CN114633749A - Unmanned vehicle - Google Patents
Unmanned vehicle Download PDFInfo
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- CN114633749A CN114633749A CN202210177976.0A CN202210177976A CN114633749A CN 114633749 A CN114633749 A CN 114633749A CN 202210177976 A CN202210177976 A CN 202210177976A CN 114633749 A CN114633749 A CN 114633749A
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18154—Approaching an intersection
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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
- B60W60/001—Planning or execution of driving tasks
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
Abstract
The embodiment of the invention discloses a method for merging lanes according to traffic lights, which comprises the steps of judging whether a lane changing requirement exists in an unmanned vehicle or not; if yes, acquiring a target lane corresponding to the lane change requirement; when a first non-merged road section, a first merge-able road section, a traffic light, a second non-merged road section and a second merge-able road section are sequentially arranged on the target lane, whether the length of the first merge-able road section is smaller than a first preset threshold value is judged; if yes, judging whether the first merge-able road section is located in a turning lane or not, and judging whether the vehicle is allowed to turn or not at the traffic light; if so, judging whether the length of the second merge-able road section is greater than or equal to a first preset threshold value; and if so, controlling the unmanned vehicle to merge into the target lane on the second merge-able road section, so that the unmanned vehicle can successfully merge into the target lane through the second merge-able road section and the merging is completely in accordance with the traffic rules.
Description
Technical Field
The embodiment of the invention relates to the technical field of unmanned vehicles, in particular to an unmanned vehicle.
Background
Artificial intelligence is a future development trend, and unmanned vehicles closely related to artificial intelligence will be a hot field of future development. The unmanned vehicle mainly depends on high-precision maps, positioning, perception and the like to obtain the conditions near the vehicle, and is very intelligent and advanced. The appearance of the unmanned vehicle undoubtedly brings unprecedented experience to the traveling of people.
However, in the process of implementing the present invention, the inventors of the present invention found that: when the current driverless vehicle runs on a driving lane and needs to change the lane to a target lane, the lane change is usually performed on an incorporable road section nearest to a trigger target triggering the lane change requirement, but when the length of the nearest incorporable road section is too short, the driverless vehicle is easy to fail to merge the lane.
Disclosure of Invention
In view of the above, embodiments of the present invention provide an unmanned vehicle that overcomes or at least partially solves the above problems.
According to an aspect of an embodiment of the present invention, there is provided a method of merging lanes according to traffic lights, the method including: judging whether the unmanned vehicle has a lane change requirement or not according to a preset running route of the unmanned vehicle; if yes, acquiring a target lane corresponding to the lane change requirement; when a first non-merged road section, a first merge-able road section, a traffic light, a second non-merged road section and a second merge-able road section are sequentially arranged on the target lane from a trigger target of the lane change requirement, and the first non-merged road section, the first merge-able road section, the traffic light, the second non-merge-able road section and the second merge-able road section are all positioned in front of the unmanned vehicle, judging whether the length of the first merge-able road section is smaller than a first preset threshold value; if the length of the first merge-able road section is smaller than a first preset threshold value, judging whether the first merge-able road section is located in a turning lane or not, and judging whether the vehicle is allowed to turn or not at the traffic light; if the first merge-able road section is located in a turning lane and the vehicle is not allowed to turn at the traffic light, judging whether the length of the second merge-able road section is greater than or equal to a first preset threshold value; if the length of the second merge-able road section is greater than or equal to a first preset threshold value, controlling the unmanned vehicle to merge into the target lane on the second merge-able road section; the step of controlling the unmanned vehicle to merge into the target lane at the second merges-able segment, further comprising: comparing the length of the second merge-able segment with a second preset threshold; if the length of the second merge-able segment is less than the second preset threshold, controlling the unmanned vehicle to merge into the target lane at the second merge-able segment at a reduced speed; if the length of the second merge-able section is greater than or equal to the second preset threshold, controlling the unmanned vehicle to merge into the target lane on the second merge-able section at a normal speed.
