CN113096423A - Vehicle driving method, device, vehicle equipment and computer storage medium - Google Patents
Vehicle driving method, device, vehicle equipment and computer storage medium Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
Abstract
The embodiment of the invention discloses a vehicle running method, a vehicle running device, vehicle equipment and a computer storage medium. The vehicle running method includes: acquiring dynamic map information; analyzing the dynamic map information to obtain lane aging information of each variable lane; the lane aging information represents the aging of various lane driving directions of the variable lane; determining a target lane based on the destination location information and vehicle-time effect information of each variable lane; and executing vehicle running operation according to the target lane. According to the embodiment of the invention, the target lane for the destination can be accurately determined, and the vehicle running efficiency is further improved.
Description
Technical Field
The invention belongs to the field of intelligent traffic, and particularly relates to a vehicle driving method and device, vehicle equipment and a computer storage medium.
Background
A vehicle communication system (V2X) of a cooperative intelligent transportation system aims to realize various applications such as road safety, traffic efficiency, information service and the like through interaction among subsystems of the intelligent transportation system. For this reason, interconnection must be made between vehicles from different manufacturers, and between these vehicles and the road infrastructure within reach of the vehicles. In the application layer and application data interaction standard of the vehicular communication system of the cooperative intelligent transportation system (TCSAE 53-2017, hereinafter referred to as V2X national standard), a message set, a data frame and a data element of information interaction are defined to implement interconnection and intercommunication of the vehicular communication system at the application layer.
In the national standard of V2X, five main message sets of Msg _ BSM, Msg _ MAP, Msg _ RSI, Msg _ SPAT and Msg _ RSM are defined and are used for interconnection and intercommunication among vehicles and between vehicles and road infrastructure. Wherein the Msg _ MAP message, also referred to as a MAP message, is broadcast by the road side unit to deliver MAP information for a local area to the vehicle. The content includes intersection information, link information, lane information, connection relation between roads, and the like of the local area. The framework of the Msg _ MAP message is as follows: node: the map node can be an intersection or an end point of a road section; link: the road section is characterized in that the road information of the directed line section entering the node from the adjacent node is described, and the attribute of the road section comprises a name, upstream and downstream nodes, lane width, a lane set of the road section, a traffic signboard and the like; lane: the description of the lane information in the lane, namely the Link section, comprises an Identification (ID) of the lane, a shared attribute, the steering-allowed behavior of the lane exit, a connection relation list of the lane and the lane of the downstream section, and a position coordinate list of the middle point of the lane.
The existing Msg _ MAP message describes that the connection relationship between the lane information and the lane is static and does not change with time. However, with the increasing development of urban traffic, many cities have been provided with variable lanes (e.g., tidal lanes) in recent years. The variable lane is a lane which is arranged at an intersection, can flexibly regulate and control the flow direction according to the characteristics of the flow direction of vehicles at different time intervals and can change the driving direction of the lane. The information and connection relation of the lane can be changed according to the rule or time period of the traffic flow. However, Msg _ MAP messages defined by the current V2X national standard cannot describe the driving direction change state of the lane and the regular change of the connection relationship, so that static MAP information is acquired by a user during the driving of the vehicle, and a target lane to a destination cannot be accurately determined based on the static MAP information, so that the driving efficiency of the vehicle is low.
Therefore, how to accurately determine the target lane to the destination, and further improve the vehicle driving efficiency is a technical problem that needs to be solved urgently by those skilled in the art.
Disclosure of Invention
Embodiments of the present invention provide a vehicle driving method, a vehicle driving apparatus, a vehicle device, and a computer storage medium, which can accurately determine a target lane to a destination, thereby improving vehicle driving efficiency.
In a first aspect, there is provided a vehicle running method including:
acquiring dynamic map information;
analyzing the dynamic map information to obtain lane aging information of each variable lane; the lane aging information represents the aging of various lane driving directions of the variable lane;
determining a target lane based on the destination location information and lane aging information of each variable lane;
and executing vehicle running operation according to the target lane.
Optionally, analyzing the dynamic map information to obtain lane aging information of each variable lane, including:
analyzing the dynamic map information to obtain road section information of a road section where the vehicle is located;
analyzing the road section information to obtain lane information of each lane in the road section;
and sequentially analyzing the lane information of each lane to acquire the lane aging information of each variable lane.
