CN117975711A - Travel route determination method, apparatus and computer-readable storage medium - Google Patents

Abstract

The embodiment of the invention relates to the technical field of auxiliary driving, and discloses a driving route determining method, a driving route determining device and a computer-readable storage medium, wherein the method comprises the following steps: acquiring a current driving lane of a target vehicle at a current intersection and a passing direction of the current driving lane; the current intersection comprises a variable lane; determining the current traffic direction of the variable lane based on the traffic indication mark of the current intersection and/or the traffic direction of the lane of the current intersection and the vehicle traffic state of the lane; the driving route of the target vehicle is determined based on the driving direction of the target vehicle, the current driving direction of the current driving lane, and the current driving direction of the variable lane. By applying the technical scheme of the invention, the current passing direction of the variable lane can be brought into the range of the driving route planning, so that the optimal driving route in the current driving direction can be determined according to the passing direction of each lane of the current road opening, and the passing efficiency of vehicles is improved.

Description

Travel route determination method, apparatus and computer-readable storage medium

Technical Field

The embodiment of the invention relates to the technical field of auxiliary driving, in particular to a driving route determining method, a driving route determining device and a computer readable storage medium.

Background

At present, the driving assisting system generally divides a variable lane into non-passable lanes, and cannot actively enter the variable lane, even when a vehicle enters the variable lane due to traffic flow and the like, the vehicle can initiate lane changing operation to change the lane and leave the variable lane, so that the passing efficiency of the vehicle is reduced.

Disclosure of Invention

In view of the above problems, embodiments of the present invention provide a driving route determining method, apparatus, and computer readable storage medium, for solving the problem in the prior art that the vehicle passing efficiency is low due to the fact that variable lanes cannot be fully utilized for driving.

According to an aspect of an embodiment of the present invention, there is provided a travel route determination method including:

acquiring a current driving lane of a target vehicle at a current intersection and a passing direction of the current driving lane; the current intersection comprises a variable lane;

Determining the current traffic direction of the variable lane based on the traffic indication mark of the current intersection and/or the traffic direction of the lane of the current intersection and the vehicle traffic state of the lane;

The driving route of the target vehicle is determined based on the driving direction of the target vehicle, the current driving direction of the current driving lane, and the current driving direction of the variable lane.

In an alternative embodiment, determining the current traffic direction of the variable lane based on the traffic indication identifier of the current intersection and/or the traffic direction of the lane of the current intersection and the vehicle traffic state of the lane includes:

If the traffic indication mark of the current intersection comprises the traffic direction of the variable lane, determining the traffic direction indicated in the traffic indication mark as the current traffic direction of the variable lane;

If the traffic direction of the variable lane is not included in the traffic indication mark of the current intersection, determining the current traffic direction of the variable lane based on the traffic direction of the lane of the current intersection and the traffic state of the vehicle of the lane.

In an alternative embodiment, if the current driving lane is a variable lane, determining the current traffic direction of the variable lane based on the traffic direction of the lane at the current intersection and the vehicle traffic state of the lane includes:

acquiring a vehicle sequence of a target vehicle in a variable lane;

If the vehicle sequence is non-head vehicles and the vehicle passing state of the variable lane is passing, determining the current passing direction of the variable lane based on the passing direction of the front vehicle of the target vehicle.

In an alternative embodiment, determining the current traffic direction of the variable lane based on the direction of the preceding vehicle traffic of the target vehicle comprises:

If the number of the front vehicles of the target vehicle is greater than or equal to 2, determining that the passing direction of the front vehicles is the current passing direction of the variable lane;

and if the number of the front vehicles of the target vehicle is equal to 1, sending out a vehicle passing reminding.

In an alternative embodiment, the determining the current traffic direction of the variable lane based on the traffic direction of the lane at the current intersection and the vehicle traffic state of the lane further includes:

If the vehicle sequence is non-head vehicles and the vehicle passing state of the variable lane is stopped, the current passing direction of the variable lane is determined based on the passing directions of the other lanes except the variable lane and the vehicle passing state.