According to an aspect of an embodiment of the present invention, there is provided an apparatus for merging lanes according to traffic lights, the apparatus including: the first judgment module is used for judging whether the unmanned vehicle has a lane change requirement or not according to a preset running route of the unmanned vehicle; the acquisition module is used for acquiring a target lane corresponding to the lane change requirement if the lane change requirement exists; a second judging module, configured to, when a first non-merged road segment, a first mergeable road segment, a traffic light, a second non-merged road segment, and a second mergeable road segment are sequentially located on the target lane from a trigger target of the lane change request, and the first non-merged road segment, the first mergeable road segment, the traffic light, the second non-merged road segment, and the second mergeable road segment are all located in front of the unmanned vehicle, judge whether a length of the first mergeable road segment is smaller than a first preset threshold; the third judging module is used for judging whether the first merge-able road section is positioned in a turning lane or not and judging whether the vehicle is allowed to turn or not at the traffic light if the length of the first merge-able road section is smaller than a first preset threshold value; the fourth judging module is used for judging whether the length of the second merge-able road section is greater than or equal to a first preset threshold value or not if the first merge-able road section is located in a turning lane and the vehicle is not allowed to turn at the traffic light; the first control module is used for controlling the unmanned vehicle to merge into the target lane on the second merge-able road section if the length of the second merge-able road section is greater than or equal to a first preset threshold value; the first control module includes: the comparison unit is used for comparing the length of the second merge-able road section with the size of a second preset threshold value; a first control unit, configured to control the unmanned vehicle to merge into the target lane at the second merge-able road segment at a reduced speed if the length of the second merge-able road segment is smaller than the second preset threshold; a second control unit, configured to control the unmanned vehicle to merge into the target lane at the second merge-able road segment at a normal speed if the length of the second merge-able road segment is greater than or equal to the second preset threshold.
According to an aspect of an embodiment of the present invention, there is provided an unmanned vehicle including: at least one processor, and a memory communicatively coupled to the at least one processor, the memory storing instructions executable by the at least one processor to enable the at least one processor to perform a method as described above.
The embodiment of the invention has the beneficial effects that: different from the existing method for merging lanes according to the traffic lights, the method for merging lanes according to the traffic lights in the embodiment of the invention can realize that when the mergeable road section closest to the trigger target of the lane change requirement is too short, the unmanned vehicle can successfully merge lanes before the trigger target of the lane change requirement through the second mergeable road section and completely accord with the traffic rules when merging lanes.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings which correspond to and are not to be construed as limiting the embodiments, in which elements having the same reference numeral designations represent like elements throughout, and in which the drawings are not to be construed as limiting in scale unless otherwise specified.
FIG. 1 is a schematic flow chart of a method for merging lanes according to traffic lights according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram illustrating one implementation of determining whether a lane change is required for an unmanned vehicle in accordance with an embodiment of the present invention;
FIG. 3 is a schematic flow chart of another method for merging lanes according to traffic lights according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating a method for controlling an unmanned vehicle to merge into the target lane at a second merge-able segment according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart diagram of one possible method for detecting whether an unmanned vehicle satisfies conditions for merging into a target lane, provided by embodiments of the present invention;
FIG. 6 is a schematic diagram of an apparatus for merging lanes according to traffic lights according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a hardware structure of an unmanned vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for descriptive purposes only.
In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example one
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for merging lanes according to traffic lights according to an embodiment of the present invention, the method including the following steps:
step S101, judging whether the unmanned vehicle has a lane change requirement or not according to a preset running route of the unmanned vehicle, and if so, executing step S102.
If the unmanned vehicle does not have the lane change requirement, the unmanned vehicle is only required to be controlled to run on the current running lane, and after the preset time, the step S101 is executed, namely after the preset time, whether the unmanned vehicle has the lane change requirement is judged.
When the user uses the unmanned vehicle, a preset travel route from the starting point to the destination will be generated. The preset driving route can be a driving route recommended by the unmanned vehicle according to the vehicle using time, the starting point, the destination and the vehicle using habits of the user, and can also be a driving route selected by the user according to the starting point, the destination and the like.
For example, the preset driving route includes going straight on the a road, going straight to the B turn intersection, then turning right to go straight on the C road, going straight to the D turn intersection, then turning left to go on the E road … …
Typically, the unmanned vehicle has a lane change requirement at a traffic light or at a turning intersection.
For example, when the unmanned vehicle needs to turn at a B-turn intersection, the unmanned vehicle needs to merge into a turning lane, and a lane change request exists.
