, narrow roads or two-way single-lane roads, sensors cannot accurately identify oncoming vehicles, leading to inefficiency and potential interlocking caused by trajectory replanning, thus impacting traffic flow. Related technologies rely on platforms issuing trajectory or parking commands to achieve passing and avoidance, creating a dependence on networks and centralized platforms. Summary of the Invention

[0003] This disclosure provides a control method, device, unmanned vehicle, and roadside equipment for unmanned vehicles, in order to solve the problem of low traffic efficiency in oncoming vehicle scenarios under existing development and driving scenarios.

[0004] To address the aforementioned problems, firstly, a control method for an unmanned vehicle is provided, comprising:

[0005] The autonomous vehicle receives current status information from other vehicles via broadcast direct communication; the status information includes at least the planned trajectory information and road priority information of the corresponding vehicle.

[0006] Based on the planning trajectory information corresponding to the other vehicles and the unmanned vehicle, determine the first vehicle whose driving trajectory intersects with the driving trajectory of the unmanned vehicle in space;

[0007] Determine whether the arrival times of the first vehicle and the unmanned vehicle at the intersection meet a preset time conflict condition; if so, then identify the first vehicle as a conflicting vehicle whose driving trajectory conflicts with that of the unmanned vehicle in both space and time.

[0008] Based on the preset priority principle and the road priority information of the conflicting vehicles and the unmanned vehicle, the road priority of the unmanned vehicle and the conflicting vehicles is judged, and the driving strategy of the unmanned vehicle is determined based on the judgment result.

[0009] Secondly, a control method for an unmanned vehicle is provided, including:

[0010] The roadside unit receives current status information from surrounding vehicles via direct broadcast communication; the status information includes at least the planned trajectory information of the corresponding vehicle and road priority information.

[0011] Based on the planned trajectory information of the surrounding vehicles, at least one group of fifth vehicles whose driving trajectories intersect in space is determined;

[0012] For each group of fifth vehicles, determine whether the arrival time at the corresponding intersection meets the preset time conflict condition; if it does, then identify the fifth vehicle in that group as a conflicting vehicle group that has a spatial and temporal conflict.

[0013] For each conflicting vehicle group, the road priority of each fifth vehicle in the group is determined based on the preset priority principle and the road priority information of each fifth vehicle in the group.

[0014] Based on the judgment result, the sixth vehicle in the fifth group that needs driving guidance is determined, and the corresponding driving guidance strategy is sent to the sixth vehicle.

[0015] Thirdly, a control device for an unmanned vehicle is provided, comprising:

[0016] The first communication module is configured to allow the unmanned vehicle to receive current status information from other vehicles via direct broadcast communication; wherein, the status information includes at least the planned trajectory information and road priority information of the corresponding vehicle.

[0017] The first spatial conflict determination module is configured to determine, based on the planning trajectory information corresponding to the other vehicles and the unmanned vehicle, the first vehicle whose driving trajectory intersects with the driving trajectory of the unmanned vehicle in space.

[0018] The first-time conflict determination module is configured to determine whether the arrival times of the first vehicle and the unmanned vehicle at the intersection meet a preset time conflict condition; if they do, the first vehicle is determined to be a conflicting vehicle that conflicts with the driving trajectory of the unmanned vehicle in both space and time.

[0019] The driving strategy determination module is configured to determine the road priority of the unmanned vehicle and the conflicting vehicles based on a preset priority principle and the road priority information of the conflicting vehicles and the unmanned vehicle, and determine the driving strategy of the unmanned vehicle based on the determination result.

[0020] Fourthly, a control device for an unmanned vehicle is provided, comprising:

[0021] The second communication module is configured to receive current status information sent by surrounding vehicles via broadcast direct communication; wherein, the status information includes at least the planned trajectory information of the corresponding vehicle and road priority information.

[0022] The second spatial conflict determination module is configured to determine at least one group of fifth vehicles whose driving trajectories intersect in space based on the planning trajectory information corresponding to the surrounding vehicles.

[0023] The second time conflict determination module is set to determine whether the arrival time of the fifth vehicle in each group meets the preset time conflict conditions; if it does, the fifth vehicle in that group is identified as a conflict vehicle group that has a conflict in both space and time.

[0024] The road priority determination module is configured to determine the road priority of each fifth vehicle in each conflicting vehicle group based on a preset priority principle and the road priority information of each fifth vehicle in that group.

[0025] The second communication module is also configured to determine, based on the judgment result, the sixth vehicle in the group of fifth vehicles that needs driving guidance, and send the corresponding driving guidance strategy to the sixth vehicle.

[0026] Fifthly, an unmanned vehicle is provided, comprising: a control device for an unmanned vehicle as described in the third aspect.

[0027] Sixthly, a roadside device is provided, comprising: a control device for an unmanned vehicle as described in the fourth aspect.

[0028] The beneficial effects of the embodiments disclosed herein include:

[0029] This disclosure provides a control method, device, unmanned vehicle, and roadside equipment for an unmanned vehicle, comprising: the unmanned vehicle receiving current status information of other vehicles via broadcast direct communication; wherein the status information includes at least the planned trajectory information and road priority information of the corresponding vehicle; determining a first vehicle whose spatial trajectory intersects with the unmanned vehicle's trajectory based on the planned trajectory information of the other vehicles and the unmanned vehicle respectively; determining whether the arrival times of the first vehicle and the unmanned vehicle at the intersection meet a preset time conflict condition; if so, identifying the first vehicle as a conflicting vehicle that conflicts with the unmanned vehicle's trajectory both spatially and temporally; judging the road priority of the unmanned vehicle and the conflicting vehicle based on a preset priority principle and the road priority information of the conflicting vehicle and the unmanned vehicle, and determining the unmanned vehicle's driving strategy based on the judgment result. In this disclosure, unmanned vehicles can communicate with each other via broadcast direct communication and directly obtain the status information of other vehicles through broadcast direct communication, determine conflicting vehicles that conflict with the unmanned vehicle's own trajectory both spatially and temporally based on the obtained status information, and determine a driving strategy based on the priority information of the unmanned vehicle and the conflicting vehicle. Compared with related technologies, this disclosure does not rely on a centralized platform or the accuracy of sensors. The conflicting vehicles identified by directly obtaining status information from other vehicles are more accurate. This allows for a more reasonable pre-planned driving strategy, which can avoid vehicle interlocking and improve traffic efficiency. Attached Figure Description

[0030] Figure 1 is a flowchart of one of the control methods for unmanned vehicles provided in this embodiment of the present disclosure;

[0031] Figure 2 is a second flowchart of the control method for an unmanned vehicle provided in an embodiment of this disclosure;

[0032] Figure 3 is one of the structural diagrams of the control device for an unmanned vehicle provided in an embodiment of this disclosure;

[0033] Figure 4 is a second structural diagram of the control device for the unmanned vehicle provided in the embodiments of this disclosure. Detailed Implementation

[0034] This disclosure provides a control method and apparatus for an unmanned vehicle, as well as the unmanned vehicle and roadside equipment. Preferred embodiments of this disclosure are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the scope of this disclosure. Furthermore, the embodiments and features described herein can be combined with each other unless otherwise specified.

[0035] This disclosure provides a control method for an unmanned vehicle, as shown in Figure 1, including:

[0036] S101. The unmanned vehicle receives the current status information of other vehicles through direct broadcast communication; the status information includes at least the planned trajectory information and road priority information of the corresponding vehicle.

[0037] S102. Based on the planning trajectory information of other vehicles and the unmanned vehicle, determine the first vehicle whose driving trajectory intersects with the driving trajectory of the unmanned vehicle in space.

