CN117622225A - Automatic driving decision method and device for detouring reverse lane by way - Google Patents
Automatic driving decision method and device for detouring reverse lane by way Download PDFInfo
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Abstract
The invention discloses an automatic driving decision method and device for detouring a reverse lane, and relates to the technical field of automatic driving. The method comprises the following steps: determining whether the own vehicle meets a detour bypass condition based on first state information, first reference line information, first map information and first obstacle information of the own vehicle in a cruising scene; when the own vehicle meets the detour condition, determining whether the own vehicle meets the reverse detour condition based on the first state information, the first map information and the first obstacle information of the own vehicle; when the own vehicle meets the reverse road borrowing and bypassing condition, determining whether the own vehicle meets the left reverse road borrowing condition or not based on the first state information, the first map information and the first obstacle information of the own vehicle; when the own vehicle meets the left reverse road borrowing condition, the own vehicle is controlled to bypass the left reverse lane. The implementation mode can control the self-vehicle to bypass to the reverse lane, ensure the running safety of the self-vehicle and improve the running efficiency of the self-vehicle.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to an automatic driving decision method and device for detouring a reverse lane.
Background
In the automatic driving process, the front of the bicycle can be provided with an obstacle to influence the running of the bicycle, and the bicycle needs to bypass by way in order to avoid the obstacle.
The existing decision scheme is generally aimed at a equidirectional borrowing and bypassing scene, including a leftwards equidirectional borrowing and a rightwards equidirectional borrowing. However, for the reverse detour scenario, no corresponding decision scheme has been provided. For example, when an unmanned vehicle travels in a leftmost motor vehicle lane and a reverse vehicle lane is on the left side, how to control the unmanned vehicle to bypass the reverse vehicle lane when an obstacle exists in front of the unmanned vehicle is a problem to be solved.
Disclosure of Invention
Therefore, the embodiment of the invention provides an automatic driving decision method and device for detouring a reverse lane, which can control the detouring of a self-vehicle to the reverse lane, ensure the running safety of the self-vehicle and improve the running efficiency of the self-vehicle.
In a first aspect, an embodiment of the present invention provides an automatic driving decision method for detouring a reverse lane, including:
acquiring first state information, first reference line information, first map information and first obstacle information of a current vehicle in a set range when the vehicle is in a cruising scene;
Determining whether the own vehicle satisfies a detour bypass condition based on the first state information, the first reference line information, the first map information, and the first obstacle information of the own vehicle;
when the self-vehicle meets the detour bypass condition, determining whether the self-vehicle meets a reverse detour bypass condition based on the first state information of the self-vehicle, the first map information and the first obstacle information;
when the own vehicle meets the reverse road borrowing and bypassing condition, determining whether the own vehicle meets a left reverse road borrowing condition or not based on first state information of the own vehicle, the first map information and the first obstacle information;
when the self-vehicle meets the leftward reverse road borrowing condition, controlling the self-vehicle to bypass a leftward reverse lane;
wherein, the bypass condition includes: the vehicle is positioned on a reference lane, a target obstacle exists in front of the vehicle, a traffic light does not exist in front of the vehicle, a curve does not exist in front of the vehicle and an intersection does not exist in front of the vehicle; the target obstacle is a static obstacle or a dynamic obstacle with the speed lower than a preset speed;
the reverse bypass condition comprises: the vehicle is in the leftmost lane, the left boundary of the lane where the vehicle is located can be spanned, the left lane line of the lane where the vehicle is located can be spanned, and the left reverse lane is allowed to be spanned;
The left reverse borrowing condition comprises: no obstacle in the left reverse lane
In a second aspect, an embodiment of the present invention provides an automatic driving decision device for detouring a reverse lane, including:
the system comprises an acquisition module, a first control module and a second control module, wherein the acquisition module is configured to acquire first state information, first reference line information, first map information and first obstacle information of a vehicle under a cruising scene of the vehicle;
a decision module configured to determine whether the own vehicle satisfies a detour bypass condition based on first state information, first reference line information, first map information, and first obstacle information of the own vehicle; when the self-vehicle meets the detour bypass condition, determining whether the self-vehicle meets a reverse detour bypass condition based on the first state information of the self-vehicle, the first map information and the first obstacle information; when the own vehicle meets the reverse road borrowing and bypassing condition, determining whether the own vehicle meets a left reverse road borrowing condition or not based on first state information of the own vehicle, the first map information and the first obstacle information; when the self-vehicle meets the leftward reverse road borrowing condition, controlling the self-vehicle to bypass a leftward reverse lane;
Wherein, the bypass condition includes: the vehicle is positioned on a reference lane, a target obstacle exists in front of the vehicle, a traffic light does not exist in front of the vehicle, a curve does not exist in front of the vehicle and an intersection does not exist in front of the vehicle; the target obstacle is a static obstacle or a dynamic obstacle with the speed lower than a preset speed;
the reverse bypass condition comprises: the vehicle is in the leftmost lane, the left boundary of the lane where the vehicle is located can be spanned, the left lane line of the lane where the vehicle is located can be spanned, and the left reverse lane is allowed to be spanned;
the left reverse borrowing condition comprises: no obstacle exists in the left reverse lane.
