CN114261401A - Intersection traffic decision method, device, medium, equipment and vehicle - Google Patents
Intersection traffic decision method, device, medium, equipment and vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
Abstract
The application discloses a method, a device, a medium, equipment and a vehicle for making a crossing pass decision, and belongs to the field of data processing. The method mainly comprises the following steps: under the condition that a traffic light of a vehicle to pass through an intersection flickers, setting time length according to the flickering state of the traffic light to reduce congestion time in the area of the intersection, and reducing consumed time of the traffic light in the flickering state to calculate passable time length of the vehicle; extracting a path corresponding to the passable time length from the planned track of the vehicle, and taking the length of the path as the planned passable distance of the vehicle in the passable time length; and determining the intersection passing decision of the vehicle according to the size relation between the planned passable distance and the distance between the vehicle and the intersection stop line. The method and the device can make the automatic driving vehicle make a crossing passing decision at the crossing without the flickering of the count-down passing lamp under the condition of ensuring safety.
Description
Technical Field
The application relates to the technical field of data processing, in particular to a method, a device, a medium, equipment and a vehicle for making a decision on crossing traffic.
Background
When automatic driving (including intelligent driving or auxiliary driving) is carried out, when an intersection without countdown and with a flashing traffic light passes through, the decision whether the automatic driving vehicle passes through the intersection or not is difficult to make. Because, there is a risk of violation passing when the decision result is passing at the time of decision making; when the decision is made to stop, the situation that the automatic driving vehicle needs to be stopped at the intersection at a larger deceleration when the distance is smaller, so that the riding comfort of passengers is poor exists, and in addition, the situation that the automatic driving vehicle is stopped at the intersection to cause traffic jam can also exist under the condition that the passengers can pass.
Disclosure of Invention
Aiming at the problem that the vehicle is difficult to make a traffic decision in an intersection without flashing countdown traffic lights in some practical scenes, and the method, the device, the medium, the equipment and the vehicle for making the traffic decision at the intersection are mainly provided.
In a first aspect, an embodiment of the present application provides an intersection passage decision method, which includes: under the condition that a traffic light of a vehicle to pass through an intersection flickers, setting time length, congestion time in the area of the intersection and consumed time of the traffic light in the flickering state according to the flickering state of the traffic light, and obtaining the passable time length of the vehicle; extracting a path corresponding to the passable time length from the planned track of the vehicle, and taking the length of the path as the planned passable distance of the vehicle in the passable time length; and determining the intersection passing decision of the vehicle according to the size relation between the planned passable distance and the distance between the vehicle and the intersection stop line.
Optionally, under the condition that the traffic lights of the intersection to be passed by the vehicle flicker, the congestion time in the area of the intersection is subtracted according to the set time length of the flicker states of the traffic lights, the consumed time of the traffic lights in the flicker states is subtracted, and the passable time length of the vehicle is calculated.
Optionally, the congestion time in the intersection area is calculated according to the number of target vehicles in the driving direction of the vehicles in the intersection area and the preset congestion time of a single target vehicle.
Optionally, calculating a comfort braking distance of the vehicle according to a preset vehicle comfort parameter; and determining the crossing passing decision of the vehicle according to the size relationship between the planned passable distance and the distance between the vehicle and the crossing stop line and the size relationship between the comfort braking distance and the distance between the vehicle and the crossing stop line.
Optionally, according to preset vehicle comfort level parameters, calculating the comfort stopping distance of the vehicle includes: calculating to obtain a first comfortable braking distance of the vehicle under the condition of medium and low speed running according to the preset maximum acceleration of the vehicle, the corresponding maximum acceleration change rate of the vehicle, the current acceleration of the vehicle, the current speed of the vehicle and the braking time of the vehicle; calculating to obtain a second comfortable braking distance of the vehicle under the condition of high-speed running according to the current acceleration of the vehicle and the current speed of the vehicle; under the condition that the vehicle runs at a medium and low speed, determining an intersection decision of the vehicle according to the size relationship between the planned passable distance and the distance between the vehicle and an intersection stop line and the size relationship between the first comfort braking distance and the distance between the vehicle and the intersection stop line; and under the condition that the vehicle runs at a high speed, determining the intersection decision of the vehicle according to the magnitude relation between the planned passable distance and the distance between the vehicle and the intersection stop line and the magnitude relation between the second comfort braking distance and the distance between the vehicle and the intersection stop line.
Optionally, the passing decision is sent to the vehicle under the condition that the comfort braking distance is greater than the distance between the vehicle and the intersection stop line, and the planned passable distance is greater than the distance between the vehicle and the intersection stop line.
Optionally, a passing decision is sent to the vehicle under the condition that the planned passable distance is greater than the distance between the vehicle and the intersection stop line in the first predetermined proportion, and the comfort brake-stop distance is greater than the distance between the vehicle and the intersection stop line in the second predetermined proportion, wherein the first predetermined proportion is greater than 1, and the second predetermined proportion is less than 1.