In some embodiments, the step of determining whether there is a lane change requirement of the unmanned vehicle may refer to fig. 2, and step S101 includes the steps of:
step S1011, acquiring a driving lane on which the unmanned vehicle is currently driving.
The driving lanes may be a straight lane, a turning lane turning to the left, and a right-turning lane turning to the right.
Step S1012, obtaining the nearest first turning intersection that needs to be turned from the preset driving route of the unmanned vehicle.
In some embodiments, the first turn intersection is provided with a traffic light, and the traffic light is a traffic light that allows turning.
Step S1013, a first turning lane corresponding to the first turning intersection is acquired.
The first turning lane corresponding to the first turning intersection corresponds to a driving route of 'turning'. For a single row of turning lanes, for example, a right turn, the turning lane is the lane furthest from the roadway boundary. For example, turning left, the turning lane is the lane closest to the lane-dividing line.
It should be noted that, for a double row of turning lanes or a multiple row of turning lanes, all the turning lanes need to be acquired.
Step S1014, determining whether the first turning lane is the same as the driving lane, if not, executing step S1015, otherwise, executing step S1016.
For example, if the driving lane of the unmanned vehicle is a straight driving lane, the first turning lane is different from the driving lane, and step S1015 is executed to determine that there is a lane change requirement for the unmanned vehicle.
For example, if the driving lane of the unmanned vehicle is a turning lane turning to the left and the first turning lane is a turning lane turning to the right, the first turning lane is different from the driving lane, and step S1015 is executed to determine that the unmanned vehicle has a lane change requirement.
For example, if the driving lane of the unmanned vehicle is a turning lane for turning to the right and the first turning lane is a turning lane for turning to the right, the first turning lane is the same as the driving lane, and step S1016 is performed.
Step S1015, determining that the unmanned vehicle has a lane change requirement, where the first turning lane is a target lane corresponding to the lane change requirement.
Step S1016, obtaining a second turning intersection needing to turn, which is closest to the first turning intersection, from a preset driving route of the unmanned vehicle.
And step S1017, acquiring a second turning lane corresponding to the second turning intersection.
Step S1018, determining whether the second turning lane is the same as the driving lane, and if not, executing step S1019.
Step S1019, determining that the unmanned vehicle has a lane change requirement, wherein the second turning lane is a target lane corresponding to the lane change requirement.
And if the second turning lane is the same as the driving lane, determining that the unmanned vehicle has no lane changing requirement.
And step S102, acquiring a target lane corresponding to the lane change requirement.
According to the above steps S1011 to S1019, when the first turning lane is different from the driving lane, the target lane is the first turning lane, and the trigger target of the lane change requirement is the first turning lane; the first turning lane is the same as the driving lane, when the second turning lane is different from the driving lane, the target lane is the second turning lane, and the triggering target of the lane change requirement is the second turning lane.
Step S103, when a first non-merged road section, a first merge-able road section, a traffic light, a second non-merged road section and a second merge-able road section are sequentially arranged on the target lane from the trigger target of the lane change requirement, and the first non-merged road section, the first merge-able road section, the traffic light, the second non-merge-able road section and the second merge-able road section are all located in front of the unmanned vehicle, judging whether the length of the first merge-able road section is smaller than a first preset threshold value, and if the length of the first merge-able road section is smaller than the first preset threshold value, executing step S104.
Wherein the first non-merged road segment and the second non-merged road segment comprise a congested road segment and a solid road segment, respectively.
Wherein the first and second mergeable segments are not congested segments and are not solid segments.
Wherein one achievable measurement method of the length of the first incorporable segment is: the unmanned vehicle is provided with a vehicle-mounted radar, the vehicle-mounted radar continuously transmits signals and receives echo signals of objects, the distance between the objects and the vehicle-mounted radar can be determined according to the transmitted signals and the echo signals of the objects, the vehicle-mounted radar determines a first distance between the unmanned vehicle and the first non-merging road section and a second distance between the unmanned vehicle and the second non-merging road section, and the length of the first merging road section is obtained by subtracting the second distance from the first distance.
The first preset threshold is a merging safety distance, and for a vehicle running normally, the merging safety distance can be set to be 50 meters.