In a third aspect, an embodiment of the present invention provides an electronic device, including:
one or more processors;
storage means for storing one or more programs,
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method as described in any of the embodiments above.
In a fourth aspect, embodiments of the present invention provide a computer readable medium having stored thereon a computer program which, when executed by a processor, implements a method as in any of the embodiments described above.
One embodiment of the above invention has the following advantages or benefits: and judging the environment of the lane where the own vehicle is based on the detour condition so as to determine whether the own vehicle can detour by the detour, and considering the limitation of traffic rules and the influence of the environment where the own vehicle is, the safety of detour by the detour is improved, and the influence of detour by the detour on road traffic is reduced. Based on the reverse road-borrowing and detouring conditions, judging whether the boundary between the current lane and the left reverse lane can be crossed or not from the dimension of the traffic rule and the obstacle, and improving the safety of the reverse road-borrowing and detouring. Based on the left reverse road borrowing condition, the obstacle in the left reverse lane is judged, and the safety of self-vehicle running is improved.
Further effects of the above-described non-conventional alternatives are described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
FIG. 1 is a schematic diagram of a equidirectional bypass according to an embodiment of the present invention;
FIG. 2 is a flow chart of an automated driving decision method for detour to reverse lanes according to one embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a reverse bypass according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a phase decider provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of a scene-phase dual-layer finite state machine provided by an embodiment of the present invention;
FIG. 6 is a schematic diagram of a phase decider provided by an embodiment of the present invention;
FIG. 7 is a schematic diagram of an automatic driving decision making device for detour to a reverse lane according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a computer system suitable for use in implementing an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which various details of the embodiments of the present invention are included to facilitate understanding, and are to be considered merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The conventional decision method is generally aimed at a equidirectional detouring scene, as shown in fig. 1, because of the obstacle in the lane, the vehicle detours to the left along the equidirectional lane.
However, for the reverse bypass scenario, the prior art does not give a corresponding decision scheme.
Based on this, as shown in fig. 2, an embodiment of the present invention provides an automatic driving decision method for detouring a reverse lane, including:
step 201: and acquiring first state information, first reference line information, first map information and first obstacle information of the current own vehicle in a cruising scene of the own vehicle.
In the embodiment of the invention, the first and second information acquisition times are different only, for example, the first state information and the second state information are the state information of the own vehicle acquired at different times. The state information of the own vehicle may include information such as a position and a speed, and the reference line information includes information of a reference line where the own vehicle is located, and the set range is a range of a region of interest in the detour process, for example, a range of 200 meters in front of and behind the own vehicle and a range of about 20 meters. Only obstacles, traffic lights, etc. within the set range are considered below. The obstacle information includes information such as the position and speed of the obstacle.
Step 202: based on the first state information, the first reference line information, the first map information and the first obstacle information of the own vehicle, it is determined whether the own vehicle satisfies the detour condition, if so, step 203 is executed, otherwise, step 201 is executed at preset intervals.
The bypass condition comprises: the vehicle is positioned on a reference lane, a target obstacle exists in front of the vehicle, a traffic light does not exist in front of the vehicle, a curve does not exist in front of the vehicle, and an intersection does not exist in front of the vehicle; the target obstacle is a static obstacle or a dynamic obstacle having a speed lower than a preset speed.
In order to ensure the safety of the detouring process, only static obstacles or low-speed dynamic obstacles affecting the running of the own vehicle are detoured.
The detour condition is used for judging whether the own vehicle can detour reversely from the dimension of the current lane of the own vehicle.
Step 203: based on the first state information, the first map information and the first obstacle information of the own vehicle, it is determined whether the own vehicle meets a reverse detour bypass condition, if so, step 204 is performed, otherwise, step 201 is performed at preset intervals.
The reverse bypass condition comprises: the vehicle can cross at the left-most lane, the left boundary of the lane where the vehicle is located, the left lane line of the lane where the vehicle is located and the left reverse lane allows the crossing.
The reverse detour condition is used for judging whether the own vehicle can reversely detour from the dimension of the boundary between the two lanes.
Step 204: based on the first state information, the first map information and the first obstacle information of the own vehicle, it is determined whether the own vehicle satisfies a reverse left road borrowing condition, if so, step 205 is executed, otherwise, step 201 is executed at preset intervals.
Step 205: and controlling the vehicle to bypass the left reverse lane.
At this time, the right boundary of the reverse lane is regarded as the left boundary of the own vehicle driving, and the right boundary of the reference lane is regarded as the right boundary of the own vehicle driving, which corresponds to widening the driving space, so as to realize the detour by way.
It should be noted that, in the embodiment of the present invention, the bypass condition, the reverse bypass condition, and the reverse bypass condition are only one preferred manner, and other items may be added according to the needs of the actual scenario. For example, the bypass condition further includes: the speed of the vehicle does not exceed 60km/h. The right same-direction channel borrowing termination condition, the left same-direction channel borrowing termination condition and the reverse channel borrowing termination condition are similar, and other items can be added according to the requirements of actual scenes.
