CN116729387A - Planning method and system for vehicle running track when passing through intersection - Google Patents

Abstract

The application discloses a planning method and a system for a vehicle running track when passing through an intersection, wherein the method comprises the following steps: acquiring the curvature of a lane line before the vehicle passes through the intersection, and if the curvature of the lane line is smaller than or equal to the preset curvature, simulating and generating a guide track passing through the intersection according to the curvature of the lane line, and correspondingly adjusting and controlling the steering wheel angle of the vehicle; if the opposite lane line is identified, selecting a lane with the minimum transverse turning angle of the steering wheel as a target lane to continue running; if the opposite lane line is not identified and the guide vehicle is detected to be in front, acquiring a driving track corner of the guide vehicle; and controlling the vehicle to travel along the travel track of the guide vehicle until the opposite lane line is identified or prompting the driver to take over the vehicle according to the interval range of the travel track corner. The intelligent driving assistance system effectively guarantees the use continuity of the intelligent driving assistance system on roads with more intersections, effectively reduces the taking-over rate when passing through the intersections, improves the safety of passing through the intersections, and improves the driving experience of drivers.

Description

Planning method and system for vehicle running track when passing through intersection

Technical Field

The application relates to the technical field of intelligent driving assistance, in particular to a method and a system for planning a vehicle running track when passing through an intersection, a vehicle and a computer readable storage medium.

Background

Along with the intellectualization and science and technology of automobile products, the functional requirements of people on intelligent driving auxiliary systems are higher and higher. In order to meet the requirements of users on the auxiliary driving function of automobiles, automobiles with L1-L2 driving auxiliary systems are produced in large scale. The L1 driving auxiliary system can assist the vehicle to complete a longitudinal control function, and the L2 driving auxiliary system comprises a low-order longitudinal auxiliary control function and a high-order transverse longitudinal auxiliary control function.

At present, the transverse control of the intelligent driving auxiliary function is to identify standard clear lane lines based on cameras to carry out planning of driving routes so as to realize transverse stable control of vehicles, most of the solutions in the industry at present are to identify opposite lane lines when the lane lines of vehicles passing through an intersection disappear, and the vehicle alarms to remind a driver to timely take over the control of the vehicles, and if the opposite lane lines are identified, the vehicles enter a lane with the minimum rotation angle of a transverse steering wheel.

The road junction in the urban road always lacks one section lane line, because the limited reason of lane line distance that high definition video head can discern, lead to there being intelligent driving auxiliary system unable in time to discern the place ahead lane line of road junction, the system can't in time plan the orbit of traveling through the road junction, the corner of correct control vehicle steering wheel causes the vehicle orbit to have the deviation, influence driving safety, and on the urban road that the road junction is more, the withdrawal of intelligent driving auxiliary function or the warning reminds the driver to take over the back function and withdraw from, influence the continuity that intelligent driving auxiliary function used, influence user's driving experience.

Accordingly, the prior art is still in need of improvement and development.

Disclosure of Invention

The application mainly aims to provide a planning method, a planning system, a vehicle and a computer readable storage medium for a vehicle running track when passing through an intersection, and aims to solve the problems that in the prior art, when a vehicle carrying an intelligent driving assistance function passes through a lane-free intersection, the control of a steering wheel of the vehicle is unstable, the danger coefficient is increased, the continuity of the use of the intelligent driving assistance function is frequently influenced by function withdrawal, and the driving experience of a driver is frequently influenced by warning reminding the driver to take over.

An embodiment of a first aspect of the present application provides a method for planning a vehicle travel track when passing through an intersection, including the steps of: acquiring the curvature of a lane line before a vehicle passes through an intersection, and if the curvature of the lane line is smaller than or equal to a preset curvature, simulating and generating a guide track passing through the intersection according to the curvature of the lane line, and correspondingly adjusting and controlling the steering wheel corner of the vehicle according to the guide track; in the running process of the vehicle according to the guiding track, if a facing lane line is identified, selecting a lane with the minimum transverse turning angle of the steering wheel as a target lane to continue running; if the opposite lane line is not identified and the guide vehicle is detected to be in front of the vehicle, acquiring a driving track corner of the guide vehicle; and controlling the vehicle to travel along the travel track of the guide vehicle until the opposite lane line is identified or prompting the driver to take over the vehicle according to the interval range of the travel track corner.

According to the technical means, the embodiment of the application can plan the guiding running track of the vehicle when passing through the lane line-free road junction based on the curvature of the original lane line before the road junction, whether the guiding vehicle exists in front of the vehicle and whether the opposite lane line can be identified, correspondingly adjust and control the steering wheel corner of the vehicle, can effectively ensure the continuity of the intelligent driving auxiliary system when being used on urban roads with more traffic road junctions, effectively reduce the pipe-reporting rate when the system passes through the road junction, improve the safety of the system under the working condition of the road junction, improve the driving experience of a driver, ensure the safety and the reliability of automatic driving and improve the driving comfort of users.