Optionally, a passing decision is sent to the vehicle under the condition that the planned passable distance is greater than the distance between the vehicle and the intersection stop line in the third predetermined proportion, and the comfort braking distance is greater than the distance between the vehicle and the intersection stop line in the fourth predetermined proportion, wherein the third predetermined proportion is less than 1, and the fourth predetermined proportion is greater than 1.
Optionally, under the condition that the vehicle enters the intersection through the intersection stop line, the passing decision of the vehicle in the intersection area is determined according to the state of the intersection indicator light, the current motion state of the vehicle, the passing distance of the vehicle in the intersection and/or the number of longitudinally following targets of the vehicle.
In a second aspect, an embodiment of the present application provides an intersection passage decision apparatus, which includes: the passable time length acquisition module is used for setting time length according to the flashing state of the passing lamp, congestion time in the intersection area and consumed time of the passing lamp in the flashing state under the condition that the passing lamp of the intersection to be passed by the vehicle flashes, and calculating the passable time length of the vehicle; the planned passable distance acquisition module is used for extracting a path corresponding to passable time length from a planned track of the vehicle and taking the length of the path as the planned passable distance of the vehicle in the passable time length; and the decision module is used for determining the intersection passing decision of the vehicle according to the size relation between the planned passable distance and the distance between the vehicle and the intersection stop line.
In a third aspect, the present application provides a computer-readable storage medium storing computer instructions operable to perform a method for making an intersection passage decision according to the first aspect of the present application and any implementation manner thereof.
In a fourth aspect, embodiments of the present application provide a computer device, which includes a processor and a memory, where the memory stores computer instructions, and when the computer instructions are executed by the processor, the method for making a pass decision at an intersection according to the first aspect of the present application and any implementation manner thereof is implemented.
In a fifth aspect, the present application provides a vehicle configured to perform the intersection passage decision method according to the first aspect of the present application and any embodiments thereof.
According to the technical scheme, the planning passable distance of the vehicle at the intersection is compared with the distance between the vehicle and the intersection stop line, so that the decision which is more in line with an actual scene can be made at the intersection by the automatic driving vehicle on the premise of ensuring the safety of the automatic driving vehicle, the passing efficiency of the intersection is ensured, and the intersection congestion is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art are briefly introduced below, and it is obvious that the drawings in the following description exemplarily show some embodiments of the present application.
FIG. 1 is a schematic diagram of an embodiment of a method for making an intersection traffic decision;
FIG. 2 is a schematic diagram of acceleration of a vehicle over time in an embodiment of an intersection passage decision method of the present application;
fig. 3 is a schematic diagram of an embodiment of an intersection passage decision device according to the present application.
With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.
Detailed Description
The following detailed description of the preferred embodiments of the present application, taken in conjunction with the accompanying drawings, will provide those skilled in the art with a better understanding of the advantages and features of the present application, and will make the scope of the present application more clear and definite.
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.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific examples. The specific embodiments described below can be combined with each other to form new embodiments. The same or similar ideas or processes described in one embodiment may not be repeated in other embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 1 shows a specific embodiment of an intersection passage decision method according to the present application.
The method for making a decision on the passing of the intersection shown in fig. 1 includes a step S101 of calculating the passable time length of a vehicle according to the set time length of the blinking state of a passing light, the congestion time in the intersection region, and the consumed time of the passing light in the blinking state under the condition that the passing light of the vehicle at the intersection is blinking;
step S102, extracting a path corresponding to the passable time length from the planned track of the vehicle, and taking the length of the path as the planned passable distance of the vehicle in the passable time length;
and step S103, determining the intersection passing decision of the vehicle according to the size relation between the planned passable distance and the distance between the vehicle and the intersection stop line.
According to the specific implementation mode, at the intersection without countdown and with the flickering traffic lights, under the condition that the safety of the automatic driving vehicle is guaranteed, the decision of whether the automatic driving vehicle passes or not is more reasonable, and the smooth traffic of the intersection is guaranteed.
In one embodiment of the present application, when the distance between the autonomous vehicle and the intersection stop-line is greater than the distance threshold, the decision of the autonomous vehicle is made, and only the longitudinal decision of the vehicle is made regardless of the state of the intersection traffic indicator. And when the distance between the automatic driving vehicle and the intersection stop line is smaller than the distance threshold, acquiring the state of the traffic indicator light without countdown at the intersection, and making the intersection decision of the automatic driving vehicle according to the state of the traffic indicator light. If the color of the intersection traffic indicator light represents that the vehicle is not allowed to pass, the automatic driving vehicle is decided to stop running; if the color of the intersection traffic indicator light represents the traffic and the indicator light is on for a long time, the vehicle is decided to continue to run through the intersection; and if the color of the intersection traffic indicator light indicates passing and the indicator light flickers, performing a passing decision of the automatically driven vehicle at the intersection according to the magnitude relation between the planned passable distance of the vehicle and the distance between the vehicle and the intersection stop line. The traffic indicator light is in a passing state, the indicating light flashes to indicate that the passing countdown is about to end, the traffic indicator light is in a passing state, the indicating light is on for a long time to indicate that the remaining time of the passing countdown is longer, and the traffic indicator light does not flash when the countdown time is longer than 3 seconds under the common condition.