If the length of the first merge-able segment is less than a first preset threshold, it is unsafe to merge at the first merge-able segment, and thus it can be detected whether the second merge-able segment fits into a merge.
It should be noted that, if the length of the first merge-able segment is greater than or equal to a first preset threshold, step S107 may be executed to control the unmanned vehicle to merge into the target lane on the first merge-able segment.
Step S104, if the length of the first merge-able road section is smaller than a first preset threshold value, judging whether the first merge-able road section is located in a turning lane, and judging whether the vehicle is allowed to turn at the traffic light, if the first merge-able road section is located in the turning lane and the vehicle is not allowed to turn at the traffic light, step S105 is executed.
If the length of the first merge-able segment is less than a first preset threshold, it may be detected whether the second merge-able segment is suitable for a vehicle merge. Because there is a traffic light between the first merge-able segment and the second non-merge segment, merging of vehicles on the second merge-able segment is traffic-compliant only if the first merge-able segment is located on a turning lane and the vehicle is not allowed to turn at the traffic light.
In some embodiments, when the target lane has a first non-merge section, a first merge-able section, a second non-merge section, and a second merge-able section in sequence from the trigger target of the lane change request, and the length of the first merge-able section is less than a first preset threshold, step S104 may be performed, or when the second merge-able section and the unmanned vehicle have a turn intersection therebetween, the unmanned vehicle has no lane change request at the turn intersection, and the trigger target has a target point in front of the trigger target, referring to fig. 3, the following steps may also be performed before step S104:
step S201, detecting whether the unmanned vehicle has an optional route from the target point, if the unmanned vehicle does not have an optional route from the target point, executing step S104, and if the unmanned vehicle has an optional route from the target point, executing step S202.
For example, the preset driving route is that the vehicle travels straight on the road b at the turn intersection a, and the vehicle travels straight to reach the turn intersection c at the target point after the triggering target turns, and the selectable route may be that the vehicle travels straight on the road d at the turn intersection a and travels straight to reach the turn intersection c at the target point after the vehicle passes through the turn intersection e.
The target point is a certain position point in front of the trigger target, for example, the target point may be a turning intersection in front of the trigger target, which needs to be turned.
When the second non-merged road segment is a road segment from the unmanned vehicle and the target point is a turning intersection that needs to be turned ahead of the trigger target, it is obvious that there is no alternative route, and then only step S104 can be executed.
When a turning intersection is arranged between the second non-merged road segment and the unmanned vehicle and no lane change requirement exists between the unmanned vehicle and the turning intersection, the unmanned vehicle has a selectable route from the target point, and then step S202 is executed.
Step S202, predicting first driving time of the unmanned vehicle to reach the target point through the preset driving route, and predicting second driving time of the unmanned vehicle to reach the target point through the selectable route.
The first driving time and the second driving time may refer to historical data of the vehicle at the current time.
Step S203, determining whether the first driving time is less than or equal to the second driving time, and if the first driving time is less than or equal to the second driving time, executing step S104.
And when the first driving time is less than or equal to the second driving time, namely the time for the unmanned vehicle to reach the target point through the preset driving route is less than or equal to the time for the unmanned vehicle to reach the target point through the selectable route, the unmanned vehicle still selects to drive according to the preset driving route.
And when the first driving time is longer than the second driving time, the unmanned vehicle can be selected to drive according to an optional route so as to guarantee the driving time of the unmanned vehicle.
Step S105, determining whether the length of the second merge-able segment is greater than or equal to a first preset threshold, and if the length of the second merge-able segment is greater than or equal to the first preset threshold, executing step S106.
Step S106, controlling the unmanned vehicle to merge into the target lane on the second merge-able road section.
When there is a traffic light between the first merge-able segment and the second non-merge segment, the first merge-able segment is located on a turning lane, the first traffic light does not allow the vehicle to turn, then the unmanned vehicle is driven to travel fully in accordance with the traffic regulations by merging the second merge-able segment into the target lane and sequentially passing through the second merge-able segment, the second non-merge segment, the first merge-able segment and the first non-merge segment, and turning at the trigger target.