Optionally, in one embodiment of the present application, the obtaining a lane curvature of the vehicle before passing through the intersection, if the lane curvature is less than or equal to a preset curvature, simulates and generates a guiding track passing through the intersection according to the lane curvature, and correspondingly adjusts and controls a steering wheel angle of the vehicle according to the guiding track, which specifically includes: when the intelligent driving auxiliary system of the vehicle is in an on state and passes through an intersection without a lane line, acquiring the curvature of the lane line before the vehicle passes through the intersection; judging whether the curvature of the lane line is smaller than or equal to a preset curvature; if the curvature of the lane line is smaller than or equal to the preset curvature, simulating and generating a guide track passing through the intersection according to the curvature of the lane line, correspondingly adjusting and controlling the steering wheel angle of the vehicle according to the guide track, and continuing to run according to the guide track.

According to the technical means, the intelligent driving assistance system can assist driving under the condition that the intelligent driving assistance system is started, the lane line curvature before the vehicle passes through the intersection is automatically obtained when the vehicle passes through the intersection without the lane line, and then the vehicle is compared with the preset curvature, and the guiding track passing through the intersection is generated according to the lane line curvature simulation under the condition of meeting the preset requirement, so that the steering wheel corner of the vehicle is guided and adjusted to safely run, and the safety and reliability of automatic driving are improved.

Optionally, in one embodiment of the present application, the determining whether the lane line curvature is less than or equal to a preset curvature further includes: and if the curvature of the lane line is larger than the preset curvature, prompting a driver to take over the vehicle in an alarm mode.

According to the technical means, the embodiment of the application can directly remind the driver to take over the vehicle in time when judging that the curvature of the lane line is larger than the preset curvature, and the driver needs to be reminded of taking over the vehicle in time to avoid the occurrence of the accident of the vehicle because the driving path of the user is not determined at the moment, so that the occurrence of the traffic accident is reduced.

Optionally, in an embodiment of the present application, if the lane with the smallest transverse steering angle of the steering wheel is identified as the opposite lane line during the running of the vehicle according to the guiding track, the method further includes: judging whether a facing lane line is identified according to the collected road information in front of the vehicle in the running process of the vehicle according to the guide track; and if the opposite lane line is identified, selecting a lane with the smallest transverse steering angle of the steering wheel as a target lane, and controlling the vehicle to enter the target lane and then continue to run.

According to the technical means, the lane with the smallest transverse rotation angle of the steering wheel can be identified to the opposite lane line to control the vehicle to drive in as the target lane by the driving road opening, so that the distance of the lane entering the target lane is shortest, the direction rotation is smallest, the safety is relatively highest, and the lane changing safety of the vehicle is ensured.

Optionally, in one embodiment of the present application, the determining whether the opposite lane line is identified further includes: if the opposite lane line cannot be identified, judging whether a guide vehicle exists in front of the vehicle.

According to the technical means, the method and the device can continuously identify whether the guide vehicle exists in front of the vehicle when the opposite lane line cannot be identified when the vehicle passes through the intersection, and then control the vehicle to carry out different countermeasures according to different conditions of whether the guide vehicle exists, so that more reasonable vehicle control can be achieved, driving experience of a user is improved, and use requirements of the user are met.

Optionally, in an embodiment of the present application, the determining whether the guiding vehicle is in front of the host vehicle further includes: if the vehicle is not guided, fitting a driving track to control a direction corner to drive for a preset distance according to an original lane line in front of the intersection, and judging whether a facing lane line is identified; if the opposite lane line is identified, selecting a lane with the smallest transverse turning angle of the steering wheel as a target lane to continue running; and if the opposite lane line cannot be identified, prompting a driver to take over the vehicle in an alarm mode.

According to the technical means, after the fact that the vehicle is not guided in front of the vehicle and is controlled to continue to travel for a certain distance according to the original lane line fitting travel track control direction corner in front of the intersection can be recognized, if the opposite lane line cannot be recognized, the driver is directly reminded of taking over the vehicle in time, and the opposite lane line is not formed at this time, so that the travel path of the user is uncertain, the driver is reminded of taking over the vehicle in time to avoid occurrence of an accident of the vehicle, and the occurrence of the traffic accident is reduced.

Optionally, in an embodiment of the present application, according to the range of the section to which the driving track corner belongs, the controlling the vehicle to follow the driving track of the guiding vehicle to drive to identify the opposite lane line or prompt the driver to take over the vehicle specifically includes: judging the interval range of the running track corner; if the running track rotation angle belongs to a first preset interval range, controlling the vehicle to run along the running track of the guide vehicle until the opposite lane line is identified, and selecting a lane with the minimum transverse rotation angle of the steering wheel as a target lane to continue running; if the driving track corner belongs to a second preset interval range, prompting a driver to take over the vehicle in a visual prompting mode; if the driving track corner belongs to a third preset interval range, prompting a driver to take over the vehicle in an alarm mode; the third preset interval range is larger than the second preset interval range, and the second preset interval range is larger than the first preset interval range.

According to the technical means, when the fact that the guiding vehicle exists in front of the guiding vehicle is identified, the vehicle is controlled to make corresponding actions according to the difference of the range of the running track corner of the guiding vehicle, and the vehicle is continuously controlled to automatically drive or is directly reminded of taking over the vehicle in time under the condition that automatic driving cannot be continuously carried out, so that the unmanned feasibility is improved, the smoothness and stability of automatic driving are guaranteed, and the driving comfort of a user is further improved.