Furthermore, other expression forms can exist when the countdown of the traffic indicator light is about to end and the countdown duration is longer, such as changing the shape of an icon and sending out a buzzing warning light.
In the embodiment shown in fig. 1, the intersection passage decision method includes step S101, under the condition that a traffic light of a vehicle at an intersection to be passed through is flashing, calculating a passable time length of the vehicle according to a flashing state setting time length of the traffic light, congestion time in an area of the intersection, and elapsed time of the traffic light in the flashing state. The step can ensure that the vehicle safely passes through the intersection before the allowable passing state of the intersection is about to end, and ensure the correctness of decision.
In one embodiment of the present application, the step S101 includes subtracting the congestion time in the area of the intersection from the blinking state setting time of the traffic lights, and subtracting the elapsed time of the traffic lights in the blinking state to obtain the passable time period of the vehicle.
In a specific embodiment of the application, whether the vehicle needs to be subjected to a passing decision according to the state of the traffic indicator light is judged according to the distance between the vehicle and the intersection stop line and a distance threshold; when the distance between the vehicle and the intersection stop line is not less than the distance threshold, the decision whether the vehicle passes is not made according to the state of the traffic indicator light; and when the distance between the vehicle and the intersection stop line is smaller than the distance threshold, making a decision whether the vehicle passes according to the state of the traffic indicator lamp. The specific embodiment can enable the automatic driving vehicle not to carry out crossing traffic planning at a position far away from the crossing, so that the automatic driving vehicle does not need to carry out unnecessary calculation, and the calculation amount in the automatic driving process of the vehicle is reduced.
Specifically, when the distance between the autonomous vehicle and the intersection stop line is greater than the distance threshold, the decision of the autonomous vehicle is made, and only the longitudinal decision of the vehicle is made regardless of the state of the intersection traffic indicator lamp. And when the distance between the automatic driving vehicle and the intersection stop line is smaller than a distance threshold value, acquiring the state of the traffic indicator lamp without countdown in real time by using the sensing equipment of the automatic driving vehicle. Wherein the perception device of the autonomous vehicle comprises a camera, the distance threshold may be 90 meters, and may be 120 meters.
In a specific embodiment of the present application, the congestion time in the intersection is subtracted from the set time length of the traffic lights in the blinking state, and a difference calculated from the elapsed time of the traffic lights in the blinking state is subtracted, where the difference is the passable time length of the vehicle. The set time length of the traffic light in the flashing state refers to the sum of the flashing time length of the traffic light when the traffic state is about to end and the set time length of the waiting pause state indicator light.
For example, when the duration of each state of the traffic signal lamp is not counted down, and the setting of each state of the traffic signal lamp is that the red light stops, the green light goes, the green light flickers to the end of the traffic time, and the yellow light is turned on to indicate that the traffic state is converted into the traffic stop state, the green light flickering time and the yellow light turning-on time of the traffic signal lamp are obtained by using the sensing equipment of the automatic driving vehicle. And calculating the green flash passable time according to the difference value between the green flash set time, the congestion loss time and the green flash duration time. The green flash setting time, i.e. the time when the traffic is about to end, is a fixed value obtained empirically, for example, the green flash setting time is the sum of the flashing time of the green light and the flashing time of the yellow light, which is 3.5 seconds; the green flash duration refers to a length of time from a time point when a green light starts to flash to a time point when a decision is made, which is obtained by using a visual perception of the vehicle, and is a variable.
Particularly, when the vehicle senses the sensing result of the jump in the intersection decision making process, the decision made by the vehicle is often incorrect, and the incorrect decision can cause the vehicle to have danger in the intersection driving process. Therefore, jump-proof protection is required to prevent jump so as to ensure the accuracy of decision. Wherein, jumping means that 1 second of green flash is sensed, 1 frame of green light is sensed suddenly, and then the green light is detected. Jump protection refers to handling multiple senses of a sudden appearance of a green light as a green flash.
In one embodiment of the present application, the congestion time in the intersection area is calculated according to the number of target vehicles in the traveling direction of the vehicles in the intersection area and a preset congestion time of a single target vehicle. The embodiment can ensure that the decision made when the intersection is congested is still safe and reliable.
Specifically, the congestion time in the intersection is calculated according to the product of the number of target vehicles in the driving direction of the vehicles in the intersection and preset target weight.
For example, setting the individual weight to 0.1 second, and the longitudinal target vehicle number, that is, the number of congested vehicles on the route ahead of the vehicle traveling direction to 10, the congestion loss time is 1 second.