[0038] S103. Determine whether the arrival times of the first vehicle and the unmanned vehicle at the above intersection meet the preset time conflict conditions.

[0039] S104. If satisfied, the first vehicle is identified as a conflicting vehicle that conflicts with the driving trajectory of the unmanned vehicle in both space and time.

[0040] S105. Based on the preset priority principle and the road priority information of conflicting vehicles and autonomous vehicles, determine the road priority of autonomous vehicles and conflicting vehicles, and determine the driving strategy of autonomous vehicles based on the judgment result.

[0041] In this embodiment of the disclosure, by installing Vehicle-to-Everything (V2X) communication devices on unmanned vehicles and other vehicles, vehicles can achieve direct vehicle-to-vehicle communication without relying on cellular networks and scheduling platforms. This allows vehicles to share their current status information, including at least planned trajectory information and road priority information. In this disclosure, V2X refers to any technology with broadcast direct communication capabilities. For example, V2X can be V2V (vehicle-to-vehicle communication) or DSRC (Dedicated Short Range Communications). V2X communication can be implemented as wireless broadcast communication. Wireless broadcast communication is a connectionless communication technology that enables direct broadcast communication within a kilometer range. It does not rely on cellular networks, does not require base station coverage, has stable latency, lower deployment costs compared to base stations, and can move with the vehicle, providing excellent technical support for direct vehicle-to-vehicle communication.

[0042] As can be seen, in this embodiment, the communication between the autonomous vehicle and other vehicles does not rely on a unified scheduling platform or cellular network. It can directly obtain the current status information of other vehicles within the communication range via V2X communication. Based on the planned trajectory information in the current status information of other vehicles, it first identifies the first vehicle whose trajectory intersects with the autonomous vehicle's trajectory. If the arrival times of the autonomous vehicle and the first vehicle at this intersection do not meet a preset time conflict condition, it can be considered that there is no conflict between the first vehicle and the autonomous vehicle. If the arrival times of the autonomous vehicle and the first vehicle at this intersection meet the preset time conflict condition, the first vehicle can be identified as the conflicting vehicle whose trajectory conflicts with the autonomous vehicle's trajectory. Then, the autonomous vehicle's driving strategy is determined based on the road priority information in the current status information of the conflicting vehicle and the autonomous vehicle. Therefore, in this process, the communication between the autonomous vehicle and other vehicles does not rely on a unified scheduling platform or cellular network, nor on the accuracy of sensors. Instead, it determines its own driving strategy by directly obtaining the status information of other vehicles for conflict analysis. This pre-planned driving strategy is more reasonable, can avoid vehicle interlocking, enables timely avoidance, and improves traffic efficiency.

[0043] In this embodiment, the other vehicles can be either unmanned or manned vehicles. These other vehicles can execute the unmanned vehicle control method provided in this embodiment, are equipped with V2X communication devices, and directly obtain the current status information of vehicles within the communication range through V2X communication. Based on the obtained status information, they determine their own driving strategy. In this way, under a unified driving strategy determination rule, vehicles achieve advanced perception and reasonable deceleration and avoidance between each other.

[0044] In another embodiment provided in this disclosure, the planned trajectory information includes planned trajectory topology information and planned trajectory point information; the above step S102, "determining the first vehicle whose driving trajectory intersects with the driving trajectory of the unmanned vehicle in space based on the planned trajectory information corresponding to other vehicles and the unmanned vehicle respectively," can be implemented as follows:

[0045] Step 1: Based on the topology information of the planned trajectories of other vehicles and the autonomous vehicle, identify the second vehicle whose planned trajectory topology intersects with that of the autonomous vehicle.

[0046] Step 2: Based on the planned trajectory point information of the second vehicle and the unmanned vehicle, determine whether there is an intersection between the line connecting the planned trajectory points of the second vehicle and the line connecting the planned trajectory points of the unmanned vehicle.

[0047] Step 3: Identify the second vehicle with an intersection point as the first vehicle whose spatial trajectory intersects with the trajectory of the unmanned vehicle.

[0048] In this embodiment of the disclosure, the planned trajectory information may include planned trajectory topology information and planned trajectory point information. The planned trajectory topology information may include road topology information of the roads traversed by the planned trajectory, that is, the positional relationship information between the roads traversed by the planned trajectory. The planned trajectory point information may be the trajectory point information of the planned trajectory, which may include vehicle position information, vehicle driving direction information, vehicle speed information when it reaches the trajectory point, time information, etc.

[0049] When determining whether there is a spatial intersection between the autonomous vehicle and other vehicles, we can first filter out the second vehicle from the other vehicles that intersects with the planned trajectory topology of the autonomous vehicle based on the planned trajectory topology information. Since the planned trajectory topology represents the road topology, for roads including two-way lanes, if the autonomous vehicle and other vehicles are in lanes in different directions, there is no spatial conflict even if the road topology intersects. The trajectory points are the actual locations that the vehicle will pass through. Therefore, determining the second vehicle through the planned trajectory topology information is the first step of the filtering work. It is also necessary to further determine whether there is an intersection between the line connecting the planned trajectory points of the second vehicle and the line connecting the planned trajectory points of the autonomous vehicle (here, the line connecting the planned trajectory points is the line obtained by connecting the separated planned trajectory points in sequence). The second vehicle with the intersection is determined as the first vehicle whose driving trajectory intersects with the driving trajectory of the autonomous vehicle in space.

[0050] In practice, the first vehicle whose spatial trajectory intersects with the autonomous vehicle's trajectory can also be determined solely through the planned trajectory topology information or planned trajectory point information. For example, based on the planned trajectory topology information of other vehicles and the autonomous vehicle, the first vehicle whose planned trajectory topology intersects with the autonomous vehicle's planned topology can be determined; or based on the planned trajectory point information of other vehicles and the autonomous vehicle, the first vehicle whose line connecting the planned trajectory points of other vehicles intersects with the line connecting the planned trajectory points of the autonomous vehicle can be determined. Further details will not be elaborated here.

[0051] In another embodiment provided in this disclosure, the arrival time of the first vehicle and the unmanned vehicle at the intersection point can be determined using the following method:

[0052] Based on the planned trajectory information of the first vehicle, the first time when the first vehicle arrives at the intersection is determined, and based on the planned trajectory information of the unmanned vehicle, the second time when the unmanned vehicle arrives at the intersection is determined.

[0053] Alternatively, the arrival time of the first vehicle and the autonomous vehicle at the intersection point can be determined using the following method two:

[0054] The status information also includes the current location information and motion status information of the corresponding vehicle; based on the current location information and motion status information of the first vehicle, the first time when the first vehicle arrives at the intersection is determined, and based on the current location information and motion status information of the unmanned vehicle, the second time when the unmanned vehicle arrives at the intersection is determined.

[0055] In another embodiment provided in this disclosure, the step of "determining the first time the first vehicle arrives at the intersection point based on the planned trajectory information of the first vehicle, and determining the second time the unmanned vehicle arrives at the intersection point based on the planned trajectory information of the unmanned vehicle" in the first method described above can be implemented as follows:

[0056] Step 1: Determine the first trajectory point corresponding to the intersection point from the planned trajectory points contained in the planned trajectory information of the first vehicle;

[0057] Step 2: Determine the first time the first vehicle arrives at the first trajectory point; and

[0058] Step 3: Determine the second trajectory point corresponding to the intersection point from the planned trajectory points contained in the autonomous vehicle's planned trajectory information;

[0059] Step 4: Determine the second time when the unmanned vehicle arrives at the second trajectory point.