An embodiment of a second aspect of the present application provides a system for planning a vehicle travel track when passing through an intersection, where the system for planning a vehicle travel track when passing through an intersection includes: the lane line curvature detection processing module is used for acquiring the lane line curvature of the vehicle before passing through the intersection, simulating and generating a guide track passing through the intersection according to the lane line curvature if the lane line curvature is smaller than or equal to a preset curvature, and correspondingly adjusting and controlling the steering wheel corner of the vehicle according to the guide track; the opposite lane line detection processing module is used for selecting a lane with the minimum transverse rotation angle of the steering wheel as a target lane to continue running if the opposite lane line is identified in the running process of the vehicle according to the guide track; the guide vehicle detection processing module is used for acquiring a running track corner of the guide vehicle if the opposite lane line is not identified and the guide vehicle is detected to be in front of the vehicle; and the vehicle running control module is used for controlling the vehicle to run along the running track of the guide vehicle until the opposite lane line is identified or prompting the driver to take over the vehicle according to the interval range of the running track corner.

Optionally, in one embodiment of the present application, the lane line curvature detection processing module includes: the lane line curvature acquisition unit is used for acquiring the lane line curvature of the vehicle before passing through the intersection when the intelligent driving auxiliary system of the vehicle is in an on state and passes through the intersection without the lane line; the first judging unit is used for judging whether the curvature of the lane line is smaller than or equal to a preset curvature; and the guiding track generating unit is used for simulating and generating a guiding track passing through the intersection according to the lane line curvature if the lane line curvature is smaller than or equal to the preset curvature, correspondingly adjusting and controlling the steering wheel angle of the vehicle according to the guiding track and continuing to run according to the guiding track.

Optionally, in one embodiment of the present application, the opposite lane line detection processing module includes: the second judging unit is used for judging whether the opposite lane line is identified according to the collected road information in front of the vehicle in the running process of the vehicle according to the guide track; and the lane switching unit is used for selecting a lane with the smallest transverse steering angle of the steering wheel as a target lane if the opposite lane line is identified, and controlling the vehicle to enter the target lane and then continue to run.

Optionally, in one embodiment of the present application, the vehicle running control module includes: the third judging unit is used for judging the interval range of the running track corner; the first vehicle control unit is used for controlling the vehicle to run along the running track of the guide vehicle until the opposite lane line is identified if the running track rotation angle belongs to a first preset interval range, and selecting a lane with the minimum transverse rotation angle of the steering wheel as a target lane to continue running; the second vehicle control unit is used for prompting a driver to take over the vehicle in a visual prompting mode if the driving track rotation angle belongs to a second preset interval range; the third vehicle control unit is used for prompting a driver to take over the vehicle in an alarm mode if the running track corner belongs to a third preset interval range; the third preset interval range is larger than the second preset interval range, and the second preset interval range is larger than the first preset interval range.

Optionally, in an embodiment of the present application, the system of the embodiment of the present application further includes: and the first alarm unit is used for prompting a driver to take over the vehicle in an alarm mode if the curvature of the lane line is larger than the preset curvature.

Optionally, in an embodiment of the present application, the system of the embodiment of the present application further includes: and the fourth judging unit is used for judging whether the guide vehicle exists in front of the vehicle if the opposite lane line cannot be identified.

Optionally, in an embodiment of the present application, the system of the embodiment of the present application further includes: the control identification unit is used for fitting a driving track to control a direction corner to drive for a preset distance according to an original lane line in front of the intersection if the vehicle is not guided, and judging whether an opposite lane line is identified; a fourth vehicle control unit for selecting a lane with the smallest transverse steering angle of the steering wheel as a target lane for continuing running if the opposite lane line is identified; and the second alarm unit is used for prompting a driver to take over the vehicle in an alarm mode if the opposite lane line cannot be identified.

An embodiment of a third aspect of the present application provides a vehicle including: the method comprises the steps of the method for planning the vehicle running track when the intersection passes through, wherein the method comprises the steps of a memory, a processor and a program for planning the vehicle running track when the intersection passes through, wherein the program is stored in the memory and can run on the processor and is executed by the processor.

An embodiment of a fourth aspect of the present application provides a computer-readable storage medium storing a program for planning a vehicle travel track at an intersection, which when executed by a processor, implements the steps of the method for planning a vehicle travel track at an intersection as described in the above embodiment.

The application has the beneficial effects that:

(1) According to the embodiment of the application, when the intelligent driving auxiliary system is started, if the curvature of the lane line meets the preset condition when the lane line is not provided at the intersection, the guiding track passing through the intersection can be simulated and generated according to the curvature of the lane line, and the steering wheel angle of the vehicle is correspondingly adjusted and controlled according to the guiding track, so that the unmanned reliability of the vehicle is improved.

(2) According to the embodiment of the application, the lane with the minimum transverse turning angle of the steering wheel can be selected as the target lane for entering by the opposite lane line control vehicle through the recognition of the driving-through port, so that the distance of entering the target lane is shortest, the direction rotation is minimum, the safety is highest, and the lane changing safety of the vehicle is ensured.

(3) The method and the device can continuously identify whether the guide vehicle exists in front of the vehicle when the opposite lane line cannot be identified when the vehicle passes through the intersection, and then control the vehicle to carry out different countermeasures according to different conditions of whether the guide vehicle exists, so that more reasonable vehicle control can be achieved, driving experience of a user is improved, and use requirements of the user are met.