As shown in fig. 3, the host vehicle makes a reverse detour from the left lane in order to avoid the target obstacle.
The left reverse borrowing condition comprises: no obstacle exists in the left reverse lane.
And the left reverse road borrowing condition is used for judging whether the own vehicle can reversely borrow and bypass from the dimension of the left reverse lane.
The embodiment of the invention judges the environment of the lane where the own vehicle is located based on the detour condition so as to determine whether the own vehicle can detour by the detour, considers the limitation of traffic rules and the influence of the environment where the own vehicle is located, improves the safety of detour by the detour, and reduces the influence of the detour by the road on road traffic. Based on the reverse road-borrowing and detouring conditions, judging whether the boundary between the current lane and the left reverse lane can be crossed or not from the dimension of the traffic rule and the obstacle, and improving the safety of the reverse road-borrowing and detouring. Based on the left reverse road borrowing condition, the obstacle in the left reverse lane is judged, and the safety of self-vehicle running is improved.
In one embodiment of the invention, the method further comprises:
when the own vehicle does not meet the reverse road borrowing and bypassing condition, determining whether the own vehicle meets the left same-direction road borrowing condition or not based on the first state information, the first map information and the first obstacle information of the own vehicle;
when the self-vehicle meets the left same-direction road borrowing condition, controlling the self-vehicle to bypass the left same-direction lane;
wherein, the conditions of the left equidirectional borrowing way comprise: the left side boundary of the lane where no obstacle exists and the own vehicle exists in the left side same direction lane can be crossed.
In addition to the left reverse lane detour, the present invention provides another detour mode, i.e. the left same direction detour.
And the left equidirectional road borrowing condition is used for judging whether the own vehicle can bypass the left equidirectional lane from the dimension of the boundary between the left equidirectional lane and the two lanes.
In one embodiment of the invention, the method further comprises:
when the own vehicle does not meet the left same-direction road borrowing condition, determining whether the own vehicle meets the right same-direction road borrowing condition or not based on the first state information, the first map information and the first obstacle information of the own vehicle;
when the self-vehicle meets the right same-direction road borrowing condition, controlling the self-vehicle to bypass the right same-direction lane;
Wherein, the right equidirectional borrowing condition includes: the right side boundary of the lane where no obstacle exists and the own vehicle exists in the right side same-direction lane can be crossed.
The invention provides a way-by-way bypass mode, namely, the way-by-way bypass is right-side in the same direction.
And the right equidirectional road borrowing condition is used for judging whether the own vehicle can bypass the right equidirectional lane from the dimension of the boundary between the right equidirectional lane and the two lanes.
In order to bypass the obstacle, the embodiment of the invention provides different bypass schemes, can adapt to the requirements of different scenes, and improves the running efficiency and safety of the bicycle.
In one embodiment of the present invention, after controlling the detour of the reverse lane from the vehicle to the left, further comprising:
acquiring second state information of the current own vehicle and second map information in a set range;
determining whether the own vehicle meets a reverse road borrowing termination condition based on the second state information and the second map information;
when the self-vehicle meets the reverse road borrowing termination condition, controlling the self-vehicle to cruise;
wherein, reverse borrowing termination condition includes: traffic lights exist in front of the own vehicle, curves exist in front of the own vehicle, intersections exist in front of the own vehicle, and the own vehicle is not in the borrowing stage.
At this time, the left boundary of the reference lane is regarded as the left boundary of the vehicle driving, and the right boundary of the reference lane is regarded as the right boundary of the vehicle driving, which corresponds to narrowing the driving space.
According to the embodiment of the invention, whether the self-vehicle is switched from the reverse road borrowing scene to the cruising scene is judged through the reverse road borrowing termination condition, so that the scene switching of the self-vehicle can be performed in time, and the running safety of the self-vehicle is improved.
In one embodiment of the invention, the method further comprises:
when the own vehicle does not meet the reverse road borrowing termination condition, determining whether the own vehicle meets the leftward same-direction road borrowing termination condition or not based on the second state information and the second map information;
when the self-vehicle meets the leftward equidirectional road borrowing termination condition, controlling the self-vehicle to cruise;
wherein, the left equidirectional borrowing termination condition comprises: traffic lights are arranged in front of the own vehicle, a curve is arranged in front of the own vehicle, an intersection is arranged in front of the own vehicle, the left side edge of a lane where the own vehicle is located can span and the own vehicle is not in a borrowing stage.
And when the left equidirectional borrowing termination condition is met, stopping the left lane equidirectional borrowing detouring, and switching the vehicle to a cruising scene.
In one embodiment of the invention, the method further comprises: when the own vehicle does not meet the leftward equidirectional road borrowing termination condition, determining whether the own vehicle meets the rightward equidirectional road borrowing termination condition or not based on the second state information and the second map information;
When the own vehicle meets the right equidirectional road borrowing termination condition, controlling the own vehicle to cruise;
wherein, the right equidirectional borrowing termination condition comprises: traffic lights are arranged in front of the own vehicle, a curve is arranged in front of the own vehicle, an intersection is arranged in front of the own vehicle, the right side edge of a lane where the own vehicle is located can span and the own vehicle is not in a borrowing stage.