Optionally, determining the target lane based on the destination location information and the lane aging information of each variable lane comprises:
judging whether the current time belongs to effective time corresponding to the lane aging information of any variable lane or not aiming at the lane aging information of any variable lane;
if the current time belongs to the effective time, judging whether the road section where any variable lane is located can be passed before the effective time is cut off in advance according to the current speed and the road condition information of any variable lane;
if the road section can be passed through before the effective time is up, any variable lane is listed in the selectable lane list;
and screening a target lane from the selectable lane list based on the destination position information.
Optionally, the lane includes a variable lane and a non-variable lane, lane aging information is not included in the lane information of the non-variable lane, and the determining the target lane based on the destination location information and the lane aging information of each variable lane includes:
and determining the target lane based on the destination position information, the lane aging information of each variable lane and the non-variable lane.
Optionally, if it is predicted that the road segment can be passed before the validity time expires, after listing any variable lane in the selectable lane list, the method further includes:
and listing the non-variable lanes into a selectable lane list.
Optionally, the obtaining dynamic map information includes:
and receiving dynamic map information sent by the road side equipment based on a preset period.
Optionally, the method further comprises:
and analyzing the dynamic map information to obtain intersection information and road connection relation information of a preset area.
Optionally, before obtaining the dynamic map information, the method further includes:
when the lane information changes, the dynamic map information is updated.
In a second aspect, there is provided a vehicle running device including:
the first acquisition module is used for acquiring dynamic map information;
the second acquisition module is used for analyzing the dynamic map information and acquiring the time efficiency information of each variable lane; the lane aging information represents the aging of various lane driving directions of the variable lane;
the determining module is used for determining a target lane based on the destination position information and the lane aging information of each variable lane;
and the execution module is used for executing the vehicle running operation according to the target lane.
Optionally, the second obtaining module is configured to analyze the dynamic map information to obtain road section information of a road section where the vehicle is located; analyzing the road section information to obtain lane information of each lane in the road section; and sequentially analyzing the lane information of each lane to acquire the lane aging information of each variable lane.
Optionally, the determining module is configured to determine, for the lane aging information of any variable lane, whether the current time belongs to an effective time corresponding to the lane aging information of any variable lane; if the current time belongs to the effective time, judging whether the road section where any variable lane is located can be passed before the effective time is cut off in advance according to the current speed and the road condition information of any variable lane; if the road section can be passed through before the effective time is up, any variable lane is listed in the selectable lane list; and screening a target lane from the selectable lane list based on the destination position information.
Optionally, the lanes include a variable lane and a non-variable lane, lane aging information is not included in lane information of the non-variable lane, and the determining module is configured to:
and determining the target lane based on the destination position information, the lane aging information of each variable lane and the non-variable lane.
Optionally, the determining module is further configured to list the non-variable lanes in a selectable lane list.
Optionally, the first obtaining module is configured to receive dynamic map information sent by the roadside device based on a preset period.
Optionally, the second obtaining module is further configured to analyze the dynamic map information to obtain intersection information and road connection relationship information of the preset area.
Optionally, the first obtaining module is further configured to update the dynamic map information when the lane information changes.
In a third aspect, there is provided a vehicle apparatus including: a processor and a memory storing computer program instructions;
the processor, when executing the computer program instructions, implements the vehicle driving method of the first aspect or any one of the alternative implementations of the first aspect.
In a fourth aspect, a computer storage medium is provided, on which computer program instructions are stored, which, when executed by a processor, implement the vehicle driving method of the first aspect or any one of the optional implementations of the first aspect.
Embodiments of the present invention provide a vehicle driving method, a vehicle driving apparatus, a vehicle device, and a computer storage medium, which can accurately determine a target lane to a destination, thereby improving vehicle driving efficiency. After acquiring the dynamic map information, the vehicle driving method analyzes the dynamic map information to acquire the lane aging information of each variable lane. Since the lane aging information represents aging of various lane driving directions of the variable lanes, the target lane to the destination can be accurately determined based on the destination position information and the lane aging information of the various variable lanes, and further, the vehicle driving efficiency can be improved by performing the vehicle driving operation according to the target lane.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart diagram illustrating a method for operating a vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram of another method for operating a vehicle according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a vehicular running device provided in the embodiment of the invention;
fig. 4 is a schematic structural diagram of a vehicle device according to an embodiment of the present invention.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
At present, static map information is acquired by a user during the driving process of a vehicle, and because the static map information cannot describe the driving direction change of a variable lane, a target lane for a destination cannot be accurately determined based on the static map information, so that the driving efficiency of the vehicle is low.