[0060] In this embodiment of the disclosure, since the trajectory points in the planned trajectory information contain location information and the time information of the vehicle arriving at the trajectory point, the intersection point or the first trajectory point closest to the intersection point can be determined from the trajectory points contained in the planned trajectory information of the first vehicle based on the location information of the intersection point. The first time the first vehicle arrives at the intersection point can be determined based on the time the first vehicle arrives at the first trajectory point. Similarly, the intersection point or the second trajectory point closest to the intersection point can be determined from the trajectory points contained in the planned trajectory information of the unmanned vehicle based on the location information of the intersection point. The second time the unmanned vehicle arrives at the intersection point can be determined based on the time the unmanned vehicle arrives at the second trajectory point.

[0061] In another embodiment provided in this disclosure, in the above-mentioned method two, the motion state information may include the current driving speed; then "determining the first time when the first vehicle arrives at the intersection based on the current positioning information and motion state information of the first vehicle, and determining the second time when the unmanned vehicle arrives at the intersection based on the current positioning information and motion state information of the unmanned vehicle" can be implemented as follows:

[0062] Step 1: Based on the current location information of the first vehicle and the intersection point, determine the current distance between the first vehicle and the intersection point;

[0063] Step Two: Based on the distance determined in Step One and the current speed of the first vehicle, determine the first time the first vehicle will reach the intersection point; and

[0064] Step 3: Based on the current location information of the unmanned vehicle and the intersection point, determine the current distance between the unmanned vehicle and the intersection point;

[0065] Step 4: Based on the distance determined in Step 3 and the current speed of the autonomous vehicle, determine the second time when the autonomous vehicle reaches the intersection point.

[0066] In this embodiment of the disclosure, the time for the vehicle to reach the intersection can be calculated. When the motion state information includes the current driving speed, since the positions of the vehicle and the intersection can be determined, for the first vehicle, the distance between the first vehicle and the intersection can be determined, and the first time for the first vehicle to reach the intersection can be determined based on its current driving speed. Similarly, for the autonomous vehicle, the distance between the autonomous vehicle and the intersection can be determined, and the second time for the autonomous vehicle to reach the intersection can be determined based on its current driving speed.

[0067] In an optional implementation, the motion state information may further include historical speed information and historical acceleration information corresponding to different road segments. Therefore, the second method described above can also determine the road segments traversed from the current location to the intersection point based on the vehicle's current positioning information and the location of the intersection point. The arrival time of the vehicle at the intersection point can be determined based on the length of each road segment and its corresponding historical speed and acceleration information. For the first vehicle, the road segments traversed from its current location to the intersection point can be determined, and the first arrival time at the intersection point can be determined based on the length of each road segment and its corresponding historical speed and acceleration information. The second arrival time of the unmanned vehicle at the intersection point can be determined in the same way, which will not be elaborated further here.

[0068] In another embodiment provided in this disclosure, the above step S103, "determining whether the arrival times of the first vehicle and the unmanned vehicle at the intersection meet the time conflict condition," can be implemented as follows:

[0069] Step 1: Based on the length of the first vehicle and its current speed, determine the first time interval required for the first vehicle to pass through the intersection.

[0070] Step 2: Based on the vehicle's length and current speed, determine the second time period required for the vehicle to pass through the intersection.

[0071] Step 3: Based on the first time when the first vehicle arrives at the intersection and the aforementioned first time period, and the second time when the unmanned vehicle arrives at the intersection and the second time period, determine whether there is an intersection between the first time period starting from the first time and the second time period starting from the second time.

[0072] Therefore, step S104 above, "If satisfied, then the first vehicle is identified as a conflicting vehicle that conflicts with the autonomous vehicle's driving trajectory in both space and time," can be implemented as follows:

[0073] Step 4: If there is an intersection, the first vehicle is identified as the conflicting vehicle that conflicts with the autonomous vehicle's driving trajectory in both space and time.

[0074] In this embodiment of the disclosure, the first vehicle that intersects with the autonomous vehicle's trajectory in space is identified in the aforementioned steps. However, determining whether the first vehicle is a conflicting vehicle with the autonomous vehicle also requires considering the time factor. Even if both the first vehicle and the autonomous vehicle pass through the identified intersection point in space, if their arrival times at the intersection point differ significantly, they will not conflict and can continue driving normally. However, if their arrival times at the intersection point are very close (within a preset time range), they may conflict. Whether a conflict will occur when their arrival times at the intersection point are very close (within a preset time range) can be determined by whether the first vehicle and the autonomous vehicle can successfully pass each other when they arrive at (or near) the intersection point. If they can successfully pass each other, the time conflict condition is not met; otherwise, the time conflict condition is met.

[0075] Since the front and body of a vehicle have a certain length (especially for autonomous trucks with longer bodies), it takes a certain amount of time from when the front of the vehicle arrives at the intersection to when the rear of the vehicle leaves the intersection. If the time when the first vehicle passes the intersection overlaps with the time when the autonomous vehicle passes the intersection, it means that the first vehicle and the autonomous vehicle meet the time conflict condition, and the first vehicle that meets the time conflict condition can be identified as the conflicting vehicle. However, if the time when the first vehicle passes the intersection overlaps with the time when the autonomous vehicle passes the intersection, it means that the first vehicle and the autonomous vehicle do not meet the time conflict condition and can successfully pass each other, so the first vehicle is not the conflicting vehicle.

[0076] In another embodiment provided in this disclosure, the preset priority principle includes: multiple priority levels are preset; each priority level is set with a corresponding priority indicator; in the same priority level, the vehicle with the higher indicator value of the corresponding priority indicator has a higher priority; when the indicator values ​​of the corresponding priority indicators in the same priority level are the same, the road priority of the vehicle is determined according to the indicator values ​​of the corresponding priority indicators of the adjacent lower priority levels.

[0077] The above step S105, "determining the road priority of autonomous vehicles and conflicting vehicles based on preset priority principles and road priority information of conflicting vehicles and autonomous vehicles," can be implemented as follows:

[0078] Determine the highest priority level among multiple priority levels as the current priority level, and perform the following steps for the current priority level:

[0079] Step 1: Based on the road priority information of conflicting vehicles and autonomous vehicles, determine the index values ​​of the priority indicators corresponding to the current priority level for autonomous vehicles and conflicting vehicles.

[0080] Step 2: If the indicator values ​​of the autonomous vehicle and the conflicting vehicle are the same for the corresponding priority indicators at the current priority, then the next lower priority level adjacent to the current priority will be taken as the new current priority, and Step 1 will be executed again; otherwise, the road priority judgment result for the autonomous vehicle and the conflicting vehicle will be determined.

[0081] In another embodiment provided in this disclosure, the priority indicators corresponding to the multiple priority levels are related to at least one of the following information: empty load, task type, and vehicle identity.

[0082] Taking a three-priority-level system as an example, the priority indicators for the first priority level include whether the task is empty or loaded, with a priority value of "loaded" being higher than that of "empty." The priority indicators for the second priority level include task information, with a priority value of "loading task" being higher than that of "unloading task." The priority indicators for the third priority level include identity information, with a priority value of "command vehicle" being higher than that of "mining truck." The first priority level has the highest priority, and subsequent priority levels decrease sequentially.

[0083] Based on the preset priority principle and the road priority information of conflicting vehicles and autonomous vehicles, the right-of-way priority of autonomous vehicles and conflicting vehicles is determined, which can be implemented as follows:

[0084] According to the preset priority principle, the indicator values ​​corresponding to the empty and heavy loads of the conflicting vehicles and the unmanned vehicles are compared, and the vehicle with the indicator value of heavy load is determined to have a higher road priority; if the indicator values ​​corresponding to the empty and heavy loads of the conflicting vehicles and the unmanned vehicles are the same (both are empty or both are heavy loads), then the indicator values ​​corresponding to the task information of the conflicting vehicles and the unmanned vehicles are compared, and the vehicle with the indicator value of loading task is determined to have a higher road priority; if the indicator values ​​corresponding to the task information of the conflicting vehicles and the unmanned vehicles are the same (both are loading task or both are unloading task), then the indicator values ​​corresponding to the identity information of the conflicting vehicles and the unmanned vehicles are compared, and the vehicle with the indicator value of command vehicle is determined to have a higher road priority.