As shown in fig. 4, the stages in which the own vehicle is located may include: an initialization phase, a ready-to-borrow phase, an on-borrow phase, and an off-borrow phase.
The stage of the own vehicle can be directly obtained.
In one embodiment of the invention, the method further comprises:
when the own vehicle does not meet the reverse road borrowing termination condition, or the own vehicle does not meet the leftward same-direction road borrowing termination condition, or the own vehicle does not meet the rightward same-direction road borrowing termination condition, acquiring second reference line information and second obstacle information within a set range; determining whether the own vehicle meets a road borrowing termination condition according to second state information, second reference line information, second map information and second obstacle information of the own vehicle, if so, controlling the own vehicle to cruise, otherwise, executing to acquire the second state information and the second map information of the current own vehicle;
wherein, borrow a way termination condition includes: the host vehicle is located in front of the reference lane and the host vehicle without a target obstacle.
If the own vehicle does not meet the road borrowing termination condition, the termination process judgment can be circularly executed according to the set period, and then scene switching is realized.
In one embodiment of the invention, the method further comprises:
determining meeting time of the own vehicle and each obstacle in the lane to be borrowed based on the first state information, the first reference line information and the first obstacle information of the own vehicle;
determining a speed limit value based on the first state information of the own vehicle and the minimum value in each meeting time;
controlling a reverse lane bypass from a vehicle to the left, comprising:
and controlling the vehicle to bypass to the left reverse lane according to the speed limit value.
Based on the first state information, the first reference line information and the first obstacle information of the own vehicle, the longitudinal distance between the own vehicle and each obstacle in the lane to be borrowed is determined, based on the longitudinal distance, the meeting time of the own vehicle and each obstacle is calculated, based on the meeting time, the gain coefficient is calculated, and based on the first state information and the gain coefficient of the own vehicle, the speed limit value is calculated. The gain factor is used to characterize the degree of restriction on the speed of the vehicle. For example, the shorter the encounter time, the smaller the speed limit. The own vehicle runs according to the determined speed limit value, so that the running safety of the vehicle can be improved.
Based on the first status information of the own vehicle, a status of the own vehicle may be determined. When the own vehicle reversely winds from the leftmost lane, the state of the own vehicle may include: the whole self-vehicle is positioned on the leftmost lane, the self-vehicle is crossing the lane line, the whole self-vehicle is positioned on the reverse lane, the self-vehicle part enters the right side of the leftmost lane, and the like.
The embodiment of the invention sets different gain coefficients for different states, for example, if a vehicle part enters the right side of the leftmost lane, the gain coefficient is 0, namely the speed is not limited; if the vehicle part enters the right side of the reverse lane, the gain coefficient is 0.2, and the speed limiting force is smaller.
In one embodiment of the present invention, the above decision method is implemented by a scene-stage double-layer finite state machine, as shown in fig. 5.
In the first layer state machine, a scene manager manages a plurality of custom scenes and organizes switching between the scenes according to scene callback functions. In the second-level state machine, a phase decision maker of the current scene manages a plurality of customized phases and organizes switching among the phases according to a phase callback function.
At the field Jing Cengmian, the scene manager executes a corresponding scene callback function according to the current scene, performs logic judgment of scene switching in the current scene callback function, updates the current scene into the scene if the entering logic of a certain scene is triggered, and executes the scene callback function of the scene in the next period. The stage decision device of the scene enters the corresponding stage decision device according to the current scene.
At the stage level, the stage decision device of the current scene executes the corresponding stage callback function according to the current stage, makes logic judgment of stage switching in the current stage callback function, updates the current stage into the stage if the entering logic of a certain stage is triggered, and executes the stage callback function of the stage. After the current scene and the current stage are determined, corresponding tasks are sequentially executed according to the user-defined task list.
Tasks may include basic data processing, boundary processing, static obstacle processing, lateral planning spatial decision, path coarse solution search, path fine solution optimization, speed limit processing, dynamic obstacle processing, longitudinal planning spatial decision, trajectory coarse solution search, trajectory fine solution optimization, and the like.
Referring to fig. 6, at field Jing Cengmian, the borrowing scenario (motorway detours) of a motor vehicle lane involves only interaction with the cruising scenario (motorway cruise) of the motor vehicle lane, the interaction logic is as follows:
(1) When the current period of the own vehicle is in a motorway cruise scene, entering a callback function of the motorway cruise, and performing switching judgment of each scene according to the sequence. Taking a MotorwayDetour scene as an example, the relevant attributes entering and exiting the MotorwayDetour scene are updated through a MotorwayDetour scene attribute updating function, and whether the current period can enter the MotorwayDetour scene or not is judged based on the updated relevant attributes in a MotorwayDetour scene triggering judging function.
(2) When the current cycle of the own vehicle is in a MotorwayDetour scene, the own vehicle enters a callback function of the MotorwayDetour, related attributes entering and exiting the MotorwayDetour scene are updated through a MotorwayDetour scene attribute updating function, and further whether the current cycle bypass is finished or not is judged based on the updated related attributes in a MotorwayDetour scene finishing judging function, and if so, the own vehicle returns to the MotorwayCruise scene.