In order to solve the prior art problems, embodiments of the present invention provide a vehicle driving method, a vehicle driving device, a vehicle device, and a computer storage medium. First, a vehicle driving method according to an embodiment of the present invention will be described.
Fig. 1 is a schematic flow chart of a vehicle driving method according to an embodiment of the present invention. As shown in fig. 1, the vehicle running method includes:
and S101, acquiring dynamic map information.
To obtain more accurate dynamic map information, in one embodiment, obtaining dynamic map information may generally include: and receiving dynamic map information sent by the road side equipment based on a preset period. Further, in one embodiment, prior to obtaining the dynamic map information, the method may generally further include: when the lane information changes, the dynamic map information is updated.
S102, analyzing the dynamic map information to obtain lane aging information of each variable lane; the variable lane is a lane with a lane driving direction changing, and the lane aging information represents aging of various lane driving directions of the variable lane.
In order to obtain more accurate lane aging information, in one embodiment, parsing the dynamic map information to obtain lane aging information of each variable lane may generally include: analyzing the dynamic map information to obtain road section information of a road section where the vehicle is located; analyzing the road section information to obtain lane information of each lane in the road section; and sequentially analyzing the lane information of each lane to acquire the lane aging information of each variable lane. Further, in one embodiment, the method may generally further comprise: and analyzing the dynamic map information to obtain intersection information and road connection relation information of a preset area.
And S103, determining the target lane based on the destination position information and the lane aging information of each variable lane.
And S104, executing vehicle running operation according to the target lane.
To determine a more accurate target lane, in one embodiment, determining a target lane based on the destination location information and the lane aging information of each variable lane includes: judging whether the current time belongs to effective time corresponding to the lane aging information of any variable lane or not aiming at the lane aging information of any variable lane; if the current time belongs to the effective time, judging whether the road section where any variable lane is located can be passed before the effective time is cut off in advance according to the current speed and the road condition information of any variable lane; if the road section can be passed through before the effective time is up, any variable lane is listed in the selectable lane list; and screening a target lane from the selectable lane list based on the destination position information.
Further, in one embodiment, the lane includes a variable lane and a non-variable lane, the lane aging information is not included in the lane information of the non-variable lane, and the determining the target lane based on the destination location information and the lane aging information of each variable lane includes: and determining the target lane based on the destination position information, the lane aging information of each variable lane and the non-variable lane. Further, in one embodiment, if it is predicted that the road segment can be passed before the validity time expires, after listing any variable lane in the selectable lane list, the method further includes: and listing the non-variable lanes into a selectable lane list.
The above is described with a specific embodiment, which is as follows:
the embodiment of the invention provides a method for realizing a V2X dynamic MAP supporting a variable lane, which is based on the definition of the lane in the existing Msg _ MAP, and adds the time efficiency information of the lane, so as to achieve the aim of realizing the dynamic MAP.
Further, since the lane aging information is defined as optional information, the lane in which the lane aging information is not included in the lane message is a fixed lane (non-variable lane), that is, a lane in which the traveling direction is fixed. The time efficiency information of the lane should contain a series of valid periods or invalid periods of the lane and other time-related information. For a variable lane, the same road segment in the Msg _ MAP message may be described by one or more pieces of lane information. The plurality of pieces of lane information are distinguished from each other through the lane aging information, namely, at most one piece of lane information is effective at the same moment.
Further, when the terminal (vehicle) receives the Msg _ MAP, the link information in the Msg _ MAP message is identified and processed according to the flow shown in fig. 2. As shown in fig. 2, the details are as follows:
(a) analyzing to obtain the road section information;
(b) analyzing lane information according to the information sequence;
(c) if the lane message does not contain any aging information, directly entering the step (f); if the lane information contains the aging information, the next step is carried out;
(d) judging whether the lane is valid at the current time or not by combining the current time information and the timeliness information in the lane information, and entering the next step if the lane is valid; otherwise, entering the step (g);
(e) and judging whether the road section can be passed through within the validity period of the lane by combining factors such as the current time, the vehicle speed, the lane aging information and the like. If yes, entering the step (f); otherwise, entering the step (g);
(f) adding the lane information into an optional lane list, and entering the next step;
(g) and judging whether the road section message contains an unresolved lane. If yes, returning to the step (b); if not, entering the next step;
(h) the correct lane advance is selected from the selectable lane list in conjunction with the navigation/destination direction.