(4) The embodiment of the application can directly remind the driver to take over the vehicle in time when the automatic driving cannot be continued, thereby avoiding the occurrence of vehicle accident and reducing the occurrence of traffic accident.

(5) The embodiment of the application can plan the guiding running track of the vehicle when passing through the lane line-free road junction based on the curvature of the original lane line before the road junction, whether the guiding vehicle exists in front of the vehicle and whether the opposite lane line can be identified, correspondingly adjust and control the steering wheel angle of the vehicle, can effectively ensure the continuity of the intelligent driving auxiliary system when being used on urban roads with more traffic road junctions, effectively reduce the pipe-taking-over rate when the system passes through the road junction, improve the safety of the system under the road junction working condition and improve the driving experience of drivers.

Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a preferred embodiment of a method of planning a vehicle's trajectory as it passes through an intersection in accordance with the present application;

FIG. 2 is a flowchart illustrating steps performed in the whole execution process in a preferred embodiment of the method for planning a vehicle driving track at an intersection according to the present application;

FIG. 3 is a schematic diagram of a planning system for vehicle trajectories through an intersection according to a preferred embodiment of the present application;

fig. 4 is a schematic structural view of a preferred embodiment of the vehicle of the present application.

10-a planning system of a vehicle running track when passing through an intersection; 100-lane line curvature detection processing module, 200-opposite lane line detection processing module, 300-guided vehicle detection processing module and 400-vehicle running control module; 501-memory, 502-processor and 503-communication interface.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.

The following describes a vehicle travel track planning method and related equipment when passing through an intersection according to an embodiment of the present application with reference to the accompanying drawings. Aiming at the problems that in the related art, when a vehicle carrying an intelligent driving assistance function passes through a lane-free intersection, the control of a steering wheel of the vehicle is unstable, the danger coefficient is increased, the function is withdrawn frequently, the use continuity of the intelligent driving assistance function is influenced, and an alarm reminds a driver to take over the frequent influence on the driving experience of the driver. Therefore, the technical problems that in the related art, when a vehicle carrying the intelligent driving assistance function passes through a lane-free intersection, the control of a steering wheel of the vehicle is unstable, the danger coefficient is increased, the continuity of the use of the intelligent driving assistance function is frequently affected when the function exits, and the warning reminds a driver to take over the frequent influence on the driving experience of the driver are solved.

Specifically, fig. 1 is a schematic flow chart of a method for planning a vehicle driving track when passing through an intersection according to an embodiment of the present application.

As shown in fig. 1, the method for planning the vehicle driving track when passing through the intersection comprises the following steps:

in step S101, a lane curvature of the vehicle before passing through the intersection is obtained, and if the lane curvature is smaller than or equal to a preset curvature, a guiding track passing through the intersection is simulated and generated according to the lane curvature, and a steering wheel angle of the vehicle is correspondingly adjusted and controlled according to the guiding track.

It can be understood that when the intelligent driving assistance system (such as an L2 driving assistance system) of the vehicle is in an on state and passes through an intersection without a lane line (such as a straight intersection, a small-amplitude turning intersection within 30 °), the embodiment of the application obtains the curvature of the lane line before the vehicle passes through the intersection (such as using M to represent the curvature of the lane line, where M may be equal to 0), and then determines whether the curvature M of the lane line is less than or equal to a preset curvature (such as using X to represent the preset curvature, based on the actual calibration experience according to different vehicle types, the specific numerical value is not limited); if the curvature of the lane line is smaller than or equal to the preset curvature (namely, M is more than or equal to 0 and less than or equal to X), simulating and generating a guiding track passing through the intersection according to the curvature M of the lane line, correspondingly adjusting and controlling the steering wheel corner of the vehicle according to the guiding track, and continuing to run according to the guiding track.

That is, the intelligent driving assistance system can assist driving under the condition that the intelligent driving assistance system is started, the lane line curvature before the vehicle passes through the intersection is automatically obtained when the vehicle passes through the intersection without the lane line, then the vehicle is compared with the preset curvature, and a guiding track passing through the intersection is generated according to the lane line curvature simulation under the condition that the preset requirement is met (for example, the lane line curvature is smaller than or equal to the preset curvature), so that the steering wheel corner of the vehicle is guided and adjusted to safely run, the safety and the reliability of automatic driving are improved, and the risk of collision of the vehicle is reduced.

Further, if the curvature of the lane line is greater than the preset curvature (i.e., M > X), the intelligent driving assistance system prompts the driver to take over the vehicle in an alarm manner, and if no navigation condition exists at this time, the user driving path is uncertain, so that the driver needs to be reminded of taking over the vehicle in time under the condition of having a certain safety distance, and the occurrence of traffic accidents is reduced.

In step S102, if the opposite lane is identified while the vehicle is traveling along the guide track, a lane with the smallest steering wheel lateral angle is selected as the target lane to continue traveling.