In the embodiment of the invention, the own vehicle determines whether to switch the scene according to the set period. The motorway lane change scene is a lane change scene, and the motorway intersection scene is an intersection scene.
In the embodiment of the invention, various items required for switching to the detour scene, such as various items in a detour condition, a reverse detour condition, a left same-direction detour condition and a right same-direction detour condition, are determined through a motorway detour scene attribute updating function. And (3) triggering a judging function through the Motorway detours scene, and executing the logic for switching the cruising scene to the detouring scene, namely, step 202-step 205. Similarly, the logic for switching the bypass scene to the cruise scene is performed by the motorway detours scene end determination function. The detour scene comprises the reverse detour of the left lane, the equidirectional detour of the right lane and the equidirectional detour of the left lane.
The embodiment of the invention provides an automatic driving decision method for detouring a reverse lane, which comprises the following steps:
s1: and acquiring first state information, first reference line information, first map information and first obstacle information of the current vehicle in a set range when the vehicle is in a cruising scene.
S2: and based on the first state information, the first reference line information, the first map information and the first obstacle information of the own vehicle, determining whether the own vehicle meets a detour condition, if so, executing S3, otherwise, executing S1 at intervals of a preset time period.
The bypass condition comprises: the vehicle is positioned on a reference lane, a target obstacle exists in front of the vehicle, a traffic light does not exist in front of the vehicle, a curve does not exist in front of the vehicle and an intersection does not exist in front of the vehicle; the target obstacle is a static obstacle or a dynamic obstacle with a speed lower than a preset speed.
S3: and determining whether the own vehicle meets a reverse detour bypass condition or not based on the first state information of the own vehicle, the first map information and the first obstacle information, if so, executing S4, otherwise, executing S6.
The reverse bypass condition comprises: the vehicle is in the leftmost lane, the left boundary of the lane where the vehicle is located can be crossed, the left lane line of the lane where the vehicle is located can be crossed, and the left reverse lane is allowed to be crossed.
S4: and determining whether the own vehicle meets a left reverse road borrowing condition or not based on the first state information of the own vehicle, the first map information and the first obstacle information, if so, executing S5, otherwise, executing S6.
The left reverse borrowing condition comprises: no obstacle exists in the left reverse lane.
S5: and S10, controlling the self-vehicle to bypass the left reverse lane by way.
S6: and based on the first state information, the first map information and the first obstacle information of the own vehicle, determining whether the own vehicle meets the left same-direction road borrowing condition, if so, executing S7, and if not, executing S8.
The left equidirectional borrowing condition comprises: the left side of the lane where no obstacle exists in the left side same direction lane and the left side boundary of the lane where the own vehicle exists can be crossed.
S7: and S10, controlling the self-vehicle to bypass the left-side homodromous lane, and executing the S10.
S8: and based on the first state information, the first map information and the first obstacle information of the own vehicle, determining whether the own vehicle meets the right same-direction road borrowing condition, if so, executing S9, otherwise, executing S1 at intervals of a set time period.
The right equidirectional borrowing condition comprises: no obstacle exists in the right same-direction lane and the right boundary of the lane where the own vehicle is located can be crossed.
S9: and S10, controlling the self-vehicle to bypass to the right-side equidirectional lane, and executing the S10.
S10: and acquiring second state information of the current own vehicle and second map information in the set range.
S11: and based on the second state information and the second map information, determining whether the own vehicle meets a reverse road borrowing termination condition, if so, executing S12, otherwise, executing S13.
The reverse borrowing termination condition comprises: traffic lights are arranged in front of the own vehicle, a curve is arranged in front of the own vehicle, an intersection is arranged in front of the own vehicle, and the own vehicle is not in a road borrowing stage.
S12: and controlling the vehicle to cruise.
S13: and based on the second state information and the second map information, determining whether the own vehicle meets the left same-direction road borrowing termination condition, if so, executing S12, and otherwise, executing S14.
The leftward equidirectional borrowing termination condition comprises: the traffic light exists in front of the own vehicle, the curve exists in front of the own vehicle, the intersection exists in front of the own vehicle, the left boundary of the lane where the own vehicle is located can be crossed, and the own vehicle is not in the borrowing stage.
S14: and based on the second state information and the second map information, determining whether the own vehicle meets the right same-direction road borrowing termination condition, if so, executing S12, otherwise, executing S15.
The right equidirectional borrowing termination condition comprises: the traffic light exists in front of the own vehicle, the curve exists in front of the own vehicle, the intersection exists in front of the own vehicle, the right boundary of the lane where the own vehicle is located can be crossed, and the own vehicle is not in the borrowing stage.
S15: and acquiring second reference line information and second obstacle information in the set range.
S16: and determining whether the own vehicle meets a road borrowing termination condition according to the second state information, the second reference line information, the second map information and the second obstacle information of the own vehicle, if so, executing S12, otherwise, executing S10 at intervals of a set time period.
The borrowing termination condition includes: the vehicle is located in a reference lane and there is no target obstacle in front of the vehicle.