Or the jam time corresponding to different numbers of target vehicles in the longitudinal direction in the vehicle running direction is preset, and the jam time in the road junction is looked up according to the number of the target vehicles in the longitudinal direction in the vehicle running direction in the road junction.
In the specific embodiment shown in fig. 1, the intersection passage decision method further includes step S102, extracting a path corresponding to the passable time length from the planned trajectory of the vehicle, and taking the length of the path as the planned passable distance of the vehicle within the passable time length. This particular embodiment is the basis for ensuring the correctness of the decision making of the autonomous vehicle.
Specifically, in the planned track of the vehicle, a planned path of the vehicle within a time corresponding to the passable time length of the vehicle is obtained by looking up, the path is extracted, and a length corresponding to the path is obtained by calculation, wherein the length is the planned passable distance of the vehicle. In particular, since there may be an obstacle on the vehicle travel path, the passing distance calculated using the passable time period of the vehicle and the current vehicle speed of the vehicle is not necessarily equal to the planned passable distance.
In the specific embodiment shown in fig. 1, the method for making an intersection passage decision further includes step S103, determining an intersection passage decision of the vehicle according to a magnitude relationship between the planned passable distance and the distance between the vehicle and the intersection stop line. According to the specific embodiment, under the condition that the safety of the automatic driving vehicle is ensured, the crossing decision of the automatic driving vehicle is more reasonable, and the smooth traffic at the crossing is ensured.
Specifically, when the planned passable distance is larger than the distance between the vehicle and the intersection stop line, namely the vehicle can safely pass through the intersection without countdown and with the flickering traffic lights, the automatic driving vehicle passing decision is given. When the planned passable distance is smaller than the distance between the vehicle and the stop line of the intersection, namely the vehicle cannot safely pass through the intersection without countdown and with flashing passing lights, or the vehicle can pass through the intersection but certain safety risk exists in the passing process, the automatic driving vehicle is given to make a parking decision or further judgment by combining other conditions.
In a specific embodiment of the present application, the method for making a decision on crossing traffic further includes calculating a comfort braking distance of a vehicle according to a preset vehicle comfort parameter, including: calculating to obtain a first comfortable braking distance of the vehicle under the condition of medium and low speed running according to the preset maximum acceleration of the vehicle, the corresponding maximum acceleration change rate of the vehicle, the current acceleration of the vehicle, the current speed of the vehicle and the braking time of the vehicle; calculating to obtain a second comfortable braking distance of the vehicle under the condition of high-speed running according to the current acceleration of the vehicle and the current speed of the vehicle; under the condition that the vehicle runs at a medium and low speed, determining an intersection decision of the vehicle according to the size relationship between the planned passable distance and the distance between the vehicle and an intersection stop line and the size relationship between the first comfort braking distance and the distance between the vehicle and the intersection stop line; and under the condition that the vehicle runs at a high speed, determining the intersection decision of the vehicle according to the magnitude relation between the planned passable distance and the distance between the vehicle and the intersection stop line and the magnitude relation between the second comfort braking distance and the distance between the vehicle and the intersection stop line. The specific embodiment can make the vehicle make the intersection decision at the intersection without countdown of the traffic indicating lamp under the condition of meeting the safety and comfort.
Specifically, when the planned passable distance is greater than the distance between the vehicle and the intersection stop line, and the comfort braking distance of the vehicle is greater than the distance between the vehicle and the intersection stop line, a passage decision is sent to the vehicle.
When the situation that the planned passable distance is smaller than the distance between the vehicle and the intersection stop line, but the comfort braking distance of the vehicle is larger than the distance between the vehicle and the intersection stop line and the situation that the comfort braking distance of the vehicle is smaller than the distance between the vehicle and the intersection stop line, but the planned passable distance is larger than the distance between the vehicle and the intersection stop line occur, the decision result of the vehicle at the intersection is judged according to the preset threshold value.
In a specific example of the application, a first comfort braking distance under the condition of medium-low speed running of the vehicle is calculated according to a preset maximum acceleration of the vehicle, a corresponding maximum acceleration change rate of the vehicle, a current acceleration of the vehicle, a current speed of the vehicle and a braking time of the vehicle; and calculating a second comfort braking distance under the condition of high-speed running of the vehicle according to the current acceleration and the current speed of the vehicle. By calculating the first comfort braking distance and the second comfort braking distance, the vehicle can have better comfort no matter the vehicle runs under the condition of medium and low speed or runs under the condition of high speed.
Further, the acceleration change rate of the vehicle is calculated according to the maximum acceleration of the vehicle, the acceleration change rate of the vehicle is represented by jerk, wherein the maximum acceleration of the vehicle can be changed according to a use scene, and the set maximum acceleration of the vehicle cannot be larger than the maximum acceleration which is met by the vehicle performance. The maximum acceleration value of the vehicle is related to the comfort value, i.e. the comfort value is variable. The comfort value may be changed, for example, depending on the different usage scenarios. For example, at a congested intersection or a long intersection, when a vehicle travels into the intersection at a green flash, congestion is likely to occur in the intersection, in which case the comfort value can be reduced accordingly. In the short-circuit opening, the comfort value can be correspondingly increased. Also, in adjusting the speed of the vehicle, the comfort of the vehicle can be improved by maintaining the uniform velocity change rate (i.e., uniform jerk) adjustment.