It can be understood that, in the process that the vehicle runs along the guiding track, the intelligent driving auxiliary system judges whether the opposite lane line is identified according to the collected road information in front of the vehicle, if the opposite lane line is identified, the lane with the smallest transverse turning angle of the steering wheel is selected as the target lane, and the vehicle is controlled to enter the target lane and then continue running. That is, the present application can recognize that the opposite lane line is driven through the road opening to control the vehicle to select the lane with the smallest transverse turning angle of the steering wheel as the target lane to drive in, thereby executing the corresponding lane changing action, so that the distance of the vehicle entering the target lane is shortest, the direction rotation is smallest, the safety is relatively highest, the vehicle can quickly and safely switch lanes, the safety of the vehicle changing lanes is ensured, and meanwhile, the driving comfort of the user is improved by the operation of automatically controlling the switching.

Further, if the opposite lane line cannot be identified, the intelligent driving auxiliary system judges whether the guide vehicle exists in front of the vehicle, and when the vehicle passes through the intersection and cannot identify the opposite lane line, the intelligent driving auxiliary system can continuously identify whether the guide vehicle exists in front of the vehicle, and then control the vehicle to carry out different countermeasures according to different conditions of whether the guide vehicle exists, so that more reasonable vehicle control can be achieved, driving experience of a user is improved, and use requirements of the user are met.

In step S103, if the opposite lane is not recognized and the presence of the leading vehicle in front of the host vehicle is detected, the travel locus angle of the leading vehicle is acquired.

It can be understood that when the intelligent driving assistance system does not recognize the opposite lane line and does not recognize that the guiding vehicle is in front of the vehicle, the driving track rotation angle of the guiding vehicle needs to be acquired (for example, the driving track of the guiding vehicle is recognized, tracked and predicted through a sensor), and then different vehicle controls are performed according to the interval range described by the driving track rotation angle, so that the pertinence is higher and the control is safer.

In step S104, the vehicle is controlled to travel along the travel track of the guided vehicle until the opposite lane is identified or the driver is prompted to take over the vehicle according to the range of the travel track angle.

It can be appreciated that the intelligent driving assistance system determines the interval range to which the driving trajectory angle (for example, using a to represent the driving trajectory angle, a may be equal to 0) belongs; three interval ranges are preset, namely a first preset interval range (for example, 0-A-P), a second preset interval range (for example, P < A-Q) and a third preset interval range (for example, A > Q), different interval ranges are based on actual calibration experience according to different vehicle types, specific values are not limited, wherein the third preset interval range is larger than the second preset interval range, and the second preset interval range is larger than the first preset interval range.

If the driving track rotation angle A is in a first preset interval range, namely, A is more than or equal to 0 and less than or equal to P, the intelligent driving auxiliary system controls the vehicle to drive along the driving track of the guide vehicle until the opposite lane line is identified, and continuously selects a lane with the minimum transverse rotation angle of the steering wheel as a target lane to continue driving; if the driving track rotation angle A is in a second preset interval range, namely P is more than or equal to A and less than or equal to Q, the intelligent driving assistance system prompts a driver to take over the vehicle in a visual prompt mode (such as a mode of displaying instrument characters and the like); if the driving track rotation angle a belongs to a third preset interval range, namely a > Q, prompting the driver to take over the vehicle through an alarm mode (such as a visual, acoustic or tactile prompting mode). According to the application, when the fact that the guiding vehicle exists in front of the guiding vehicle can be identified, the vehicle is controlled to make corresponding actions according to the difference of the range of the running track corner of the guiding vehicle, and the vehicle is continuously controlled to automatically drive or is directly reminded of taking over the vehicle in time under the condition that automatic driving cannot be continuously carried out, so that the unmanned driving feasibility is improved, the smoothness and stability of automatic driving are ensured, the driving comfort of a user is further improved, and the risk of collision is also reduced.

Further, after the intelligent driving assistance system judges whether the guided vehicle exists in front of the vehicle, if the judgment result is that the guided vehicle does not exist, the intelligent driving assistance system controls the steering angle to drive for a preset distance according to the original lane line fitting driving track before the intersection (for example, D is used for representing the preset distance, a specific distance value can be set according to the actual condition of the road, a specific numerical value is not limited), whether the opposite lane line is identified is judged, if the opposite lane line is identified, a lane with the smallest transverse steering angle of the steering wheel is selected as a target lane to continue driving, and if the opposite lane line cannot be identified, the intelligent driving assistance system prompts a driver to take over the vehicle in an alarm mode. The application can recognize that when the vehicle is not guided in front of the vehicle, the vehicle is controlled to continue to drive for a certain distance according to the original lane line fitting driving track control direction corner in front of the intersection, if the opposite lane line cannot be recognized, the driver is directly reminded to take over the vehicle in time, and the driving path of the user is not determined because the opposite lane line is not formed at the moment, so that the driver is reminded to take over the vehicle in time in order to avoid the occurrence of the accident of the vehicle, and the occurrence of the traffic accident is reduced.