According to the embodiment of the invention, the self-vehicle is switched from the cruising scene to the detour scene based on the detour condition, the reverse detour condition and the reverse detour condition, and the self-vehicle is switched from the detour scene to the cruising scene based on the reverse detour termination condition, the leftward same-direction detour termination condition and the rightward same-direction detour termination condition, so that scene switching can be timely and accurately realized, and the running safety and the running efficiency of the self-vehicle are improved.
As shown in fig. 7, an embodiment of the present invention provides an automatic driving decision device for detouring a reverse lane, including:
an obtaining module 701, configured to obtain first state information, first reference line information, first map information, and first obstacle information of a current own vehicle when the own vehicle is in a cruising scene;
a decision module 702 configured to determine whether the own vehicle satisfies a detour by-pass condition based on the first state information, the first reference line information, the first map information, and the first obstacle information of the own vehicle; when the own vehicle meets the detour condition, determining whether the own vehicle meets the reverse detour condition based on the first state information, the first map information and the first obstacle information of the own vehicle; when the own vehicle meets the reverse road borrowing and bypassing condition, determining whether the own vehicle meets the left reverse road borrowing condition or not based on the first state information, the first map information and the first obstacle information of the own vehicle; when the own vehicle meets the leftward reverse road borrowing condition, the own vehicle is controlled to move to
The left reverse lane detours by way;
wherein, borrow a way bypass condition includes: the vehicle is positioned on a reference lane, a target obstacle exists in front of the vehicle, a traffic light does not exist in front of the vehicle, a curve does not exist in front of the vehicle, and an intersection does not exist in front of the vehicle;
The target obstacle is a static obstacle or a dynamic obstacle with the speed lower than a preset speed;
the reverse bypass condition comprises: the vehicle can cross at the leftmost lane, the left boundary of the lane where the vehicle is located, the left lane line of the lane where the vehicle is located and the left reverse lane can cross;
the left reverse borrowing condition comprises: no obstacle exists in the left reverse lane.
In one embodiment of the present invention, the decision module 702 is configured to determine whether the own vehicle satisfies the left same-direction detour condition based on the first state information, the first map information, and the first obstacle information of the own vehicle when the own vehicle does not satisfy the reverse detour condition; when the self-vehicle meets the left same-direction road borrowing condition, controlling the self-vehicle to bypass the left same-direction lane; wherein, the conditions of the left equidirectional borrowing way comprise: the left side boundary of the lane where no obstacle exists and the own vehicle exists in the left side same direction lane can be crossed.
In one embodiment of the present invention, the decision module 702 is configured to determine whether the own vehicle satisfies the right-direction road borrowing condition based on the first state information, the first map information, and the first obstacle information of the own vehicle when the own vehicle does not satisfy the left-direction road borrowing condition; when the self-vehicle meets the right same-direction road borrowing condition, controlling the self-vehicle to bypass the right same-direction lane; wherein, the right equidirectional borrowing condition includes: the right side boundary of the lane where no obstacle exists and the own vehicle exists in the right side same-direction lane can be crossed.
In one embodiment of the present invention, the decision module 702 is configured to obtain second state information of the current own vehicle and second map information within a set range; determining whether the own vehicle meets a reverse road borrowing termination condition based on the second state information and the second map information; when the self-vehicle meets the reverse road borrowing termination condition, controlling the self-vehicle to cruise; wherein, reverse borrowing termination condition includes: traffic lights exist in front of the own vehicle, curves exist in front of the own vehicle, intersections exist in front of the own vehicle, and the own vehicle is not in the borrowing stage.
In one embodiment of the present invention, the decision module 702 is configured to determine, when the own vehicle does not satisfy the reverse road borrowing termination condition, whether the own vehicle satisfies the leftward same-direction road borrowing termination condition based on the second state information and the second map information; when the self-vehicle meets the leftward equidirectional road borrowing termination condition, controlling the self-vehicle to cruise; wherein, the left equidirectional borrowing termination condition comprises: traffic lights are arranged in front of the own vehicle, a curve is arranged in front of the own vehicle, an intersection is arranged in front of the own vehicle, the left side edge of a lane where the own vehicle is located can span and the own vehicle is not in a borrowing stage.
In one embodiment of the present invention, the decision module 702 is configured to determine, when the own vehicle does not satisfy the leftward co-directional road borrowing termination condition, whether the own vehicle satisfies the rightward co-directional road borrowing termination condition based on the second state information and the second map information; when the own vehicle meets the right equidirectional road borrowing termination condition, controlling the own vehicle to cruise; wherein, the right equidirectional borrowing termination condition comprises: traffic lights are arranged in front of the own vehicle, a curve is arranged in front of the own vehicle, an intersection is arranged in front of the own vehicle, the right side edge of a lane where the own vehicle is located can span and the own vehicle is not in a borrowing stage.