In an alternative embodiment, determining the current traffic direction of the variable lane based on the traffic directions of the remaining lanes other than the variable lane and the vehicle traffic state includes:

acquiring all passable directions of lanes of a current intersection;

And screening in all passable directions based on the passing directions of the other lanes and the passing states of the vehicles, and determining the current passing direction of the variable lane.

In an alternative embodiment, if the traffic direction of the variable lane is not included in the traffic indication identifier of the current intersection and the current driving lane is the variable lane, determining the driving route of the target vehicle based on the traffic direction of the current driving lane and the current traffic direction of the variable lane includes:

If the running direction of the target vehicle is inconsistent with the passing direction of the current running lane, the target vehicle is controlled to run according to the passing direction of the current running lane;

the travel route of the target vehicle is adjusted based on the direction of passage of the current travel lane.

In an alternative embodiment, if the traffic indication identifier of the current intersection includes the traffic direction of the variable lane, determining the driving route of the target vehicle based on the traffic direction of the current driving lane and the current traffic direction of the variable lane includes:

and if the running direction of the target vehicle is consistent with the current running direction of the variable lane, determining the target running lane of the target vehicle at the current intersection based on the current running lane and the running efficiency of the variable lane.

According to another aspect of the embodiment of the present invention, there is provided a travel route determination apparatus including:

the current driving lane acquisition module is used for acquiring a current driving lane of a target vehicle at a current intersection and a traffic direction of the current driving lane, wherein the current intersection comprises a variable lane;

the variable lane direction determining module is used for determining the current traffic direction of the variable lane based on the traffic indication mark of the current intersection and/or the traffic direction of the lane of the current intersection and the vehicle traffic state of the lane;

And the driving route determining module is used for determining the driving route of the target vehicle based on the driving direction of the target vehicle, the passing direction of the current driving lane and the current passing direction of the variable lane.

According to another aspect of the embodiment of the present invention, there is provided a vehicle-mounted terminal including: the device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface are communicated with each other through the communication bus;

The memory is configured to store at least one executable instruction that causes the processor to perform the operations of the travel route determination method as described in any of the above.

According to still another aspect of the embodiments of the present invention, there is provided a computer-readable storage medium having stored therein at least one executable instruction that, when run on an in-vehicle terminal/travel route determination device, causes the in-vehicle terminal/travel route determination device to perform the operations of the travel route determination method as described in any one of the above.

According to the embodiment of the invention, the current traffic direction of the variable lane is determined through the traffic indication mark of the current intersection and/or the traffic direction of the lane of the current intersection and the traffic state of the vehicle of each lane, and the current traffic direction of the variable lane is brought into the range of the driving route planning, so that the optimal driving route in the current driving direction can be determined according to the traffic direction of each lane of the current intersection, and the driving efficiency of the vehicle is improved.

The foregoing description is only an overview of the technical solutions of the embodiments of the present invention, and may be implemented according to the content of the specification, so that the technical means of the embodiments of the present invention can be more clearly understood, and the following specific embodiments of the present invention are given for clarity and understanding.

Drawings

The drawings are only for purposes of illustrating embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

FIG. 1 is a schematic diagram of a driving assistance system;

FIG. 2 is a component schematic diagram of a driving assistance system;

Fig. 3 is a flow chart of a driving route determining method according to an embodiment of the present invention;

FIG. 4 is a schematic flow chart of determining a current traffic direction of a variable lane according to an embodiment of the present invention;

FIG. 5 is a schematic flow chart of determining a current traffic direction of a variable lane according to an embodiment of the present invention;

Fig. 6 is a schematic structural view of an embodiment of a travel route determination apparatus provided by an embodiment of the present invention;

Fig. 7 is a schematic structural diagram of an embodiment of a vehicle-mounted terminal according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein.

Referring to fig. 1 and 2, fig. 1 is a schematic diagram of an auxiliary driving system, fig. 2 is a schematic diagram of components of the auxiliary driving system, and as shown in fig. 1 and 2, the auxiliary driving system includes 3 millimeter wave radars, 10 cameras, an automatic driving controller, a vehicle body stabilizing system, an electric power steering system, a vehicle body controller, a meter, a central control screen, a steering lamp and other related systems, and a sensor unit is in communication with the automatic driving controller.