In the embodiment of the invention, based on the description of the lane in the V2X national standard message, an optional age definition is added, and the specific message definition is as follows:
where DDateTime is a message format defined in the national standard V2X for representing a complete date and time data unit, defined as follows:
in one embodiment, there is a lane L between two intersections A, B, which defines 00 for a variable lane: 00: 00-11: 59:59 lane driving direction is from A to B; 12: 00: 00-23: 59: the lane driving direction is from B to a 59. The information of the lane L and the relative connection relation thereof are contained in the information of the intersections A and B in the map message, and the lane L information of the intersection A carries 12: 00: 00-23: 59:59 is effective; and (3) adding 00 to the information of the lane L at the intersection B: 00: 00-11: 59:59 is effective.
In one embodiment, the specific definition of the map message may be as follows:
the time efficiency information in the description information of the lane L of the intersection A is as follows:
effectivePeriods：[{effectiveStart:{hour:12,minute:0,second:0,offset:480},effectiveEnd:{hour:23,minute:59,second:59,offset:480}}]
the time efficiency information in the description information of the lane L of the intersection B is as follows:
effectivePeriods：[{effectiveStart:{hour:0,minute:0,second:0,offset:480},effectiveEnd:{hour:11,minute:59,second:59,offset:480}}]
when a vehicle travels from another direction to the vicinity of an intersection A and receives the Msg _ MAP message of the intersection A and analyzes the message of a lane L, it is determined that the lane is a variable lane, based on the time-lapse information included in the message. At this time, the current time information (assuming that the current time is 10: 00 a.m.) is combined, and it is determined that the lane information is invalid at the current time. The lane will not enter the selectable lane list and the vehicle will avoid entering the lane.
In one embodiment, lane L is a variable lane, 06:00: 00-8: 59:59 and 17:00: 00-18: 59:59 are left turn lanes, and the remainder of the time is a straight lane. In the map message, the same lane L may be defined as two pieces of lane information and respectively carry the time efficiency information and the corresponding connection relationship thereof. Wherein the L1 aging information is 06:00: 00-08: 59:59 and 17:00: 00-18: 59:59 is defined as a left-turn lane; the L2 aging information is 09:00: 00-16: 59:59 and 19:00: 00-05: 59:59, and is defined as a straight lane.
In one embodiment, the specific definition of the map message may be as follows:
the time-of-day information in the description message of lane L1 is:
effectivePeriods：[{effectiveStart:{hour:06,minute:0,second:0,offset:480},effectiveEnd:{hour:8,minute:59,second:59,offset:480}},{effectiveStart:{hour:17,minute:0,second:0,offset:480},effectiveEnd:{hour:18,minute:59,second:59,off set:480}}]
the time-of-day information in the description message of lane L2 is:
effectivePeriods：[{effectiveStart:{hour:9,minute:0,second:0,offset:480},effectiveEnd:{hour:16,minute:59,second:59,offset:480}},{effectiveStart:{hour:19,minute:0,second:0,offset:480},effectiveEnd:{hour:5,minute:59,second:59,offs et:480}}]
vehicle 10 in the morning: 00 driving to the road section and receiving the message, firstly, when the vehicle should analyze the information of the lane L1, judging that the lane L1 is a changeable lane according to the time-effect information contained in the message; then the current time and the aging information in L1 judge that the current time L1 lane is invalid. Then the vehicle starts to analyze the information of the lane L2, and determines that L2 is a variable lane and the current time is valid according to the aging information of L2, and the vehicle should further calculate the remaining valid time of the lane.
Because the effective time period is 09:00: 00-16: 59:59, the current time is 10: 00, so the remaining effective time is 16:59: 59-10: 00:00 is 6:59:59 (about 7 hours). From the link information and the vehicle speed, it is judged that the link change can be passed within the remaining effective time, and therefore the lane L2 can be added to the selectable lane list. After all the lane information is analyzed and all the available lanes are added to the selectable lane list, the vehicle selects a proper lane to continue driving according to the destination direction/navigation path.