When the length of the second merge-able segment is greater than or equal to the first preset threshold, step S106 may be executed. In some embodiments, referring to fig. 4, step S106 includes:
step S1061, comparing the length of the second merge-able road segment with a second preset threshold, if the length of the second merge-able road segment is less than the second preset threshold, performing step S1062, and if the length of the second merge-able road segment is greater than or equal to the second preset threshold, performing step S1063.
In some embodiments, the second preset threshold is a merge safety distance plus a braking distance, and generally, the merge safety distance may be set to 50 meters, and the braking distance may be set to 35 meters, and then the second preset threshold may be set to 85 meters.
Of course, the merging safety distance or the braking distance may be set to other values.
In step S1062, the unmanned vehicle is controlled to slow down and merge into the target lane at the second merge-able segment.
It should be noted that, when the length of the second merge-able road segment is smaller than a second preset threshold, the unmanned vehicle is controlled to reduce the speed, and when the second merge-able road segment merges into the target lane, the driving safety of the unmanned vehicle can be further ensured.
In step S1063, the unmanned vehicle is controlled to merge into the target lane at the second merge-able road segment at a normal speed.
It should be noted that, when the length of the second merge-able road segment is greater than or equal to a second preset threshold, the unmanned vehicle is controlled to have a normal speed, and when the second merge-able road segment merges into the target lane, the driving speed of the unmanned vehicle and the time for the unmanned vehicle to reach the destination are not affected.
It should be noted that, in some embodiments, before step S106, it is further detected whether the unmanned vehicle meets the condition of merging into the target lane, and step S106 is executed when the unmanned vehicle meets the condition of merging into the target lane.
The step of detecting whether the unmanned vehicle meets the condition of merging into the target lane, specifically, referring to fig. 5, may include the following steps:
step S301, identifying whether the unmanned vehicle is located on a lane adjacent to the target lane, if so, executing step S302.
If the unmanned vehicle is identified not to be located on the lane adjacent to the target lane, the unmanned vehicle needs to be merged into the lane adjacent to the target lane.
Step S302 of detecting whether there is a vehicle in parallel with the unmanned vehicle on the lane, and if there is the vehicle in parallel, executing step S303, and if there is no vehicle in parallel, executing step S304.
The with the side by side vehicle of unmanned vehicles side by side, include the rear of a vehicle side by side with the locomotive of unmanned vehicles is parallel, include the rear of a vehicle side by side with the automobile body of unmanned vehicles is parallel, include the locomotive of side by side vehicle with the automobile body of unmanned vehicles is parallel, and include the locomotive of side by side vehicle with the rear of a vehicle of unmanned vehicles is parallel.
Step S303, determining that the unmanned vehicle does not satisfy a condition for merging into the target lane.
If there are vehicles in parallel with the unmanned vehicle on the target lane, the unmanned vehicle cannot be merged into the target lane at this time.
Step S304, determining that the unmanned vehicle meets the condition of merging into the target lane.
The step of detecting whether the unmanned vehicle meets the condition for merging into the target lane is performed before entering step S106, that is, after the length of the second mergeable section is greater than or equal to a first preset threshold value, which is generally selected to be a merging safety distance, so that when it is detected whether the unmanned vehicle meets the condition for merging into the target lane, it can be determined that the unmanned vehicle meets the condition for merging into the target lane when the unmanned vehicle is located on a lane adjacent to the target lane and when there is no side-by-side vehicle on the target lane which is side-by-side with the unmanned vehicle.
When it is determined that the condition for merging into the target lane is satisfied, the unmanned vehicle may be controlled to merge into the target lane, thereby further securing the merging of the unmanned vehicle into the target lane.
In some embodiments, in performing step S106, the unmanned vehicle may be controlled to illuminate a corresponding turn light.
The turn signal lamp is a turn signal lamp that is turned on when the vehicle is turning left, and a turn signal lamp that is turned on when the vehicle is turning right.