Specifically, the time required for the uniform variation of the vehicle to reach the maximum acceleration is calculated according to the maximum acceleration of the vehicle, the acceleration change rate of the vehicle and the current acceleration of the vehicle; and calculating to obtain a first comfort braking distance under the medium-low speed driving condition of the vehicle according to the time required by the vehicle uniform change to reach the maximum acceleration, the current speed of the vehicle and the braking time of the vehicle. That is, the time required for the acceleration of the vehicle to change from a _0 to a _ max is calculated using the current acceleration a _0 of the vehicle, the maximum acceleration a _ max of the vehicle, and the jerk of the acceleration of the vehicle. The change of the acceleration of the vehicle braked and stopped at the intersection along with the time is shown in fig. 2, the change from a _0 to a _ max comprises two processes, wherein the first process is to change a _0 to a _ max allowed by comfort at a uniform speed of jerk, the second process is to change the acceleration to a _ max, and the acceleration of the vehicle is not increased any more. In practical applications, the vehicle includes two practical usage scenarios during the brake-off or acceleration, namely, the maximum brake-off deceleration is achieved during the brake-off or acceleration and the maximum brake-off deceleration is not achieved during the brake-off or acceleration.
Therefore, when calculating the comfort level stop distance, it is necessary to input the set maximum acceleration a _ max of the vehicle, the set allowable jerk value k (k < 0) for comfort level, the vehicle speed v _0 of the vehicle, the acceleration a _0 of the vehicle, and the remaining time, which is the green flash passable time. When the green flash is found, calculating the time t required for braking the vehicle to v =0 according to the current speed v0 of the vehicle; and further calculating a first comfort braking distance s under the medium-low driving condition of the vehicle when the braking time is t according to the calculation result.
Wherein, according to the current speed v0 of the vehicle, the step of calculating the time t required for braking to reach v =0 comprises the step of calculating the time t required for braking to reach v =0 by t>t1，
Calculating the result t', namely calculating the variation stage of the acceleration in the time t in FIG. 2, namely 0-t 1 in FIG. 2, or the stage of the acceleration in the time t without variation, namely after t1 in FIG. 2; if t '< t1, i.e., at the stage 0-t 1 in FIG. 2, then t = t', use is made of
And calculating a first comfortable braking distance s under the medium-low speed running condition of the vehicle when the braking time is t.
If t '> t1, i.e. at the stage t1~ t2 in FIG. 2, let t1 = t' consist of
Calculating t according to the formula
In one embodiment of the present application, v is utilized when the vehicle speed is high2The second comfort braking distance which can ensure the comfort degree under the high-speed scene is obtained through calculation of/2 a, wherein v is the vehicle of the self vehicleAnd a is the acceleration of the bicycle. And, high speed here generally means vehicle speeds above 60 kilometers per hour.
In a specific embodiment of the present application, the intersection passage decision method further includes issuing a passage decision to the vehicle under a condition that the comfort brake stop distance is greater than the distance between the vehicle and the intersection stop line, and the planned passable distance is greater than the distance between the vehicle and the intersection stop line. The specific embodiment can ensure the safety and the comfort of the vehicle when the vehicle makes a crossing decision.
Specifically, if the first comfort braking distance is greater than the distance between the vehicle and the intersection stop line, and the planned passable distance is greater than the distance between the vehicle and the intersection stop line, a passage decision is sent to the vehicle; if the second comfort braking distance is greater than the distance between the vehicle and the intersection stop line, and the planned passable distance is greater than the distance between the vehicle and the intersection stop line, sending a passage decision to the vehicle; and if the first comfort braking distance is greater than the distance between the vehicle and the intersection stop line, the second comfort braking distance is greater than the distance between the vehicle and the intersection stop line, and the planned passable distance is greater than the distance between the vehicle and the intersection stop line, sending a passage decision to the vehicle. That is, when the vehicle speed is higher, because the medium-low speed is more conservative, the planned passable distance may not support the vehicle to pass through the intersection, but in practical application, when the vehicle speed is higher, the comfort level of the uniform jerk deceleration and sudden braking is still very low. The method of calculating the comfort stopping distance in a high speed scenario is therefore different from the method of calculating the stopping distance at medium and low speeds.
And comparing the calculated second comfort braking distance with the distance between the vehicle and the intersection stop line, and if the second comfort braking distance is greater than the distance between the vehicle and the intersection stop line and the planned passable distance is greater than the distance between the vehicle and the intersection stop line, sending a passage decision to the vehicle. And if the second comfort braking distance is less than the distance between the vehicle and the stop line of the intersection, a parking decision is sent to the vehicle.