The whole implementation process is further described according to the steps of the method for planning the vehicle driving track when the application passes through the intersection, as shown in fig. 2:

step S1, when a vehicle intelligent driving auxiliary system is in an on state and the vehicle passes through an intersection without a lane line, starting to trigger a subsequent flow, and firstly acquiring the curvature of the lane line before the vehicle passes through the intersection;

s2, the intelligent driving assistance system of the vehicle judges the curvature M of a lane line before passing through the intersection, and if the curvature M of the lane line is within a section of 0-X, the step S3 is executed; if the lane line curvature M is within the interval M > X, executing step S11;

step S3, simulating a guide track passing through the intersection according to the curvature M of the lane line in front of the intersection, correspondingly adjusting and controlling the steering wheel angle of the vehicle according to the guide track, continuing to run according to the guide track, and continuing to execute step S4;

step S4, the intelligent driving assistance system of the vehicle judges whether the opposite lane line can be identified according to the collected road information in front of the vehicle, and if the opposite lane line can be identified, the step S7 is continuously executed; if the opposite lane line is not identifiable, continuing to execute the step S5;

step S5, the intelligent driving assistance system of the vehicle judges whether a guiding vehicle exists in front, and if the guiding vehicle exists, the step S8 is continuously executed; if the vehicle is not guided, continuing to execute the step S6;

Step S6, fitting a driving track to control a direction corner to drive for a preset distance D according to an original lane line in front of the intersection, and continuously executing step S12;

s7, selecting a lane with the smallest transverse turning angle of the steering wheel as a target lane to continue running;

step S8, the intelligent driving assistance system of the vehicle judges the section of the driving track corner A of the front guide vehicle, and if the driving track corner A is within the section range of 0-P, the step S9 is continuously executed; if the driving track rotation angle A is in the interval range P < A.ltoreq.Q, continuing to execute the step S10; if the driving track rotation angle A is in the interval range A > Q, continuing to execute the step S11;

step S9, the intelligent driving auxiliary system of the vehicle controls the vehicle to run along the running track of the guided vehicle until the opposite lane line is identified, and the step S7 is continuously executed;

step S10, the intelligent driving assistance system prompts a driver to take over the vehicle in a visual prompt mode;

step S11, the intelligent driving auxiliary system of the vehicle reminds a driver to take over the vehicle in an alarm mode;

step S12, the intelligent driving assistance system of the vehicle judges whether the opposite lane line is identified, and if the opposite lane line is identified, the step S7 is continuously executed; if no opposite lane line is identified, step S11 is continued.

In summary, the embodiment of the application can plan the guiding running track of the vehicle when passing through the lane-free road junction based on the curvature of the original lane line before the road junction, whether the guiding vehicle exists in front of the vehicle and whether the opposite lane line can be identified, correspondingly adjust and control the steering wheel corner of the vehicle, the switching of the target lane is more close to the lane-changing planning of artificial habit, the occurrence of traffic safety accidents is reduced, the use continuity of the intelligent driving auxiliary system on urban roads with more traffic road junctions can be effectively ensured, the pipe-reporting rate when the system passes through the road junction is effectively reduced, the safety of the system under the road junction working condition is improved, and the driving experience of a driver is improved.

Next, a system for planning a vehicle travel path when passing through an intersection according to an embodiment of the present application will be described with reference to the accompanying drawings.

Fig. 3 is a block diagram of a system for planning a vehicle travel path through an intersection according to an embodiment of the present application.

As shown in fig. 3, the system 10 for planning a vehicle travel path at the time of passing through an intersection includes: lane line curvature detection processing module 100, opposite lane line detection processing module 200, guided vehicle detection processing module 300, and vehicle travel control module 400.

Specifically, the lane line curvature detection processing module 100 is configured to obtain a lane line curvature of the vehicle before passing through the intersection, simulate and generate a guiding track passing through the intersection according to the lane line curvature if the lane line curvature is less than or equal to a preset curvature, and correspondingly adjust and control a steering wheel angle of the vehicle according to the guiding track.

The opposite lane line detection processing module 200 is configured to select, if the opposite lane line is identified during the running of the vehicle according to the guiding track, a lane with the smallest transverse steering angle of the steering wheel as a target lane for continuing the running.

The guided vehicle detection processing module 300 is configured to obtain a driving track corner of the guided vehicle if the opposite lane line is not identified and the guided vehicle is detected to be in front of the host vehicle.

The vehicle running control module 400 is configured to control the vehicle to run along the running track of the guiding vehicle until the opposite lane is identified or prompt the driver to take over the vehicle according to the interval range to which the running track corner belongs.

Optionally, in one embodiment of the present application, the lane line curvature detection processing module includes 100: the device comprises a lane line curvature acquisition unit, a first judgment unit and a guide track generation unit.

The lane line curvature acquisition unit is used for acquiring the lane line curvature of the vehicle before passing through the intersection when the intelligent driving auxiliary system of the vehicle is in an on state and passes through the intersection without the lane line.

And the first judging unit is used for judging whether the curvature of the lane line is smaller than or equal to a preset curvature.

And the guiding track generating unit is used for simulating and generating a guiding track passing through the intersection according to the lane line curvature if the lane line curvature is smaller than or equal to the preset curvature, correspondingly adjusting and controlling the steering wheel angle of the vehicle according to the guiding track and continuing to run according to the guiding track.

Alternatively, in one embodiment of the present application, the opposite lane line detection processing module 200 includes: a second judgment unit and a lane switching unit.

And the second judging unit is used for judging whether the opposite lane line is identified according to the collected road information in front of the vehicle in the running process of the vehicle according to the guide track.