[0085] The priority levels and priority values ​​of the indicators in this embodiment are just examples. They can be set according to the actual situation during implementation, and there are no restrictions here.

[0086] In another embodiment provided in this disclosure, the unmanned vehicle receives current status information of other vehicles via broadcast direct communication, including:

[0087] The driverless car receives the first radio broadcast message from other vehicles;

[0088] The current status information of the other vehicles is parsed from each of the first radio broadcast messages;

[0089] The above method also includes:

[0090] The second radio broadcast message is sent according to the preset sending rules; the second radio broadcast message carries the current status information of the unmanned vehicle.

[0091] In this embodiment of the disclosure, the unmanned vehicle receives current status information sent by other vehicles through V2X communication. Other vehicles can carry this current status information through a first wireless broadcast message. The format of the first wireless broadcast message can adopt the existing network protocol message format, or the network message format can be determined as needed. There is no limitation here.

[0092] In addition, while receiving current status information from other vehicles via V2X communication, the autonomous vehicle also sends a second wireless broadcast message carrying its own operational status information via V2X communication according to a preset sending rule, so that other vehicles can obtain it and determine their driving strategy. This preset sending rule can be periodic or sent when the status changes, and can be set according to actual needs; there are no restrictions here.

[0093] In another embodiment provided in this disclosure, the driving strategy includes a yielding strategy; then the step S105 above, "determining the driving strategy of the autonomous vehicle based on the judgment result," can be implemented as follows:

[0094] If the determination result is that the road priority of the autonomous vehicle is lower than that of the conflicting vehicles, the driving strategy of the autonomous vehicle is determined to be the yielding strategy.

[0095] The above-mentioned driving strategy for the autonomous vehicle is determined to be a yielding strategy, which can be implemented as follows:

[0096] Control the autonomous vehicle to slow down so that it can avoid conflicting vehicles when it reaches the intersection.

[0097] In another embodiment provided in this disclosure, the above-mentioned "controlling the unmanned vehicle to decelerate so that the unmanned vehicle can avoid conflicting vehicles when it reaches the intersection" can be implemented as follows:

[0098] The autonomous vehicle decelerates in stages using a stepped deceleration mode, and the following steps are executed in each deceleration stage:

[0099] Step 1: Determine the current delay time for arriving at the intersection point during the current deceleration phase. Arriving at the intersection point according to the current delay time will enable avoidance of conflicting vehicles.

[0100] Step 2: Based on the braking impact parameters of the autonomous vehicle, determine the deceleration parameters required to reach the intersection after the current delay time, and control the autonomous vehicle to decelerate according to these deceleration parameters; the deceleration parameters include deceleration.

[0101] Step 3: During the process of controlling the autonomous vehicle to decelerate according to the deceleration parameters, if it is determined from the latest current status information of the conflicting vehicles that decelerating according to the deceleration parameters corresponding to the current deceleration stage cannot resolve the conflict, then the next deceleration stage will be determined as the new current deceleration stage, and Step 1 will be executed again; otherwise, the stepped deceleration mode will be exited. Among them, the deceleration parameters determined in the next deceleration stage will cause the autonomous vehicle to decelerate faster than the deceleration parameters determined in the current deceleration stage.

[0102] In this embodiment, a stepped deceleration mode can be set. That is, when the autonomous vehicle needs to decelerate, to ensure driving efficiency, it is not necessary to immediately reduce the speed to a very low level; instead, a stepped deceleration mode can be used. In implementation, different deceleration stages can be set for the stepped deceleration mode. After determining that deceleration is necessary and the system determines the current delay time to reach the intersection point, in the current deceleration stage, the required deceleration parameters for reaching the intersection point after the current delay time can be determined based on braking impact parameters, and deceleration is performed according to these parameters. During this current deceleration stage, while decelerating according to the determined deceleration parameters, real-time status information of conflicting vehicles can continue to be acquired at a preset frequency. If, based on the latest current status information of the conflicting vehicles, it is determined that deceleration according to the deceleration parameters of the current stage cannot resolve the conflict, then the next deceleration stage is entered.

[0103] In the next deceleration phase, after determining the new current delay time for reaching the intersection, the system can determine new deceleration parameters required to reach the intersection after the new current delay time based on the braking effect parameters. The system then decelerates according to these new parameters, which reduce the vehicle's speed faster than those determined in the previous phase. If a conflict is detected and cannot be resolved, the system can proceed to the next deceleration phase, which will not be elaborated further here. The later the deceleration phase begins, the faster the vehicle's speed decreases with the determined deceleration parameters. When the deceleration parameters include deceleration rate, the later the deceleration phase begins, the larger the absolute value of the determined deceleration rate.

[0104] Among these, braking impact parameters can include vehicle braking performance, braking response time, road friction coefficient, braking deceleration, etc.

[0105] Furthermore, after exiting the stepped deceleration mode, the autonomous vehicle can determine its driving speed as needed. For example, it can stop decelerating and, after traveling at the current speed for a preset time, resume the speed before deceleration, or it can directly resume the speed before deceleration. There are no restrictions here.

[0106] In yet another embodiment provided in this disclosure, the above method further includes the following steps:

[0107] The unmanned vehicle receives driving guidance strategies sent by the roadside unit through the broadcast direct communication;

[0108] After determining the driving strategy of the autonomous vehicle, the above method also includes the following steps:

[0109] If the driving guidance strategy sent by the roadside unit conflicts with the driving strategy determined by the autonomous vehicle, then the autonomous vehicle will be controlled to drive based on the driving guidance strategy.

[0110] The driving guidance strategy is as follows:

[0111] After receiving the current status information sent by surrounding vehicles, the roadside unit determines at least one group of third vehicles whose spatial trajectories intersect with the planned trajectory information of the surrounding vehicles. For each group of third vehicles, it determines whether the arrival time of the third vehicles in the group at the corresponding intersection meets the preset time conflict condition. If it does, the group of third vehicles is identified as a conflict vehicle group with spatial and temporal conflicts. For each conflict vehicle group, the road priority of each third vehicle in the group is judged according to the preset priority principle and the road priority information of each third vehicle in the group. Based on the judgment result, the fourth vehicle that needs to be guided is determined, and the driving guidance strategy is sent to the fourth vehicle.

[0112] In this embodiment, the roadside unit, as a facility installed on the roadside, can interact with surrounding vehicles (within communication range) in real time. The roadside unit can also be equipped with the V2X communication equipment provided in this embodiment, enabling direct communication between the roadside unit and vehicles.

[0113] The roadside unit can acquire the current status information of surrounding vehicles in real time at a preset frequency. Based on the planned trajectory information of surrounding vehicles, it identifies at least one group of third vehicles whose spatial trajectories intersect. Each group of third vehicles contains at least two other third vehicles, meaning that the spatial trajectories of each group of third vehicles intersect. For each group of third vehicles, it further determines whether the arrival time of the corresponding intersection meets a preset time conflict condition. If the preset time conflict condition is met, the group of third vehicles is identified as a conflicting vehicle group with spatial and temporal conflicts. Then, it further identifies a fourth vehicle with lower priority within the conflicting vehicle group and sends a driving guidance strategy to the fourth vehicle.

[0114] Furthermore, if there is a conflict between the driving strategy determined by the fourth vehicle itself and the driving guidance strategy determined by the roadside unit, the driving guidance strategy determined by the roadside unit shall prevail.