The embodiment of the invention has the following beneficial effects:
1. the dynamic map information is provided for the vehicle, so that the vehicle (particularly an automatic driving vehicle) can be helped to make lane planning in advance, and traffic confusion caused by temporary lane change of the vehicle when the lane changes is avoided.
2. By the dynamic map information, the refreshing of the map information can be reduced, the communication bandwidth is saved, and the reliability of the information is improved. When the lane information changes, the static map is used, and the data can be updated only by resending the message, but if the dynamic map is used, the data is only sent once.
In the following, a vehicle running device, a vehicle device, and a computer storage medium according to embodiments of the present invention are described, and the vehicle running device, the vehicle device, and the computer storage medium described below and the vehicle running method described above may be referred to in correspondence with each other. Fig. 3 is a schematic structural view of a vehicular running device according to an embodiment of the present invention, and as shown in fig. 3, the vehicular running device includes:
a first obtaining module 301, configured to obtain dynamic map information;
a second obtaining module 302, configured to analyze the dynamic map information and obtain lane aging information of each variable lane; the lane aging information represents the aging of various lane driving directions of the variable lane;
a determining module 303, configured to determine a target lane based on the destination location information and lane aging information of each variable lane;
and the execution module 304 is used for executing the vehicle running operation according to the target lane.
Optionally, in an embodiment, the second obtaining module 302 is configured to parse the dynamic map information to obtain road section information of a road section where the vehicle is located; analyzing the road section information to obtain lane information of each lane in the road section; and sequentially analyzing the lane information of each lane to acquire the lane aging information of each variable lane.
Optionally, in an embodiment, the determining module 303 is configured to determine, for the lane aging information of any variable lane, whether the current time belongs to an effective time corresponding to the lane aging information of any variable lane; if the current time belongs to the effective time, judging whether the road section where any variable lane is located can be passed before the effective time is cut off in advance according to the current speed and the road condition information of any variable lane; if the road section can be passed through before the effective time is up, any variable lane is listed in the selectable lane list; and screening a target lane from the selectable lane list based on the destination position information.
Optionally, in an embodiment, the lanes include a variable lane and a non-variable lane, lane aging information is not included in lane information of the non-variable lane, and the determining module 303 is configured to:
and determining the target lane based on the destination position information, the lane aging information of each variable lane and the non-variable lane.
Optionally, in one embodiment, the determining module 303 is further configured to list the non-variable lanes in a selectable lane list.
Optionally, in an embodiment, the first obtaining module 301 is configured to receive dynamic map information sent by the roadside device based on a preset period.
Optionally, in an embodiment, the second obtaining module 302 is further configured to parse the dynamic map information to obtain intersection information and road connection relationship information of the preset area.
Optionally, in an embodiment, the first obtaining module 301 is further configured to update the dynamic map information when the lane information changes.
Each module in the vehicle driving device provided in fig. 3 has a function of implementing each step in the example shown in fig. 1 and fig. 2, and achieves the same technical effect as the vehicle driving method shown in fig. 1, and for brevity, no further description is given here.
Fig. 4 is a schematic structural diagram of a vehicle device according to an embodiment of the present invention.
The vehicle device may include a processor 401 and a memory 402 storing computer program instructions.
Specifically, the processor 401 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured as one or more Integrated circuits implementing embodiments of the present invention.
The processor 401 implements the vehicle running method in the embodiment shown in fig. 1 and 2 by reading and executing computer program instructions stored in the memory 402.
In one example, the vehicle device may also include a communication interface 403 and a bus 410. As shown in fig. 4, the processor 401, the memory 402, and the communication interface 403 are connected via a bus 410 to complete communication therebetween.
The communication interface 403 is mainly used for implementing communication between modules, apparatuses, units and/or devices in the embodiments of the present invention.
In addition, in conjunction with the vehicle travel method in the above-described embodiments, embodiments of the present invention may be implemented by providing a computer storage medium. The computer storage medium having computer program instructions stored thereon; which when executed by a processor implement the vehicle driving method in the embodiment shown in fig. 1 and 2.
It is to be understood that the invention is not limited to the specific arrangements and instrumentality described above and shown in the drawings. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present invention are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications and additions or change the order between the steps after comprehending the spirit of the present invention.
The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the invention are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, Erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.
It should also be noted that the exemplary embodiments mentioned in this patent describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.