In a specific embodiment of the present application, the intersection passage decision method further includes sending a passage decision to the vehicle under the condition that the planned passable distance is greater than the distance between the vehicle and the intersection stop line in the first predetermined proportion, and the comfort brake stop distance is greater than the distance between the vehicle and the intersection stop line in the second predetermined proportion, where the first predetermined proportion is greater than 1, and the second predetermined proportion is less than 1. According to the specific embodiment, the automatic driving vehicle can comfortably pass through the intersection under the premise of ensuring the safety of the automatic driving vehicle in a specific scene.
Specifically, within the range of the variable threshold, when a safety-based decision and a comfort-based decision are made, the first comfort braking distance is slightly smaller than the distance between the vehicle and the intersection stop line, but the planned passable distance is much larger than the distance between the vehicle and the intersection stop line, and it is also determined that the autonomous vehicle can execute a passage decision result, that is, the autonomous vehicle passes through the intersection. For example, the first predetermined proportion is that the planned passable distance is more than 50% of the distance between the vehicle and the intersection stop line, and the second predetermined proportion is that the comfort brake-stop distance at the medium-low speed is less than 10% of the distance between the vehicle and the intersection stop line. The medium-low speed here means that the speed per hour is below 60 km per hour, and the specific speed per hour can be limited according to the requirement, which is not limited in the present application. And the specific values of the predetermined ratio are not specifically limited in this application.
In a specific embodiment of the present application, the intersection passage decision method further includes sending a passage decision to the vehicle under the condition that the planned passable distance is greater than the distance between the vehicle with the third predetermined proportion and the intersection stop line, and the comfort brake stop distance is greater than the distance between the vehicle with the fourth predetermined proportion and the intersection stop line, where the third predetermined proportion is less than 1, and the fourth predetermined proportion is greater than 1. According to the specific embodiment, the automatic driving vehicle can comfortably pass through the intersection under the premise of ensuring the safety of the automatic driving vehicle in a specific scene.
Specifically, within the range of the variable threshold, when a decision based on safety is made, the planned passable distance is slightly smaller than the distance from the vehicle to the intersection stop line, that is, the judgment condition is not satisfied, but when the decision based on comfort is made, the first comfort braking distance is much larger than the distance from the vehicle to the intersection stop line, and the decision result can be judged to be executed, that is, the decision result passes through the intersection. For example, the third predetermined proportion is that the planned passable distance is less than 10% of the distance of the vehicle from the intersection stop line, and the fourth predetermined proportion is that the comfort brake stop distance of the medium-low speed is more than 50% of the distance of the vehicle from the intersection stop line.
In a specific embodiment of the present application, the intersection passage decision method further includes calculating a second comfortable braking distance of the vehicle under the high-speed running condition according to the current acceleration of the vehicle and the current speed of the vehicle; and if the second comfortable braking distance is greater than the distance between the stop lines of the intersection and the planned passable distance is greater than the distance between the vehicle and the stop lines of the intersection, sending a passage decision to the vehicle. According to the specific embodiment, the automatic driving vehicle can comfortably pass through the intersection on the premise that the safety of the automatic driving vehicle is ensured under the scene that the vehicle runs at a high speed.
In a specific embodiment of the present application, the intersection passage decision method further includes determining a passage decision of the vehicle in the intersection region according to the intersection indicator light state, the current motion state of the vehicle, the passage distance of the vehicle in the intersection and/or the number of longitudinally following objects of the vehicle under the condition that the vehicle travels through the intersection stop line into the intersection. According to the specific embodiment, when the vehicle drives into a congested intersection, a better, safer and more applicable decision for the congested intersection can be made.
In a specific example of the present application, when the intersection decision result of the vehicle is a traffic decision, it is determined whether the vehicle can acquire the state of the traffic light and whether the state of the traffic light is a predetermined state of the traffic light; if so, judging whether the speed of the vehicle meets a low-speed condition, whether the passing distance of the vehicle running at a low speed in a preset time is smaller than a preset length threshold value, or whether the number of longitudinal following targets of the vehicle is larger than a preset number threshold value; if so, judging whether the driving distance of the vehicle in the intersection is greater than the preset passing distance; and if so, sending a parking decision to the vehicle.
Specifically, when a vehicle enters the intersection at a green flash and enters a rear intersection in a congested state (i.e., the vehicle has passed a stop line), the vehicle is caused to jam within the intersection. When the color of the traffic light in the lateral direction changes to green, the other vehicles in the lateral direction start traveling, and there is a risk that the traveling of the lateral vehicle is interfered with by the traveling of the own vehicle. To solve the above problem, the low speed intersection protection logic is calculated for the own vehicle. The requirements for low speed road junction protection logic satisfy the following conditions:
1. the color of the signal lamp in the passing direction of the vehicle is red or yellow after the vehicle enters the intersection, or the color of the signal lamp in the passing direction of the vehicle is green flashing but the intersection is a long intersection, and the traffic light can be clearly seen in the visual field of the camera of the vehicle.