[0115] This disclosure also provides a control method for an unmanned vehicle, as shown in Figure 2, including:

[0116] S201. The roadside unit receives current status information from surrounding vehicles via direct broadcast communication; the status information includes at least the planned trajectory information of the corresponding vehicle and road priority information.

[0117] S202. Based on the planned trajectory information of the surrounding vehicles, determine at least one group of fifth vehicles whose spatial trajectories intersect.

[0118] S203. For the fifth vehicle in each group, determine whether the arrival time at the corresponding intersection meets the preset time conflict conditions.

[0119] S204. If satisfied, the fifth vehicle in the group is identified as a conflicting vehicle group that has spatial and temporal conflicts.

[0120] S205. For each conflicting vehicle group, the road priority of each fifth vehicle in the group is determined according to the preset priority principle and the road priority information of each fifth vehicle in the group.

[0121] S206. Based on the judgment result, determine the sixth vehicle in the fifth vehicle group that needs driving guidance, and send the corresponding driving guidance strategy to the sixth vehicle.

[0122] The unmanned vehicle control method provided in this embodiment can be applied to roadside units. The description of each step can be found in the foregoing related steps, and will not be repeated here.

[0123] In another embodiment provided in this disclosure, the planned trajectory information includes planned trajectory topology information and planned trajectory point information;

[0124] Based on the planned trajectory information of the surrounding vehicles, at least one group of fifth vehicles whose spatial trajectories intersect is identified, including:

[0125] Based on the topological information of the planned trajectories of the surrounding vehicles, determine at least one group of seventh vehicles whose planned trajectory topology structures intersect.

[0126] For each of the seven vehicles in at least one group of seven vehicles, determine whether there are any intersections between the lines connecting the planned trajectory points of each of the seven vehicles in that group, based on the planned trajectory point information of that group of seven vehicles.

[0127] The seventh vehicle group with an intersection point is identified as at least one group of fifth vehicles whose spatial trajectories intersect.

[0128] In another embodiment provided in this disclosure, for each group of fifth vehicles, the arrival time of the fifth vehicle at the intersection is determined in the following manner, including:

[0129] For each group of fifth vehicles, based on the planned trajectory information of each fifth vehicle in that group, determine the third time when each fifth vehicle in that group arrives at the intersection point; or,

[0130] The status information also includes the current location information and motion status information of the corresponding vehicle; for each group of fifth vehicles, the third time when each fifth vehicle in the group arrives at the intersection is determined based on the current location information and motion status information of each fifth vehicle in the group.

[0131] In another embodiment provided in this disclosure, for each group of fifth vehicles, based on the planned trajectory information of each fifth vehicle in the group, the third time for each fifth vehicle in the group to arrive at the intersection point is determined, including:

[0132] For each group of fifth vehicles, determine the third trajectory point corresponding to the intersection point from the planned trajectory points included in the planned trajectory information of each fifth vehicle in that group; determine the third time when each fifth vehicle in that group arrives at the third trajectory point; or,

[0133] The motion status information includes the current driving speed; for each group of fifth vehicles, based on the current location information and motion status information of each fifth vehicle in that group, the third time for each fifth vehicle in that group to reach the intersection point is determined, including:

[0134] For each group of fifth vehicles, based on the current location information of each fifth vehicle in the group and the intersection point, determine the current distance between each fifth vehicle in the group and the intersection point; based on the determined distance and the current driving speed of the corresponding fifth vehicle, determine the third time when the corresponding fifth vehicle reaches the intersection point.

[0135] In another embodiment provided in this disclosure, for each group of fifth vehicles, determining whether the arrival time at the corresponding intersection point meets a preset time conflict condition includes:

[0136] For each group of fifth vehicles, the third time period required for each fifth vehicle in the group to pass through the intersection is determined based on the vehicle length and current speed of each fifth vehicle in the group.

[0137] Based on the third time when each fifth vehicle in the group arrives at the intersection and the corresponding third time period, determine whether there is an intersection between the third time periods of each fifth vehicle in the group starting from the corresponding third time.

[0138] If the conditions are met, then the fifth vehicle in that group is identified as a conflicting vehicle group that conflicts both spatially and temporally, including:

[0139] If there is an intersection, then the fifth vehicle in that group is identified as a conflicting vehicle group that is spatially and temporally conflicting.

[0140] In another embodiment provided in this disclosure, the preset priority principle includes: multiple priority levels are preset; each priority level is set with a corresponding priority indicator; in the same priority level, the vehicle with the higher indicator value of the corresponding priority indicator has a higher priority; when the indicator values ​​of the corresponding priority indicators in the same priority level are the same, the road priority of the vehicle is determined according to the indicator values ​​of the corresponding priority indicators of the adjacent lower priority levels.

[0141] For each conflicting vehicle group, based on preset priority principles and the road priority information of each fifth vehicle in that group, the road priority of each fifth vehicle in that group is determined, including:

[0142] For each conflicting vehicle group, the highest priority level among the multiple priority levels is determined as the current priority level, and the following steps are performed for the current priority level:

[0143] Step 1: Based on the road priority information of each vehicle in the conflicting vehicle group, determine the index value of the priority indicator corresponding to the current priority level for each vehicle;

[0144] Step 2: If the indicator values ​​of the priority indicators corresponding to the current priority are the same for all vehicles, then the next lower priority level adjacent to the current priority will be taken as the new current priority, and Step 1 will be executed again; otherwise, the road priority judgment result of each vehicle in the conflicting vehicle group will be determined.

[0145] In another embodiment provided in this disclosure, the priority indicators corresponding to the multiple priority levels are related to at least one of the following information: empty load, task type, and vehicle identity.

[0146] In another embodiment provided in this disclosure, the roadside unit receives current status information of surrounding vehicles via broadcast direct communication, including:

[0147] The roadside unit receives third wireless broadcast messages from surrounding vehicles;

[0148] The current status information of the surrounding vehicles is parsed from each third radio broadcast message;

[0149] In yet another embodiment provided in this disclosure, the driving strategy includes a yielding strategy;

[0150] Based on the judgment results, the sixth vehicle in the fifth group that requires driving guidance is identified, and the corresponding driving guidance strategy is sent to the sixth vehicle, including:

[0151] If the judgment result is that the sixth vehicle has the lowest road priority among the fifth vehicles in the group, the driving strategy of the sixth vehicle is determined to be the yielding strategy, and the corresponding driving guidance strategy is sent to the sixth vehicle.

[0152] The driving strategy for the sixth vehicle is determined to be a yielding strategy, and the corresponding driving guidance strategy is sent to the sixth vehicle, including:

[0153] A fourth radio broadcast message is sent to the sixth vehicle; the fourth radio broadcast message carries a driving guidance strategy; the driving guidance strategy is used to guide the sixth vehicle to slow down so that the sixth vehicle can avoid other vehicles in the conflict vehicle group when it reaches the intersection.

[0154] In another embodiment provided in this disclosure, guiding the sixth vehicle to slow down so that it can avoid other vehicles in the conflicting vehicle group when it reaches the intersection includes:

[0155] The sixth vehicle is guided to decelerate in stages using a stepped deceleration mode, with the following steps executed at each deceleration stage:

[0156] Step 1: Determine the current delay time for arriving at the intersection point during the current deceleration phase, wherein arriving at the intersection point according to the current delay time enables avoidance of other vehicles in the conflicting vehicle group;

[0157] Step 2: Based on the braking impact parameters of the sixth vehicle, determine the deceleration parameters required to reach the intersection after the current delay time, and guide the sixth vehicle to decelerate according to these deceleration parameters; the deceleration parameters include deceleration.