As described above, only the specific embodiments of the present invention are provided, and it can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the module and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present invention, and these modifications or substitutions should be covered within the scope of the present invention.
Claims (13)
1. A vehicle running method characterized by comprising:
acquiring dynamic map information;
analyzing the dynamic map information to obtain lane aging information of each variable lane; the lane aging information represents the aging of various lane driving directions of the variable lane;
determining a target lane based on destination location information and the lane aging information of each of the variable lanes;
and executing vehicle running operation according to the target lane.
2. The vehicle driving method according to claim 1, wherein the analyzing the dynamic map information to obtain lane aging information of each variable lane includes:
analyzing the dynamic map information to acquire road section information of a road section where the vehicle is located;
analyzing the road section information to obtain lane information of each lane in the road section;
and sequentially analyzing the lane information of each lane to acquire the lane aging information of each variable lane.
3. The vehicle travel method according to claim 2, wherein the determining a target lane based on the destination location information and the lane aging information of each of the variable lanes, includes:
judging whether the current time belongs to the valid time corresponding to the lane aging information of any variable lane or not aiming at the lane aging information of any variable lane;
if the current time belongs to the valid time, pre-judging whether the road section where any variable lane is located can be passed before the valid time is cut off according to the current speed and the road condition information of any variable lane;
if the road section can be passed through before the effective time is up, listing any variable lane into a selectable lane list;
filtering the target lane from the selectable lane list based on the destination location information.
4. The vehicle travel method according to claim 3, wherein the lane includes the variable lane and a non-variable lane, the lane aging information is not included in the lane information of the non-variable lane, and the determining a target lane based on the destination position information and the lane aging information of each of the variable lanes includes:
determining the target lane based on the destination location information, the lane aging information of each of the variable lanes, and the non-variable lane.
5. The vehicle running method according to claim 4, wherein after listing any one of the variable lanes in a selectable lane list if it is predicted that the road segment can be passed before the validity time expires, the method further comprises:
and listing the non-variable lanes into the selectable lane list.
6. The vehicle travel method according to claim 1, wherein the acquiring of the dynamic map information includes:
and receiving the dynamic map information sent by the road side equipment based on a preset period.
7. The vehicle running method according to claim 1, characterized by further comprising:
and analyzing the dynamic map information to obtain intersection information and road connection relation information of a preset area.
8. The vehicle travel method according to claim 1, wherein before the acquiring of the dynamic map information, the method further comprises:
and when the lane information changes, updating the dynamic map information.
9. A vehicle running device characterized by comprising:
the first acquisition module is used for acquiring dynamic map information;
the second acquisition module is used for analyzing the dynamic map information and acquiring the time efficiency information of each variable lane; the lane aging information represents the aging of various lane driving directions of the variable lane;
a determination module for determining a target lane based on destination location information and the lane aging information of each of the variable lanes;
and the execution module is used for executing vehicle running operation according to the target lane.
10. The vehicle driving device according to claim 9, wherein the second obtaining module is configured to analyze the dynamic map information to obtain link information of a link where a vehicle is located; analyzing the road section information to obtain lane information of each lane in the road section; and sequentially analyzing the lane information of each lane to acquire the lane aging information of each variable lane.
11. The vehicle driving device according to claim 10, wherein the determination module is configured to determine, for the lane aging information of any variable lane, whether a current time falls within an effective time corresponding to the lane aging information of the any variable lane; if the current time belongs to the valid time, pre-judging whether the road section where any variable lane is located can be passed before the valid time is cut off according to the current speed and the road condition information of any variable lane; if the road section can be passed through before the effective time is up, listing any variable lane into a selectable lane list; filtering the target lane from the selectable lane list based on the destination location information.
12. A vehicular apparatus characterized by comprising: a processor and a memory storing computer program instructions;
the processor, when executing the computer program instructions, implements a vehicle driving method as claimed in any one of claims 1-8.
13. A computer storage medium, characterized in that the computer storage medium has stored thereon computer program instructions which, when executed by a processor, implement the vehicle running method according to any one of claims 1 to 8.
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| CN201911337243.3A CN113096423A (en) | 2019-12-23 | 2019-12-23 | Vehicle driving method, device, vehicle equipment and computer storage medium |
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| CN201911337243.3A CN113096423A (en) | 2019-12-23 | 2019-12-23 | Vehicle driving method, device, vehicle equipment and computer storage medium |
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