2. The method meets any one of the conditions that the speed of the vehicle is less than 0.3m/s, the speed of the vehicle is less than 1.0m/s, the sum of the planned passable distance and the distance of the passing road junction is less than 10 m within 3 seconds, or the speed of the vehicle is less than 1.0m/s, and the number of the longitudinally following targets is greater than 4.
3. The crossing distance of the vehicle passing through the crossing is less than 25% of the crossing length, wherein when the crossing length is 25% to less than 7m, 7m is used as the crossing length, the crossing length refers to the distance between two stop lines of the crossing, and 25% of the crossing length is a safety distance which ensures that the vehicle stops in the crossing and does not influence transverse traffic.
4. The decision of the vehicle is a traffic decision.
After the conditions are met, low-speed intersection protection logic is started, namely a decision that the vehicle stops is given when the vehicle enters the intersection, and the decision given after the vehicle enters the intersection under the normal condition is a passing decision, and the stopping decision is given only in an intersection stopping line.
Fig. 3 shows an embodiment of an intersection passage decision device according to the present application.
In the embodiment shown in fig. 3, the intersection passage decision device mainly includes: the passable time length obtaining module 301 is configured to, under the condition that a passing light of the intersection to be passed by the vehicle flickers, set time length according to a flickering state of the passing light, subtract congestion time in the intersection region, subtract consumed time of the passing light in the flickering state, and calculate passable time length of the vehicle;
a planned passable distance obtaining module 302, configured to extract a path corresponding to a passable time length from a planned trajectory of the vehicle, and use the length of the path as a planned passable distance of the vehicle within the passable time length;
the decision module 303 is configured to determine an intersection passage decision of the vehicle according to a size relationship between the planned passable distance and a distance between the vehicle and an intersection stop line.
The intersection passage decision device provided by the application can be used for executing the intersection passage decision method described in any of the above embodiments, and the implementation principle and the technical effect are similar, and are not described in detail herein.
In another embodiment of the present application, a computer-readable storage medium stores computer instructions that are operable to perform the intersection passage decision method described in the above embodiments.
In a specific embodiment of the present application, each functional module in the intersection passage decision method of the present application may be directly in hardware, in a software module executed by a processor, or in a combination of the two.
A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium.
The Processor may be a Central Processing Unit (CPU), other general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), other Programmable logic devices, discrete Gate or transistor logic, discrete hardware components, or any combination thereof. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.
In another embodiment of the present application, a computer device, wherein the computer device comprises the intersection passage decision method described in any one of the embodiments. Optionally, the device is used for implementing the intersection passage decision method in the embodiments of fig. 1 and fig. 2 in the present specification.
In another embodiment of the present application, a vehicle, wherein the vehicle comprises the intersection passage decision method in any of the embodiments. Optionally, the vehicle comprises a processor and a memory, the processor and the memory being coupled, and the vehicle is used for implementing the intersection passage decision method in the embodiments of fig. 1 and fig. 2 of the present specification.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and all equivalent structural changes made by using the contents of the specification and the drawings, which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.
Claims (14)
1. An intersection passage decision method is characterized by comprising the following steps:
under the condition that a traffic light of a vehicle to pass through an intersection flickers, setting time length, congestion time in the area of the intersection and consumed time of the traffic light in the flicking state according to the flickering state of the traffic light, and obtaining the passable time length of the vehicle;
extracting a path corresponding to the passable time length from the planned track of the vehicle, and taking the length of the path as the planned passable distance of the vehicle in the passable time length;
and determining the intersection passing decision of the vehicle according to the size relation between the planned passable distance and the distance between the vehicle and the intersection stop line.
2. The intersection passage decision method of claim 1,
and calculating the congestion time in the intersection area according to the number of target vehicles in the driving direction of the vehicles in the intersection area and the preset congestion time of a single target vehicle.
3. The intersection passage decision method according to claim 1 or 2, comprising:
calculating the comfort braking distance of the vehicle according to a preset vehicle comfort parameter;
and determining the intersection passing decision of the vehicle according to the magnitude relation between the planned passable distance and the distance between the vehicle and the intersection stop line and the magnitude relation between the comfort braking distance and the distance between the vehicle and the intersection stop line.