[0158] Step 3: During the process of guiding the sixth vehicle to decelerate according to the deceleration parameters, if it is determined, based on the latest current status information of other vehicles in the conflicting vehicle group, that decelerating according to the deceleration parameters corresponding to the current deceleration stage cannot resolve the conflict, then the next deceleration stage is determined as the new current deceleration stage, and Step 1 is executed again; otherwise, the stepped deceleration mode is exited; wherein, the deceleration parameters determined in the next deceleration stage cause the unmanned vehicle to decelerate faster than the deceleration parameters determined in the current deceleration stage.

[0159] Based on the same disclosed concept, this disclosure also provides a control device for an unmanned vehicle. Since the principle of solving the problem by these devices is similar to that of the aforementioned control method for unmanned vehicles, the implementation of the device can refer to the implementation of the aforementioned method, and the repeated parts will not be described again.

[0160] This disclosure also provides a control device for an unmanned vehicle, as shown in FIG3, including:

[0161] The first communication module 301 is configured to allow the unmanned vehicle to receive current status information from other vehicles via direct broadcast communication; the status information includes at least the planned trajectory information and road priority information of the corresponding vehicle.

[0162] The first spatial conflict determination module 302 is configured to determine the first vehicle whose driving trajectory intersects with the driving trajectory of the unmanned vehicle in space, based on the planning trajectory information of other vehicles and the unmanned vehicle respectively.

[0163] The first time conflict determination module 303 is set to determine whether the arrival time of the first vehicle and the unmanned vehicle at the intersection meets the preset time conflict conditions; if it does, the first vehicle is determined to be a conflict vehicle that conflicts with the driving trajectory of the unmanned vehicle in both space and time.

[0164] The driving strategy determination module 304 is configured to determine the road priority of the unmanned vehicle and the conflicting vehicle based on the preset priority principle and the road priority information of the conflicting vehicle and the unmanned vehicle, and determine the driving strategy of the unmanned vehicle based on the judgment result.

[0165] In another embodiment provided in this disclosure, the first spatial conflict determination module 302 is configured to determine, based on the planning trajectory topology information corresponding to the other vehicles and the unmanned vehicle respectively, a second vehicle whose planning trajectory topology structure intersects with the planning topology structure of the unmanned vehicle; based on the planning trajectory point information of the other vehicles and the unmanned vehicle, determine whether there is an intersection between the line connecting the planning trajectory points of the second vehicle and the line connecting the planning trajectory points of the unmanned vehicle; and determine the second vehicle with the intersection as the first vehicle whose spatial driving trajectory intersects with the driving trajectory of the unmanned vehicle; the planning trajectory information includes planning trajectory topology information and planning trajectory point information.

[0166] In another embodiment provided in this disclosure, the first time conflict determination module 303 is configured to determine the arrival times of the first vehicle and the unmanned vehicle at the intersection point in the following manner: determining the first time of the first vehicle's arrival at the intersection point based on the first vehicle's planned trajectory information, and determining the second time of the unmanned vehicle's arrival at the intersection point based on the unmanned vehicle's planned trajectory information; or, the status information further includes the current positioning information and motion status information of the corresponding vehicle; determining the first time of the first vehicle's arrival at the intersection point based on the first vehicle's current positioning information and motion status information, and determining the second time of the unmanned vehicle's arrival at the intersection point based on the unmanned vehicle's current positioning information and motion status information.

[0167] In another embodiment provided in this disclosure, the first time conflict determination module 303 is configured to: determine a first trajectory point corresponding to the intersection point from the planned trajectory points included in the planned trajectory information of the first vehicle; determine a first time when the first vehicle arrives at the first trajectory point; and determine a second trajectory point corresponding to the intersection point from the planned trajectory points included in the planned trajectory information of the unmanned vehicle; determine a second time when the unmanned vehicle arrives at the second trajectory point; or,

[0168] The motion status information includes the current driving speed; the distance between the first vehicle and the intersection point is determined based on the current location information of the first vehicle and the intersection point; the first time when the first vehicle reaches the intersection point is determined based on the distance and the current driving speed of the first vehicle; the distance between the unmanned vehicle and the intersection point is determined based on the current location information of the unmanned vehicle and the intersection point; and the second time when the unmanned vehicle reaches the intersection point is determined based on the distance and the current driving speed of the unmanned vehicle.

[0169] In another embodiment provided in this disclosure, the first time conflict determination module 303 is configured to determine a first time period required for the first vehicle to pass through the intersection based on the vehicle's body length and current driving speed; determine a second time period required for the unmanned vehicle to pass through the intersection based on the unmanned vehicle's body length and current driving speed; determine whether there is an intersection between the first time period starting from the first time and the second time period starting from the second time based on the first time when the first vehicle arrives at the intersection and the first time period, and the second time period when the unmanned vehicle arrives at the intersection and the second time period; and if there is an intersection, determine the first vehicle as a conflicting vehicle that conflicts with the unmanned vehicle's driving trajectory in both space and time.

[0170] In another embodiment provided in this disclosure, the preset priority principle includes: multiple priority levels are preset; each priority level is set with a corresponding priority indicator; in the same priority level, the vehicle with the higher indicator value of the corresponding priority indicator has a higher priority; when the indicator values ​​of the corresponding priority indicators are the same in the same priority level, the road priority of the vehicle is determined according to the indicator values ​​of the corresponding priority indicators of the adjacent lower priority levels.

[0171] The driving strategy determination module 304 is configured to determine the highest priority level among the multiple priority levels as the current priority level, and perform the following steps for the current priority level:

[0172] Step 1: Based on the road priority information of the conflicting vehicles and the unmanned vehicle, determine the index values ​​of the priority indicators corresponding to the current priority level for the unmanned vehicle and the conflicting vehicles;

[0173] Step 2: If the indicator values ​​of the priority indicators corresponding to the current priority of the autonomous vehicle and the conflicting vehicle are the same, then the next lower priority level adjacent to the current priority is taken as the new current priority, and Step 1 is executed again; otherwise, the road priority judgment result of the autonomous vehicle and the conflicting vehicle is determined.

[0174] In another embodiment provided in this disclosure, the priority indicators corresponding to the plurality of priority levels are related to at least one of the following: empty load, task type, and vehicle identity.

[0175] In another embodiment provided in this disclosure, the first communication module 301 is configured to receive first wireless broadcast messages from other vehicles and parse the current status information of the other vehicles from each first wireless broadcast message;

[0176] The first communication module 301 is also configured to send a second wireless broadcast message according to a preset sending rule; the second wireless broadcast message carries the current status information of the unmanned vehicle.

[0177] In another embodiment provided in this disclosure, the driving strategy includes a yielding strategy; the driving strategy determination module 304 is configured to determine the driving strategy of the unmanned vehicle as a yielding strategy when the determination result is that the road priority of the unmanned vehicle is lower than that of the conflicting vehicle.

[0178] The driving strategy determination module 304 is configured to control the unmanned vehicle to decelerate so that the unmanned vehicle can avoid the conflicting vehicles when it reaches the intersection.

[0179] In another embodiment provided in this disclosure, the driving strategy determination module 304 is configured to control the unmanned vehicle to decelerate in stages according to a stepped deceleration mode, and to perform the following steps in each deceleration stage:

[0180] Step 1: Determine the current delay time for arriving at the intersection point during the current deceleration phase, wherein arriving at the intersection point according to the current delay time enables avoidance of the conflicting vehicles;

[0181] Step 2: Based on the braking impact parameters of the unmanned vehicle, determine the deceleration parameters required to reach the intersection after the current delay time, and control the unmanned vehicle to decelerate according to the deceleration parameters; the deceleration parameters include deceleration.