In the embodiment of the invention, whether the unmanned vehicle has a lane change requirement is judged according to the preset running route of the unmanned vehicle; if yes, acquiring a target lane corresponding to the lane changing requirement; when a first non-merged road section, a first merge-able road section, a traffic light, a second non-merged road section and a second merge-able road section are sequentially arranged on the target lane from a trigger target of the lane change requirement, and the first non-merged road section, the first merge-able road section, the traffic light, the second non-merge-able road section and the second merge-able road section are all positioned in front of the unmanned vehicle, judging whether the length of the first merge-able road section is smaller than a first preset threshold value; if the length of the first merge-able road section is smaller than a first preset threshold value, judging whether the first merge-able road section is located in a turning lane or not, and judging whether the vehicle is allowed to turn or not at the traffic light; if the first merge-able road section is located in a turning lane and the vehicle is not allowed to turn at the traffic light, judging whether the length of the second merge-able road section is greater than or equal to a first preset threshold value; and if the length of the second merge-able road section is greater than or equal to a first preset threshold value, controlling the unmanned vehicle to merge into the target lane on the second merge-able road section, so that when the merge-able road section closest to the trigger target of the lane change requirement is too short, the unmanned vehicle can successfully merge into the lane before the trigger target of the lane change requirement and completely meet the traffic rules when merging is realized through the second merge-able road section.
Example two
Referring to fig. 6, fig. 6 is a schematic diagram of an apparatus for merging lanes according to traffic lights according to an embodiment of the present invention, where the apparatus 400 includes: the first judging module 401 is configured to judge whether the unmanned vehicle has a lane change requirement according to a preset driving route of the unmanned vehicle; an obtaining module 402, configured to obtain a target lane corresponding to the lane change requirement if the lane change requirement exists; a second determination module 403, configured to determine whether a length of the first merge-able road segment is smaller than a first preset threshold value when the target lane has a first non-merge-able road segment, a first merge-able road segment, a traffic light, a second non-merge-able road segment, and a second merge-able road segment in sequence from a trigger target of the lane change requirement, and the first non-merge-able road segment, the first merge-able road segment, the traffic light, the second non-merge-able road segment, and the second merge-able road segment are all located in front of the unmanned vehicle; a third determining module 404, configured to determine whether the first merge-able road segment is located in a turning lane and whether the vehicle is allowed to turn at the traffic light if the length of the first merge-able road segment is smaller than a first preset threshold; a fourth determining module 405, configured to determine whether a length of the second merge-able road segment is greater than or equal to a first preset threshold if the first merge-able road segment is located in a turning lane and the vehicle is not allowed to turn at the traffic light; a first control module 406, configured to control the unmanned vehicle to merge into the target lane on the second merge-able road segment if the length of the second merge-able road segment is greater than or equal to a first preset threshold.
In some embodiments, the first control module 406 includes: a comparing unit 4061, configured to compare the length of the second merge-able segment with a second preset threshold; a first control unit 4062, configured to control the unmanned vehicle to merge into the target lane on the second merge-able road segment at a reduced speed if the length of the second merge-able road segment is smaller than the second preset threshold; a second control unit 4063, configured to control the unmanned vehicle to merge into the target lane on the second merge-able road segment at a normal speed if the length of the second merge-able road segment is greater than or equal to the second preset threshold.
In some embodiments, the apparatus further comprises: a first control module 407, configured to control the unmanned vehicle to merge into the target lane on the first merge-able road segment if the length of the first merge-able road segment is greater than or equal to a first preset threshold.
In some embodiments, the first determining module 401 includes: a first obtaining unit 4011 configured to obtain a driving lane in which the unmanned vehicle is currently driving;
a second obtaining unit 4012, configured to obtain a nearest first turning intersection that needs to be turned from a preset driving route of the unmanned vehicle; a third obtaining unit 4013, configured to obtain a first turning lane corresponding to the first turning intersection; a first judgment unit 4014 configured to judge whether the first turning lane is the same as the driving lane; the first determining unit 4015 is configured to determine that the unmanned vehicle has a lane change requirement if the first turning lane is different from the driving lane, where the first turning lane is a target lane corresponding to the lane change requirement; a fourth obtaining unit 4016, configured to obtain, from a preset driving route of the unmanned vehicle, a second turning intersection that is closest to the first turning intersection and needs to turn, if the first turning lane is the same as the driving lane; a fifth obtaining unit 4017, configured to obtain a second turning lane corresponding to the second turning intersection; a second determination unit 4018 configured to determine whether the second turning lane is the same as the driving lane; a second determining unit 4019, configured to determine that the unmanned vehicle has a lane change requirement if the second turning lane is different from the driving lane, where the second turning lane is a target lane corresponding to the lane change requirement.