In one embodiment of the present invention, the decision module 702 is configured to obtain the second reference line information and the second obstacle information within the set range when the own vehicle does not meet the right same-direction road borrowing termination condition; determining whether the own vehicle meets a road borrowing termination condition according to second state information, second reference line information, second map information and second obstacle information of the own vehicle, if so, controlling the own vehicle to cruise, otherwise, executing to acquire the second state information of the current own vehicle and the second map information within the set range; wherein, borrow a way termination condition includes: the host vehicle is located in front of the reference lane and the host vehicle without a target obstacle.
In one embodiment of the present invention, the decision module 702 is configured to determine a meeting time of the own vehicle and each obstacle in the lane to be borrowed based on the first state information, the first reference line information, and the first obstacle information of the own vehicle; determining a speed limit value based on the first state information of the own vehicle and the minimum value in each meeting time; and controlling the vehicle to bypass to the left reverse lane according to the speed limit value.
The embodiment of the invention provides electronic equipment, which comprises:
one or more processors;
Storage means for storing one or more programs,
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of the embodiments described above.
An embodiment of the invention provides a computer readable medium having stored thereon a computer program, characterized in that the program when executed by a processor implements a method according to any of the embodiments described above.
Referring now to FIG. 8, there is illustrated a schematic diagram of a computer system 800 suitable for use in implementing an embodiment of the present invention. The terminal device shown in fig. 8 is only an example, and should not impose any limitation on the functions and the scope of use of the embodiment of the present invention.
As shown in fig. 8, the computer system 800 includes a Central Processing Unit (CPU) 801 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 802 or a program loaded from a storage section 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the system 800 are also stored. The CPU 801, ROM 802, and RAM 803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to the bus 804.
The following components are connected to the I/O interface 805: an input portion 806 including a keyboard, mouse, etc.; an output portion 807 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage section 808 including a hard disk or the like; and a communication section 809 including a network interface card such as a LAN card, a modem, or the like. The communication section 809 performs communication processing via a network such as the internet. The drive 810 is also connected to the I/O interface 805 as needed. A removable medium 811 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 810 as needed so that a computer program read out therefrom is mounted into the storage section 808 as needed.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication section 809, and/or installed from the removable media 811. The above-described functions defined in the system of the present invention are performed when the computer program is executed by a Central Processing Unit (CPU) 801.
The computer readable medium shown in the present invention may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules involved in the embodiments of the present invention may be implemented in software or in hardware. The described modules may also be provided in a processor, for example, as: a processor includes a sending module, an obtaining module, a determining module, and a first processing module. The names of these modules do not in some cases limit the module itself, and for example, the transmitting module may also be described as "a module that transmits a picture acquisition request to a connected server".
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives can occur depending upon design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (11)
1. An automatic driving decision method for detouring a reverse lane, comprising:
acquiring first state information, first reference line information, first map information and first obstacle information of a current vehicle in a set range when the vehicle is in a cruising scene;
determining whether the own vehicle satisfies a detour bypass condition based on the first state information, the first reference line information, the first map information, and the first obstacle information of the own vehicle;
when the self-vehicle meets the detour bypass condition, determining whether the self-vehicle meets a reverse detour bypass condition based on the first state information of the self-vehicle, the first map information and the first obstacle information;
when the own vehicle meets the reverse road borrowing and bypassing condition, determining whether the own vehicle meets a left reverse road borrowing condition or not based on first state information of the own vehicle, the first map information and the first obstacle information;
When the self-vehicle meets the leftward reverse road borrowing condition, controlling the self-vehicle to bypass a leftward reverse lane;
wherein, the bypass condition includes: the vehicle is positioned on a reference lane, a target obstacle exists in front of the vehicle, a traffic light does not exist in front of the vehicle, a curve does not exist in front of the vehicle and an intersection does not exist in front of the vehicle; the target obstacle is a static obstacle or a dynamic obstacle with the speed lower than a preset speed;
the reverse bypass condition comprises: the vehicle is in the leftmost lane, the left boundary of the lane where the vehicle is located can be spanned, the left lane line of the lane where the vehicle is located can be spanned, and the left reverse lane is allowed to be spanned;
the left reverse borrowing condition comprises: no obstacle exists in the left reverse lane.
2. The method as recited in claim 1, further comprising:
when the self-vehicle does not meet the reverse road borrowing and bypassing condition, determining whether the self-vehicle meets a left same-direction road borrowing condition or not based on first state information of the self-vehicle, the first map information and the first obstacle information;
when the self-vehicle meets the left same-direction road borrowing condition, controlling the self-vehicle to bypass a left same-direction lane;
Wherein, the left equidirectional borrowing condition comprises: the left side of the lane where no obstacle exists in the left side same direction lane and the left side boundary of the lane where the own vehicle exists can be crossed.
3. The method as recited in claim 2, further comprising:
when the self-vehicle does not meet the leftward and equidirectional road borrowing condition, determining whether the self-vehicle meets the rightward and equidirectional road borrowing condition based on the first state information, the first map information and the first obstacle information of the self-vehicle;
when the self-vehicle meets the right same-direction lane borrowing condition, controlling the self-vehicle to bypass the right same-direction lane borrowing;
wherein, the right equidirectional borrowing condition comprises: no obstacle exists in the right same-direction lane and the right boundary of the lane where the own vehicle is located can be crossed.