[0182] Step 3: During the process of controlling the unmanned vehicle to decelerate according to the deceleration parameters, if it is determined from the latest current status information of the conflicting vehicle that decelerating according to the deceleration parameters corresponding to the current deceleration stage cannot resolve the conflict, then the next deceleration stage is determined as the new current deceleration stage, and Step 1 is executed again; otherwise, the stepped deceleration mode is exited; wherein, the deceleration parameters determined in the next deceleration stage cause the unmanned vehicle to decelerate faster than the deceleration parameters determined in the current deceleration stage.

[0183] In another embodiment provided in this disclosure, the first communication module 301 is further configured to receive driving guidance strategies sent by the roadside unit through the broadcast direct communication;

[0184] After the driving strategy determination module 304 determines the driving strategy of the unmanned vehicle, it is further configured to control the unmanned vehicle's driving based on the driving guidance strategy if there is a conflict between the driving guidance strategy and the driving strategy; wherein, the driving guidance strategy is:

[0185] After receiving the current status information sent by surrounding vehicles, the roadside unit determines at least one group of third vehicles whose spatial trajectories intersect based on the planned trajectory information of the surrounding vehicles. For each group of third vehicles, it determines whether the arrival time of the third vehicles in the group at the corresponding intersection meets a preset time conflict condition. If it does, the group of third vehicles is identified as a conflict vehicle group with spatial and temporal conflicts. For each conflict vehicle group, the road priority of each third vehicle in the group is judged according to a preset priority principle and the road priority information of each third vehicle in the group. Based on the judgment result, a fourth vehicle that needs to be guided is determined, and the driving guidance strategy is sent to the fourth vehicle.

[0186] This disclosure also provides a control device for an unmanned vehicle, as shown in FIG4, including:

[0187] The second communication module 401 is configured to receive current status information sent by surrounding vehicles via broadcast direct communication; wherein the status information includes at least the planned trajectory information of the corresponding vehicle and road priority information.

[0188] The second spatial conflict determination module 402 is configured to determine at least one group of fifth vehicles whose driving trajectories intersect in space based on the planning trajectory information of the surrounding vehicles.

[0189] The second time conflict determination module 403 is configured to determine whether the arrival time of the fifth vehicle in each group meets the preset time conflict conditions; if it does, the fifth vehicle in that group is determined as a conflict vehicle group that has a conflict in both space and time.

[0190] The road priority determination module 404 is configured to determine the road priority of each fifth vehicle in each conflicting vehicle group based on a preset priority principle and the road priority information of each fifth vehicle in that group.

[0191] The second communication module 401 is also configured to determine, based on the judgment result, the sixth vehicle in the group of fifth vehicles that needs driving guidance, and send the corresponding driving guidance strategy to the sixth vehicle.

[0192] This disclosure also provides an unmanned vehicle, including: a control device for an unmanned vehicle as shown in FIG3.

[0193] This disclosure also provides a roadside device, including: a control device for an unmanned vehicle as shown in FIG4.

[0194] This disclosure also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the unmanned vehicle control method described in the above-described method embodiments. The storage medium can be a volatile or non-volatile computer-readable storage medium.

[0195] Through the above description of the embodiments, those skilled in the art can clearly understand that the embodiments of this disclosure can be implemented in hardware or by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions of the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) and includes several instructions to cause a computer device (such as a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of this disclosure.

[0196] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes in the drawings are not necessarily essential for implementing this disclosure.

[0197] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0198] The sequence numbers of the embodiments disclosed above are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0199] Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims of this disclosure and their equivalents, this disclosure is also intended to include such modifications and variations.

Claims

1. A control method of an unmanned vehicle, comprising: receiving, by the unmanned vehicle, current state information of other vehicles through broadcast direct communication, wherein the state information at least comprises planning trajectory information and road priority information of the corresponding vehicles; determining, according to the planning trajectory information of the corresponding vehicles, a first vehicle whose trajectory intersects with the trajectory of the unmanned vehicle in space; determining whether the time when the first vehicle and the unmanned vehicle reach the intersection point meets a preset time conflict condition; if yes, the first vehicle is determined as a conflict vehicle whose trajectory conflicts with the trajectory of the unmanned vehicle in space and time; judging the road priority of the unmanned vehicle and the conflict vehicle according to a preset priority principle and the road priority information of the conflict vehicle and the unmanned vehicle, and determining the driving strategy of the unmanned vehicle according to the judgment result.

2. The method of claim 1, wherein, The planning trajectory information comprises planning trajectory topology information and planning trajectory point information. The determination of the first vehicle whose trajectory intersects with the trajectory of the unmanned vehicle in space comprises: determining, according to the planning trajectory topology information of the corresponding vehicles, a second vehicle whose planning trajectory topology structure intersects with the planning topology structure of the unmanned vehicle; determining, according to the planning trajectory point information of the second vehicle and the unmanned vehicle, whether there is an intersection point between the line connecting the planning trajectory points of the second vehicle and the line connecting the planning trajectory points of the unmanned vehicle; and determining the second vehicle whose trajectory intersects with the trajectory of the unmanned vehicle in space as the first vehicle.

3. The method of claim 1, wherein, The determination of the time when the first vehicle and the unmanned vehicle reach the intersection point comprises: determining the first time when the first vehicle reaches the intersection point according to the planning trajectory information of the first vehicle, and determining the second time when the unmanned vehicle reaches the intersection point according to the planning trajectory information of the unmanned vehicle; or The state information further comprises current positioning information and motion state information of the corresponding vehicles; the first time when the first vehicle reaches the intersection point is determined according to the current positioning information and motion state information of the first vehicle, and the second time when the unmanned vehicle reaches the intersection point is determined according to the current positioning information and motion state information of the unmanned vehicle.

4. The method of claim 3, wherein, The determination of the first time when the first vehicle reaches the intersection point according to the planning trajectory information of the first vehicle, and the determination of the second time when the unmanned vehicle reaches the intersection point according to the trajectory planning information of the unmanned vehicle, comprises: determining a first trajectory point corresponding to the intersection point from the planning trajectory points contained in the planning trajectory information of the first vehicle, determining the first time when the first vehicle reaches the first trajectory point, and determining a second trajectory point corresponding to the intersection point from the planning trajectory points contained in the planning trajectory information of the unmanned vehicle, determining the second time when the unmanned vehicle reaches the second trajectory point; or The motion state information includes a current driving speed; determining a first time for the first vehicle to reach the intersection according to current positioning information and motion state information of the first vehicle, and determining a second time for the unmanned vehicle to reach the intersection according to current positioning information and motion state information of the unmanned vehicle, including: According to the current positioning information of the first vehicle and the intersection, the distance between the first vehicle and the intersection is determined; according to the distance and the current driving speed of the first vehicle, the first time for the first vehicle to reach the intersection is determined; and according to the current positioning information of the unmanned vehicle and the intersection, the distance between the unmanned vehicle and the intersection is determined; according to the distance and the current driving speed of the unmanned vehicle, the second time for the unmanned vehicle to reach the intersection is determined.