Wherein, as shown in the following table 1, the 3 millimeter wave radars include a front millimeter wave radar 1 and an angle millimeter wave radar 2 and an angle millimeter wave radar 3; the front millimeter wave radar is a 77GHz millimeter wave radar, is arranged right in front of the vehicle, the detection distance can reach about 160m, the angle millimeter wave radar is a 77GHz millimeter wave radar, is arranged on the left side and the right side in the rear bumper of the vehicle, and the detection distance can reach about 80 m. The 12 ultrasonic probes, namely, the ultrasonic probes 4 to 15 are distributed around the vehicle body. The 10 cameras include 1 set of front-view intelligent cameras 24 including 2 cameras, 4 side-view cameras (side-view camera 20, side-view camera 21, side-view camera 22, and side-view camera 23), and 4 ring-view cameras (ring-view camera 16, ring-view camera 17, ring-view camera 18, and ring-view camera 19). The side view camera is a two million pixel camera of 100 wide angles, and the side view camera is divided into a side front view camera and a side back view camera again, and the side front view camera, namely side view camera 21 and side view camera 23, is installed in the rear-view mirror, and the side back view camera, namely side view camera 20 and side view camera 22, is installed above the fender, and its detection distance can reach about 70 m. The field of view of the front view intelligent camera group 24 is divided into small, medium and large angles, and the furthest detectable distance can reach about 200 m. The laser radar 25 is installed at the junction of the roof and the windshield, and the furthest detection distance can reach about 250 meters. The autopilot controller 26 may be disposed in any location of the vehicle that meets waterproofing.

TABLE 2

Part name	Quantity of bicycles	Description of the parts
			Forward-looking intelligent camera group	1	120-Degree wide-angle camera and 30-degree long-focus camera
Side view camera	4	100-Degree wide-angle camera
			All-round camera	4	190 Wide-angle camera
Front millimeter wave radar	1	77GHz millimeter wave radar
			Angular millimeter wave radar	2	77GHz millimeter wave radar
Automatic driving controller	1	Automatic driving controller module assembly

In the embodiment of the invention, the angular millimeter wave radar and the front millimeter wave radar send out radio waves (radar waves) and receive echoes, the position data of the target is measured according to the time difference between the receiving and the transmitting, and parameters such as the time distance between the obstacle and the vehicle, the relative speed and the like can be accurately detected through millimeter waves. The front-view intelligent camera group can detect obstacles with the distances of about 200m at the farthest positions in front of the outside, recognize lane line information, cut in and cut out vehicles at a short distance, and the like. The side view camera is used for overcoming the defect of poor recognition under the low-speed scene of the angle radar, and can quickly and early capture the cutting trend of other vehicles and the short-distance cutting scene, so that the automatic driving controller can early process the cutting scene. The millimeter wave radar, the cameras and the inertial measurement unit integrated in the vehicle form a sensing module, and the automatic driving controller identifies lane lines, vehicles running on roads, road edges, barriers and the like through an algorithm by acquiring information detected by the sensing module and reasonably plans a track planning of driving assistance based on the lane lines, the vehicles, the road edges, the barriers and the like. The vehicle body stabilizing system is used for receiving a deceleration request instruction sent by the automatic driving controller and feeding back vehicle body data such as deceleration, yaw angle, vehicle speed and wheel speed of the vehicle to the automatic driving controller so that the automatic driving controller can calculate longitudinal control of the vehicle. The electric power steering system is used for executing the steering angle and the steering angle acceleration request sent by the automatic driving controller and controlling the steering wheel to steer to the angle instructed by the automatic driving controller. The whole vehicle controller is used for receiving the torque request of the automatic driving controller, executing acceleration control, feeding back the gear of the vehicle in real time, responding to the torque and the like. The vehicle body controller is used for receiving control requests of steering lamps, danger alarm lamps, wipers, lamplight and the like for automatic driving control. The instrument is used for displaying a man-machine interaction interface, characters, pictures and sound reminding in the process of activating the auxiliary driving function. The central control screen is used for displaying a scene reconstruction interface and a user-defined setting entry and the like of the pilot auxiliary function in the activation process. The steering lamp is used for responding to the lighting request of the vehicle body controller in the automatic driving process to remind other vehicles of driving safety.