And the lane switching unit is used for selecting a lane with the smallest transverse steering angle of the steering wheel as a target lane if the opposite lane line is identified, and controlling the vehicle to enter the target lane and then continue to run.

Alternatively, in one embodiment of the present application, the vehicle travel control module 400 includes: the third determination unit, the first vehicle control unit, the second vehicle control unit, and the third vehicle control unit.

And the third judging unit is used for judging the interval range of the running track corner.

And the first vehicle control unit is used for controlling the vehicle to run along the running track of the guide vehicle until the opposite lane line is identified if the running track rotation angle belongs to a first preset interval range, and selecting a lane with the minimum transverse rotation angle of the steering wheel as a target lane to continue running.

And the second vehicle control unit is used for prompting a driver to take over the vehicle in a visual prompting mode if the driving track rotation angle belongs to a second preset interval range.

And the third vehicle control unit is used for prompting the driver to take over the vehicle in an alarm mode if the running track rotation angle belongs to a third preset interval range.

The third preset interval range is larger than the second preset interval range, and the second preset interval range is larger than the first preset interval range.

Optionally, in one embodiment of the present application, the planning system 10 for a vehicle driving track when passing through an intersection according to an embodiment of the present application further includes: the vehicle control system comprises a first alarm unit, a fourth judgment unit, a control identification unit, a fourth vehicle control unit and a second alarm unit.

The first alarm unit is used for prompting a driver to take over the vehicle in an alarm mode if the curvature of the lane line is larger than the preset curvature.

And the fourth judging unit is used for judging whether the guide vehicle exists in front of the vehicle if the opposite lane line cannot be identified.

And the control identification unit is used for fitting a driving track to control the direction and the corner to drive for a preset distance according to the original lane line in front of the intersection if the vehicle is not guided, and judging whether the opposite lane line is identified.

And the fourth vehicle control unit is used for selecting a lane with the smallest transverse steering angle of the steering wheel as a target lane to continue running if the opposite lane line is identified.

And the second alarm unit is used for prompting a driver to take over the vehicle in an alarm mode if the opposite lane line cannot be identified.

It should be noted that the explanation of the embodiment of the method for planning the vehicle running track when passing through the intersection is also applicable to the system for planning the vehicle running track when passing through the intersection in this embodiment, and will not be repeated here.

According to the planning system for the vehicle running track when passing through the intersection, which is provided by the embodiment of the application, the vehicle guiding running track when passing through the intersection can be planned based on the curvature of the original lane line before the intersection, whether the front of the vehicle has a guiding vehicle or not and whether the opposite lane line can be identified, and the steering wheel corner of the vehicle can be correspondingly adjusted and controlled, so that the continuity of the intelligent driving auxiliary system in use on urban roads with more traffic intersections can be effectively ensured, the reporting and taking over rate of the system when passing through the intersection can be effectively reduced, the safety of the system under the working condition of the intersection can be improved, the driving experience of a driver can be improved, the safety and the reliability of automatic driving can be ensured, and the driving comfort of a user can be improved.

Therefore, the technical problems that in the related art, when a vehicle carrying the intelligent driving assistance function passes through a lane-free intersection, the control of a steering wheel of the vehicle is unstable, the danger coefficient is increased, the continuity of the use of the intelligent driving assistance function is frequently affected when the function exits, and the warning reminds a driver to take over the frequent influence on the driving experience of the driver are solved.

Fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:

memory 501, processor 502, and a computer program stored on memory 501 and executable on processor 502.

The processor 502 implements the method for planning the travel track of the vehicle when passing through the intersection provided in the above embodiment when executing the program.

Further, the vehicle further includes:

a communication interface 503 for communication between the memory 501 and the processor 502.

Memory 501 for storing a computer program executable on processor 502.

The memory 501 may include high-speed RAM memory and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

If the memory 501, the processor 502, and the communication interface 503 are implemented independently, the communication interface 503, the memory 501, and the processor 502 may be connected to each other via a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, a Peripheral Component Interconnect (PCI) bus, an extended industry standard architecture (Extended Industry StandardArchitecture, abbreviated EIS) bus, or the like. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 4, but not only one bus or one type of bus.

Alternatively, in a specific implementation, if the memory 501, the processor 502, and the communication interface 503 are integrated on a chip, the memory 501, the processor 502, and the communication interface 503 may perform communication with each other through internal interfaces.

The processor 502 may be a central processing unit (Central Processing Unit, abbreviated as CPU) or an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC) or one or more integrated circuits configured to implement embodiments of the present application.

The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of planning a vehicle travel track at an intersection as described above.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, for example, two, three, etc., unless specifically defined otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.

Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable storage medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable storage medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer cartridge (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable storage medium may even be paper or other suitable medium upon which the program is printed, as the program may be electronically captured, via optical scanning of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.

Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.

The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

It is to be understood that the application is not limited in its application to the examples described above, but is capable of modification and variation in light of the above teachings by those skilled in the art, and that all such modifications and variations are intended to be included within the scope of the appended claims.