5. The method of any one of claims 1-4, wherein, Determine whether the time for the first vehicle and the unmanned vehicle to reach the intersection meets the time conflict condition, including: According to the length of the body of the first vehicle and the current driving speed, a first time period required for the first vehicle to pass through the intersection is determined; According to the length of the body of the unmanned vehicle and the current driving speed, a second time period required for the unmanned vehicle to pass through the intersection is determined; According to the first time for the first vehicle to reach the intersection and the first time period, and the second time for the unmanned vehicle to reach the intersection and the second time period, it is determined whether there is an intersection between the first time period from the first time and the second time period from the second time; If it is satisfied, the first vehicle is determined as a conflict vehicle which has a conflict with the driving track of the unmanned vehicle in space and time. The preset priority principle includes: a plurality of priority levels are preset; each priority level is provided with a corresponding priority index; in the same priority level, the higher the index value of the corresponding priority index of the vehicle, the higher the priority of the vehicle; in the case that the index values of the corresponding priority indexes of the same priority level are the same, the road priority of the vehicle is determined in turn according to the index values of the corresponding priority indexes of adjacent low priority levels; 6. The method of claim 1, wherein, The judgment of the road priority of the unmanned vehicle and the conflict vehicle according to the preset priority principle and the road priority information of the conflict vehicle and the unmanned vehicle, including: The highest priority level in the plurality of priority levels is determined as the current priority level, and the following steps are executed for the current priority level: Step 1: according to the road priority information of the conflict vehicle and the unmanned vehicle, the index values of the corresponding priority indexes of the unmanned vehicle and the conflict vehicle in the current priority level are determined; Step 2: if the index values of the corresponding priority indexes of the unmanned vehicle and the conflict vehicle in the current priority level are the same, the priority level adjacent to the current priority level by one level is taken as a new current priority, and step 1 is re-executed; otherwise, the judgment result of the road priority of the unmanned vehicle and the conflict vehicle is determined. ​ 7. The method of claim 6, wherein, The priority indicators corresponding to the plurality of priority levels are related to at least one of the following information: empty load, task type, and vehicle identity.

8. The method of claim 1, wherein, The unmanned vehicle receives current state information of other vehicles through broadcast direct communication, including: The unmanned vehicle receives first wireless broadcast messages sent by other vehicles; The current state information of the other vehicles is parsed from the first wireless broadcast messages; The method further comprises: According to a preset sending rule, a second wireless broadcast message is sent, and the second wireless broadcast message carries current state information of the unmanned vehicle.

9. The method of claim 1, wherein, The driving strategy includes a yielding strategy; According to the judgment result, the driving strategy of the unmanned vehicle is determined, including: In a case where the judgment result is that the road priority of the unmanned vehicle is lower than that of the conflict vehicle, the driving strategy of the unmanned vehicle is determined as the yielding strategy; The driving strategy of the unmanned vehicle is determined as the yielding strategy, including: The unmanned vehicle is controlled to decelerate and drive, so that the unmanned vehicle can avoid the conflict vehicle when reaching the intersection.

10. The method of claim 9, wherein, The unmanned vehicle is controlled to decelerate and drive, so that the unmanned vehicle can avoid the conflict vehicle when reaching the intersection, including: The unmanned vehicle is controlled to decelerate and drive in a phased manner according to a stepped deceleration mode, and the following steps are performed in each deceleration phase: Step one: determine a current delay time for delaying reaching the intersection in the current deceleration phase, wherein reaching the intersection according to the current delay time can achieve avoidance of the conflict vehicle; Step two: according to the brake influence parameter of the unmanned vehicle, determine a deceleration driving parameter required for reaching the intersection after delaying the current delay time, and control the unmanned vehicle to decelerate and drive according to the deceleration driving parameter; the deceleration driving parameter includes a deceleration; Step three: in the process of controlling the unmanned vehicle to decelerate and drive according to the deceleration driving parameter, if it is determined according to the latest current state information of the conflict vehicle that deceleration driving according to the deceleration driving parameter corresponding to the current deceleration phase cannot resolve the conflict, the next deceleration phase is determined as a new current deceleration phase, and step one is re-executed; otherwise, the stepped deceleration mode is exited; wherein the deceleration driving parameter determined by the next deceleration phase makes the speed of the unmanned vehicle decrease faster than the deceleration driving parameter determined by the current deceleration phase.

11. The method of claim 1, wherein, The method further comprises: The unmanned vehicle receives a driving guidance strategy sent by a roadside unit through the broadcast direct communication; After determining the driving strategy of the unmanned vehicle, the method further comprises: If the driving guidance strategy conflicts with the driving strategy, the unmanned vehicle is controlled to drive based on the driving guidance strategy; The driving guidance strategy is: The roadside unit receives the current state information sent by the surrounding vehicles, determines at least one group of third vehicles whose spatial driving trajectories have intersection points according to the planning trajectory information of the surrounding vehicles, determines for each group of third vehicles whether the time for the third vehicles in the group to reach the corresponding intersection point meets a preset time conflict condition, determines the third vehicles in the group as a conflict vehicle group that has spatial and temporal conflicts if the time meets the preset time conflict condition, judges the road priorities of the third vehicles in the group according to a preset priority principle and the road priority information of the third vehicles in the group, and determines a fourth vehicle that needs driving guidance according to the judgment result and sends the driving guidance strategy to the fourth vehicle.

12. A control method of an unmanned vehicle, comprising: A roadside unit receives current state information sent by surrounding vehicles through broadcast direct communication; wherein the state information at least includes planning trajectory information and road priority information of the corresponding vehicles; At least one group of fifth vehicles whose spatial driving trajectories have intersection points is determined according to the planning trajectory information of the corresponding vehicles of the surrounding vehicles respectively; For each group of fifth vehicles, it is determined whether the time for reaching the corresponding intersection point meets a preset time conflict condition; if it meets, the group of fifth vehicles is determined as a conflict vehicle group that has spatial and temporal conflicts; For each conflict vehicle group, the road priorities of the fifth vehicles in the group are judged according to a preset priority principle and the road priority information of the fifth vehicles in the group; According to the judgment result, a sixth vehicle in the group of fifth vehicles that needs driving guidance is determined, and a corresponding driving guidance strategy is sent to the sixth vehicle.

13. A control device of an unmanned vehicle, comprising: A first communication module is configured to receive current state information of other vehicles by broadcast direct communication through the unmanned vehicle; wherein the state information at least includes planning trajectory information and road priority information of the corresponding vehicles; A first spatial conflict determination module is configured to determine first vehicles whose driving trajectories of the other vehicles and the unmanned vehicle have intersection points in space according to the planning trajectory information of the corresponding vehicles of the other vehicles and the unmanned vehicle respectively; A first time conflict determination module is configured to determine whether the time for the first vehicles and the unmanned vehicle to reach the intersection point meets a preset time conflict condition; if it meets, the first vehicles are determined as conflict vehicles that have conflicts with the driving trajectory of the unmanned vehicle in space and time; A driving strategy determination module is configured to judge the road priorities of the unmanned vehicle and the conflict vehicles according to a preset priority principle and the road priority information of the conflict vehicles and the unmanned vehicle, and determine the driving strategy of the unmanned vehicle according to the judgment result.

14. A control device of an unmanned vehicle, comprising: A second communication module is configured to receive current state information sent by surrounding vehicles through broadcast direct communication; wherein the state information at least includes planning trajectory information and road priority information of the corresponding vehicles; A second spatial conflict determination module is configured to determine at least one group of the fifth vehicles having intersecting spatial trajectories according to the planning trajectory information of the surrounding vehicles respectively; A second time conflict determination module is configured to determine, for each group of the fifth vehicles, whether a time of reaching the corresponding intersection meets a preset time conflict condition; if so, the group of the fifth vehicles is determined as a conflict vehicle group having spatial and time conflicts; A road priority determination module is configured to determine, for each conflict vehicle group, road priorities of the fifth vehicles in the group according to a preset priority principle and road priority information of the fifth vehicles in the group; The second communication module is further configured to determine, according to a determination result, a sixth vehicle in the group of the fifth vehicles that needs to be guided for driving, and send a corresponding driving guidance strategy to the sixth vehicle.

15. An unmanned vehicle comprising: The control device of the unmanned vehicle according to claim 13.

16. A roadside device comprising: The control device of the unmanned vehicle according to claim 14.

Images