In some embodiments, the second merge-able segment and the unmanned vehicle have a turn intersection therebetween, the unmanned vehicle having no lane change requirements at the turn intersection, the trigger target having a target point in front of, the apparatus further comprising: a detecting module 408, configured to detect whether the unmanned vehicle has an optional route from the target point, and if the unmanned vehicle does not have an optional route from the target point, execute the third determining module 404; a prediction module 409, configured to predict, if the unmanned vehicle has a selectable route from the target point, a first driving time for the unmanned vehicle to reach the target point through the preset driving route, and predict a second driving time for the unmanned vehicle to reach the target point through the selectable route; a fifth determining module 410, configured to determine whether the first driving time is less than or equal to the second driving time, and if the first driving time is less than or equal to the second driving time, execute the third determining module 404.
In the embodiment of the invention, whether the unmanned vehicle has a lane change requirement is judged by a first judging module 401 according to a preset driving route of the unmanned vehicle; if the lane change requirement exists, a target lane corresponding to the lane change requirement is acquired through an acquisition module 402; when a first non-merged road segment, a first merge-able road segment, a traffic light, a second non-merged road segment and a second merge-able road segment are sequentially arranged on the target lane from the trigger target of the lane change requirement, and the first non-merged road segment, the first merge-able road segment, the traffic light, the second non-merge-able road segment and the second merge-able road segment are all located in front of the unmanned vehicle, judging whether the length of the first merge-able road segment is smaller than a first preset threshold value through a second judging module 403; if the length of the first merge-able road segment is less than a first preset threshold, determining, by a third determining module 404, whether the first merge-able road segment is located in a turning lane, and determining whether the vehicle is allowed to turn at the traffic light; if the first merge-able road segment is located in a turning lane and the vehicle is not allowed to turn at the traffic light, determining, by a fourth determination module 405, whether the length of the second merge-able road segment is greater than or equal to a first preset threshold; if the length of the second merge-able road section is greater than or equal to a first preset threshold value, the first control module 406 controls the unmanned vehicle to merge into the target lane on the second merge-able road section, so that when the merge-able road section closest to the trigger target of the lane change requirement is too short, the unmanned vehicle can successfully merge into the lane before the trigger target of the lane change requirement and completely meet the traffic rules when merging is achieved through the second merge-able road section.
EXAMPLE III
Referring to fig. 7, fig. 7 is a schematic hardware structure diagram of an unmanned vehicle according to an embodiment of the present invention. The unmanned vehicle 500 includes: one or more processors 501 and memory 502, one for example in fig. 7.
The processor 501 and the memory 502 may be connected by a bus or other means, and in the embodiment of the present invention, the bus connection is taken as an example.
The memory 502, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules (e.g., the various modules shown in fig. 6) corresponding to the method for merging lanes according to traffic lights in an embodiment of the present invention. The processor 501 executes various functional applications and data processing of the device for merging lanes according to traffic lights by running nonvolatile software programs, instructions and modules stored in the memory 502, that is, implements the method for merging lanes according to traffic lights of the above-described method embodiments.
The memory 502 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of a device for merging lanes according to traffic lights, and the like. Further, the memory 502 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 502 optionally includes memory located remotely from processor 501, which may be connected to control unmanned vehicle devices via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 502 and, when executed by the one or more processors 501, perform a method of merging lanes according to traffic lights in any of the method embodiments described above.
The product can execute the method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided by the embodiment of the present invention.
Embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer-executable instructions for an unmanned vehicle to perform a method of merging lanes according to traffic lights in any of the above-described method embodiments.
Embodiments of the present invention provide a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by a computer, cause the computer to perform a method of merging lanes according to traffic lights in any of the above-described method embodiments.
The above-described embodiments of the apparatus are merely illustrative, and 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 modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.