4. The method of claim 3, further comprising, after said controlling said host-vehicle to reverse lane detour to the left:
acquiring second state information of the current own vehicle and second map information in the set range;
determining whether the own vehicle satisfies a reverse road borrowing termination condition based on the second state information and the second map information;
When the self-vehicle meets the reverse road borrowing termination condition, controlling the self-vehicle to cruise;
wherein, the reverse borrowing termination condition includes: traffic lights are arranged in front of the own vehicle, a curve is arranged in front of the own vehicle, an intersection is arranged in front of the own vehicle, and the own vehicle is not in a road borrowing stage.
5. The method as recited in claim 4, further comprising:
when the own vehicle does not meet the reverse road borrowing termination condition, determining whether the own vehicle meets the left same-direction road borrowing termination condition or not based on the second state information and the second map information;
when the self-vehicle meets the leftward and equidirectional road borrowing termination condition, controlling the self-vehicle to cruise;
wherein, the left equidirectional borrowing termination condition comprises: the traffic light exists in front of the own vehicle, the curve exists in front of the own vehicle, the intersection exists in front of the own vehicle, the left boundary of the lane where the own vehicle is located can be crossed, and the own vehicle is not in the borrowing stage.
6. The method as recited in claim 5, further comprising:
when the own vehicle does not meet the leftward equidirectional road borrowing termination condition, determining whether the own vehicle meets the rightward equidirectional road borrowing termination condition or not based on the second state information and the second map information;
When the self-vehicle meets the rightward same-direction road borrowing termination condition, controlling the self-vehicle to cruise;
wherein, the right equidirectional borrowing channel termination condition comprises: the traffic light exists in front of the own vehicle, the curve exists in front of the own vehicle, the intersection exists in front of the own vehicle, the right boundary of the lane where the own vehicle is located can be crossed, and the own vehicle is not in the borrowing stage.
7. The method as recited in claim 6, further comprising:
when the self-vehicle does not meet the right same-direction road borrowing termination condition, acquiring second reference line information and second obstacle information in the set range; determining whether the own vehicle meets a road borrowing termination condition according to the second state information of the own vehicle, the second reference line information, the second map information and the second obstacle information, if so, controlling the own vehicle to cruise, otherwise, executing the acquisition of the second state information of the current own vehicle and the second map information in the set range;
wherein, the borrowing termination condition includes: the vehicle is located in a reference lane and there is no target obstacle in front of the vehicle.
8. The method as recited in claim 1, further comprising:
Determining meeting time of the own vehicle and each obstacle in a lane to be borrowed based on the first state information of the own vehicle, the first reference line information and the first obstacle information;
determining a speed limit value based on the first state information of the own vehicle and the minimum value in each meeting time;
controlling the self-vehicle to bypass the left reverse lane by way, comprising:
and controlling the self-vehicle to bypass the left reverse lane according to the speed limiting value.
9. An automatic driving decision device for detouring a reverse lane, comprising:
the system comprises an acquisition module, a first control module and a second control module, wherein the acquisition module is configured to acquire first state information, first reference line information, first map information and first obstacle information of a vehicle under a cruising scene of the vehicle;
a decision module configured to determine whether the own vehicle satisfies a detour bypass condition based on first state information, first reference line information, first map information, and first obstacle information of the own vehicle; when the self-vehicle meets the detour bypass condition, determining whether the self-vehicle meets a reverse detour bypass condition based on the first state information of the self-vehicle, the first map information and the first obstacle information; when the own vehicle meets the reverse road borrowing and bypassing condition, determining whether the own vehicle meets a left reverse road borrowing condition or not based on first state information of the own vehicle, the first map information and the first obstacle information; when the self-vehicle meets the leftward reverse road borrowing condition, controlling the self-vehicle to bypass a leftward reverse lane;
Wherein, the bypass condition includes: the vehicle is positioned on a reference lane, a target obstacle exists in front of the vehicle, a traffic light does not exist in front of the vehicle, a curve does not exist in front of the vehicle and an intersection does not exist in front of the vehicle; the target obstacle is a static obstacle or a dynamic obstacle with the speed lower than a preset speed;
the reverse bypass condition comprises: the vehicle is in the leftmost lane, the left boundary of the lane where the vehicle is located can be spanned, the left lane line of the lane where the vehicle is located can be spanned, and the left reverse lane is allowed to be spanned;
the left reverse borrowing condition comprises: no obstacle exists in the left reverse lane.
10. An electronic device, comprising:
one or more processors;
storage means for storing one or more programs,
when executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1-8.
11. A computer readable medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any of claims 1-8.
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| CN202410058145.0A CN117622225A (en) | 2024-01-15 | 2024-01-15 | Automatic driving decision method and device for detouring reverse lane by way |
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| CN202410058145.0A CN117622225A (en) | 2024-01-15 | 2024-01-15 | Automatic driving decision method and device for detouring reverse lane by way |
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| CN202410058145.0A Pending CN117622225A (en) | 2024-01-15 | 2024-01-15 | Automatic driving decision method and device for detouring reverse lane by way |
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| CN (1) | CN117622225A (en) |
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