4. The intersection passage decision method of claim 3, comprising:
according to predetermined vehicle comfort level parameter, calculate the travelling comfort of vehicle and stop the distance and include: calculating to obtain a first comfort braking distance of the vehicle under the condition of medium-low speed running according to a preset maximum acceleration of the vehicle, a corresponding maximum acceleration change rate of the vehicle, a current acceleration of the vehicle, a current speed of the vehicle and a braking time of the vehicle; calculating a second comfortable braking distance of the vehicle under the condition of high-speed running according to the current acceleration of the vehicle and the current speed of the vehicle;
under the condition that the vehicle runs at a medium and low speed, determining an intersection decision of the vehicle according to the magnitude relation between the planned passable distance and the distance between the vehicle and the intersection stop line and the magnitude relation between the first comfort stopping distance and the distance between the vehicle and the intersection stop line;
and under the condition that the vehicle runs at a high speed, determining the intersection decision of the vehicle according to the magnitude relation between the planned passable distance and the distance between the vehicle and the intersection stop line and the magnitude relation between the second comfort braking distance and the distance between the vehicle and the intersection stop line.
5. The intersection passage decision method of claim 3, comprising:
and making a vehicle passing decision under the condition that the comfort braking distance is greater than the distance between the vehicle and the intersection stop line, and the planned passable distance is greater than the distance between the vehicle and the intersection stop line.
6. The intersection passage decision method of claim 3, comprising:
and sending a passing decision to the vehicle under the condition that the planned passable distance is greater than the distance between the vehicle and the intersection stop line by a first preset proportion, and the comfort brake stopping distance is greater than the distance between the vehicle and the intersection stop line by a second preset proportion, wherein the first preset proportion is greater than 1, and the second preset proportion is less than 1.
7. The intersection passage decision method of claim 3, comprising:
and sending a passing decision to the vehicle under the condition that the planned passable distance is greater than the distance between the vehicle and the intersection stop line in a third predetermined proportion, and the comfort braking distance is greater than the distance between the vehicle and the intersection stop line in a fourth predetermined proportion, wherein the third predetermined proportion is less than 1, and the fourth predetermined proportion is greater than 1.
8. The intersection passage decision method of claim 1, comprising:
and under the condition that the vehicle runs through the intersection stop line to enter the intersection, determining the passing decision of the vehicle in the intersection area according to the state of an intersection indicator light, the current motion state of the vehicle, the passing distance of the vehicle in the intersection and/or the longitudinal following target number of the vehicle.
9. The intersection passage decision method according to claim 1, wherein obtaining the passable time length of the vehicle according to the blinking state setting time length of the passage lamp, the congestion time in the intersection area, and the elapsed time of the passage lamp in the blinking state comprises:
and subtracting the congestion time in the intersection area from the set time length of the flashing state of the traffic light, and subtracting the consumed time of the traffic light in the flashing state to obtain the passable time length of the vehicle.
10. An intersection passage decision device, comprising:
the system comprises a passable time length acquisition module, a passing time length acquisition module and a passing time length calculation module, wherein the passable time length acquisition module is used for calculating the passable time length of a vehicle according to the set time length of the blinking state of a passing lamp, the congestion time in the intersection area and the consumed time of the passing lamp in the blinking state under the condition that the passing lamp of the intersection of the vehicle is blinking;
the planned passable distance acquisition module is used for extracting a path corresponding to the passable time length from a planned track of the vehicle and taking the length of the path as the planned passable distance of the vehicle in the passable time length;
and the decision module is used for determining the intersection passing decision of the vehicle according to the size relation between the planned passable distance and the distance between the vehicle and the intersection stop line.
11. The intersection passage decision device of claim 10, further comprising:
the low-speed traffic protection module is used for determining a traffic decision of the vehicle in the intersection area according to the states of intersection indicator lamps, the current motion state of the vehicle, the traffic distance of the vehicle in the intersection and/or the number of longitudinal following targets of the vehicle under the condition that the vehicle runs through the intersection stop line to enter the intersection.
12. A computer readable storage medium having stored thereon computer instructions that, when executed, cause a computer to perform the intersection passage decision method of any of claims 1-9.
13. A computer device comprising a processor and a memory, the memory storing computer instructions, wherein the computer instructions, when executed by the processor, implement the intersection passage decision method of any one of claims 1-9.
14. A vehicle characterized in that the vehicle comprises the intersection passage decision device of claim 10.
Priority Applications (2)
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| CN202210191389.7A CN114261401B (en) | 2022-03-01 | 2022-03-01 | Intersection traffic decision method, device, medium, equipment and vehicle |
| PCT/CN2022/137966 WO2023165205A1 (en) | 2022-03-01 | 2022-12-09 | Intersection passing decision-making method and apparatus, medium, device, and vehicle |
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| CN202210191389.7A CN114261401B (en) | 2022-03-01 | 2022-03-01 | Intersection traffic decision method, device, medium, equipment and vehicle |
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| CN114655256A (en) * | 2022-05-12 | 2022-06-24 | 北京小马智卡科技有限公司 | Vehicle decision method, device and equipment |
| WO2023165205A1 (en) * | 2022-03-01 | 2023-09-07 | 魔门塔(苏州)科技有限公司 | Intersection passing decision-making method and apparatus, medium, device, and vehicle |
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| CN114261401B (en) | 2023-02-17 |
| WO2023165205A1 (en) | 2023-09-07 |
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