Claims (10)

1. The method for planning the vehicle running track when passing through the intersection is characterized by comprising the following steps of:

acquiring the curvature of a lane line before a vehicle passes through an intersection, and if the curvature of the lane line is smaller than or equal to a preset curvature, simulating and generating a guide track passing through the intersection according to the curvature of the lane line, and correspondingly adjusting and controlling the steering wheel corner of the vehicle according to the guide track;

in the running process of the vehicle according to the guiding track, if a facing lane line is identified, selecting a lane with the minimum transverse turning angle of the steering wheel as a target lane to continue running;

If the opposite lane line is not identified and the guide vehicle is detected to be in front of the vehicle, acquiring a driving track corner of the guide vehicle;

and controlling the vehicle to travel along the travel track of the guide vehicle until the opposite lane line is identified or prompting the driver to take over the vehicle according to the interval range of the travel track corner.

2. The method for planning a vehicle running track at an intersection according to claim 1, wherein the step of obtaining the lane curvature of the vehicle before passing through the intersection, and if the lane curvature is less than or equal to a preset curvature, simulating and generating a guiding track passing through the intersection according to the lane curvature, and correspondingly adjusting and controlling the steering wheel angle of the vehicle according to the guiding track, specifically comprises:

when the intelligent driving auxiliary system of the vehicle is in an on state and passes through an intersection without a lane line, acquiring the curvature of the lane line before the vehicle passes through the intersection;

judging whether the curvature of the lane line is smaller than or equal to a preset curvature;

if the curvature of the lane line is smaller than or equal to the preset curvature, simulating and generating a guide track passing through the intersection according to the curvature of the lane line, correspondingly adjusting and controlling the steering wheel angle of the vehicle according to the guide track, and continuing to run according to the guide track.

3. The method for planning a vehicle running track at an intersection according to claim 2, wherein the determining whether the lane curvature is less than or equal to a preset curvature further comprises:

and if the curvature of the lane line is larger than the preset curvature, prompting a driver to take over the vehicle in an alarm mode.

4. The method for planning a vehicle driving track at an intersection according to claim 1, wherein if a lane with the smallest steering wheel transverse angle is identified as a lane to be driven continuously during the vehicle driving along the guiding track, the method specifically comprises:

judging whether a facing lane line is identified according to the collected road information in front of the vehicle in the running process of the vehicle according to the guide track;

and if the opposite lane line is identified, selecting a lane with the smallest transverse steering angle of the steering wheel as a target lane, and controlling the vehicle to enter the target lane and then continue to run.

5. The method for planning a vehicle travel path through an intersection as defined in claim 4, wherein the determining whether the opposite lane is identified further comprises:

If the opposite lane line cannot be identified, judging whether a guide vehicle exists in front of the vehicle.

6. The method for planning a vehicle running track at an intersection according to claim 5, wherein the determining whether there is a lead vehicle in front of the host vehicle further comprises:

if the vehicle is not guided, fitting a driving track to control a direction corner to drive for a preset distance according to an original lane line in front of the intersection, and judging whether a facing lane line is identified;

if the opposite lane line is identified, selecting a lane with the smallest transverse turning angle of the steering wheel as a target lane to continue running;

and if the opposite lane line cannot be identified, prompting a driver to take over the vehicle in an alarm mode.

7. The method for planning a vehicle running track at an intersection according to claim 1, wherein the controlling the vehicle to run along the running track of the guiding vehicle until a lane line is identified or the driver is prompted to take over the vehicle according to the range of the section to which the running track corner belongs specifically comprises:

judging the interval range of the running track corner;

if the running track rotation angle belongs to a first preset interval range, controlling the vehicle to run along the running track of the guide vehicle until the opposite lane line is identified, and selecting a lane with the minimum transverse rotation angle of the steering wheel as a target lane to continue running;

If the driving track corner belongs to a second preset interval range, prompting a driver to take over the vehicle in a visual prompting mode;

if the driving track corner belongs to a third preset interval range, prompting a driver to take over the vehicle in an alarm mode;

the third preset interval range is larger than the second preset interval range, and the second preset interval range is larger than the first preset interval range.

8. A system for planning a vehicle travel path through an intersection, the system comprising:

the lane line curvature detection processing module is used for acquiring the lane line curvature of the vehicle before passing through the intersection, simulating and generating a guide track passing through the intersection according to the lane line curvature if the lane line curvature is smaller than or equal to a preset curvature, and correspondingly adjusting and controlling the steering wheel corner of the vehicle according to the guide track;

the opposite lane line detection processing module is used for selecting a lane with the minimum transverse rotation angle of the steering wheel as a target lane to continue running if the opposite lane line is identified in the running process of the vehicle according to the guide track;

the guide vehicle detection processing module is used for acquiring a running track corner of the guide vehicle if the opposite lane line is not identified and the guide vehicle is detected to be in front of the vehicle;

And the vehicle running control module is used for controlling the vehicle to run along the running track of the guide vehicle until the opposite lane line is identified or prompting the driver to take over the vehicle according to the interval range of the running track corner.

9. A vehicle, characterized in that the vehicle comprises: the method for planning the vehicle running track when passing through the intersection comprises the steps of the method for planning the vehicle running track when passing through the intersection according to any one of claims 1-7, wherein the program is stored in the memory and can run on the processor.

10. A computer-readable storage medium storing a program for planning a vehicle travel path at an intersection, which when executed by a processor, implements the steps of the method for planning a vehicle travel path at an intersection according to any one of claims 1 to 7.