Claims (3)
1. An unmanned vehicle, comprising:
at least one processor, and a memory;
the memory communicatively coupled to the at least one processor, the memory storing instructions executable by the at least one processor, the instructions executable by the at least one processor to enable the at least one processor to perform steps comprising:
judging whether the unmanned vehicle has a lane change requirement or not according to a preset running route of the unmanned vehicle;
if yes, acquiring a target lane corresponding to the lane change requirement;
when a first non-merged road section, a first merge-able road section, a traffic light, a second non-merged road section and a second merge-able road section are sequentially arranged on the target lane from a trigger target of the lane change requirement, and the first non-merged road section, the first merge-able road section, the traffic light, the second non-merge-able road section and the second merge-able road section are all positioned in front of the unmanned vehicle, judging whether the length of the first merge-able road section is smaller than a first preset threshold value;
if the length of the first merge-able road section is smaller than a first preset threshold value, judging whether the first merge-able road section is located in a turning lane or not, and judging whether the vehicle is allowed to turn or not at the traffic light;
if the first merge-able road section is located in a turning lane and the vehicle is not allowed to turn at the traffic light, judging whether the length of the second merge-able road section is greater than or equal to a first preset threshold value;
if the length of the second merge-able road section is greater than or equal to a first preset threshold value, controlling the unmanned vehicle to merge into the target lane on the second merge-able road section;
the processor is further configured to perform steps comprising, prior to the steps of determining whether the first merge able segment is located in a turn lane, and determining whether the vehicle is permitted to turn at the traffic light:
detecting whether the unmanned vehicle has an alternative route from the target point;
if the unmanned vehicle has no optional route away from the target point, executing the steps of judging whether the first merge-able road section is positioned in a turning lane and judging whether the vehicle is allowed to turn at the traffic light;
if the unmanned vehicle has an optional route away from the target point, predicting first driving time of the unmanned vehicle reaching the target point through the preset driving route and predicting second driving time of the unmanned vehicle reaching the target point through the optional route;
and judging whether the first driving time is less than or equal to the second driving time, if so, executing the steps of judging whether the first merge-able road section is positioned in a turning lane and judging whether the vehicle is allowed to turn at the traffic light.
2. The unmanned vehicle of claim 1, wherein when the processor performs the step of determining whether there is a lane change requirement for the unmanned vehicle based on a preset driving route of the unmanned vehicle, the processor is further configured to perform the step of:
acquiring a driving lane where the unmanned vehicle is currently driving;
acquiring a nearest first turning intersection needing to be turned from a preset driving route of the unmanned vehicle;
acquiring a first turning lane corresponding to the first turning intersection;
judging whether the first turning lane is the same as the driving lane or not;
if the lane change requirements are different, determining that the unmanned vehicle has the lane change requirements, wherein the first turning lane is a target lane corresponding to the lane change requirements;
if the two intersection points are the same, acquiring a second turning intersection point which is closest to the first turning intersection point and needs to turn from a preset running route of the unmanned vehicle;
acquiring a second turning lane corresponding to the second turning intersection;
judging whether the second turning lane is the same as the driving lane or not;
if the second turning lane is different from the driving lane, determining that the unmanned vehicle has a lane changing requirement, wherein the second turning lane is a target lane corresponding to the lane changing requirement;
and if the second turning lane is the same as the driving lane, determining that the unmanned vehicle has no lane change requirement.
3. The unmanned vehicle of claim 1, wherein the processor, when performing the step of controlling the unmanned vehicle to merge into the target lane at the second merge-able segment, is further configured to perform steps comprising:
comparing the length of the second merge-able segment with a second preset threshold;
if the length of the second merge-able segment is less than the second preset threshold, controlling the unmanned vehicle to merge into the target lane at the second merge-able segment at a reduced speed;
if the length of the second merge-able section is greater than or equal to the second preset threshold, controlling the unmanned vehicle to merge into the target lane on the second merge-able section at a normal speed.
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| CN202210177976.0A CN114633749A (en) | 2021-01-11 | 2021-01-11 | Unmanned vehicle |
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| CN202110031277.0A CN112874535B (en) | 2021-01-11 | 2021-01-11 | Method and device for merging lanes according to traffic lights and unmanned vehicle |
| CN202210177976.0A CN114633749A (en) | 2021-01-11 | 2021-01-11 | Unmanned vehicle |
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| CN112874535A (en) | 2021-06-01 |
| CN114802245A (en) | 2022-07-29 |
| CN114802245B (en) | 2024-04-05 |
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