The embodiment of the invention provides a driving route determining method which can be used for the auxiliary driving system, and the method comprises the steps of obtaining a current driving lane of a target vehicle at a current intersection and a passing direction of the current driving lane; the current intersection comprises a variable lane; determining the current traffic direction of the variable lane based on the traffic indication mark of the current intersection and/or the traffic direction of the lane of the current intersection and the vehicle traffic state of the lane; the driving route of the target vehicle is determined based on the driving direction of the target vehicle, the current driving direction of the current driving lane, and the current driving direction of the variable lane. Therefore, the current traffic direction of the variable lane can be determined through the traffic indication mark of the current intersection, and/or the traffic direction of the lane of the current intersection and the traffic state of the vehicles of each lane, and the current traffic direction of the variable lane is brought into the range of the driving route planning, so that the optimal driving route under the current driving direction can be determined according to the traffic direction of each lane of the current intersection, and the driving efficiency of the vehicles is improved.

In the following, a specific embodiment of a driving route determining method according to the present invention is described, and fig. 3 is a schematic flow chart of a driving route determining method according to an embodiment of the present invention, and the present specification provides method operation steps according to an embodiment or a flowchart, but may include more or fewer operation steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. When implemented in a real system or server product, the methods illustrated in the embodiments or figures may be performed sequentially or in parallel (e.g., in a parallel processor or multithreaded environment). As shown in fig. 3, the method may include:

step 310: and acquiring the passing direction of the current driving lane of the target vehicle at the current intersection.

In an embodiment of the invention, the current intersection comprises a plurality of lanes and comprises a variable lane. The target vehicle is a vehicle controlled by the auxiliary driving system and executes related auxiliary driving strategies, and the current driving lane is the lane where the target vehicle is currently located.

In the embodiment of the invention, the road condition of the current intersection can be determined according to the navigation information or the map information and the like through the information directly acquired through communication with navigation software or satellites and the like. The road condition of the current intersection comprises the number of lanes included in the current intersection and the passing direction of each lane, so that the current driving lane of the target vehicle at the current intersection and the passing direction of the current driving lane can be determined according to the position of the target vehicle at the current intersection, for example, the number of lanes located at the current intersection.

Step 320: and determining the current traffic direction of the variable lane based on the traffic indication mark of the current intersection and/or the traffic direction of the lane of the current intersection and the vehicle traffic state of the lane.

In the embodiment of the invention, the current intersection comprises the variable lane, the traffic direction of the variable lane is changed with time or traffic flow, and the lane is only the variable lane or the specific traffic directions of the variable lane can be further known through navigation information or map information, but the traffic direction of the variable lane under the current condition, namely the current traffic direction, cannot be clearly known.

In the embodiment of the invention, the traffic indication mark of the current intersection is used for indicating the passable state of each lane or each driving direction of the current intersection and indicating the passing direction of each lane of the current intersection, that is to say, the traffic indication mark of the current intersection comprises a traffic indication mark indicating the driving direction of the lane and a traffic light indicating the current passable direction. The vehicle passing state of a lane is a running state of a vehicle in the lane, i.e., stopped or passed.

In the embodiment of the invention, the traffic direction of the lane and the traffic state of the vehicle are compared with the traffic direction and/or the traffic direction indicated in the traffic indication mark, and the current traffic direction of the variable lane is determined.

In an alternative embodiment, the vehicle user may customize whether the variable lane is enabled, and if so, set the variable lane to be passable, determine the current direction of passage of the variable lane according to the method of step 320; if the variable lane is set to be unable to enter, the variable lane is set to be unable to pass, and then the current passing direction of the variable lane is directly set to be unable to pass without determining the current passing direction of the variable lane according to the method of step 320.

Step 330: the driving route of the target vehicle is determined based on the driving direction of the target vehicle, the current driving direction of the current driving lane, and the current driving direction of the variable lane.

In the embodiment of the invention, the running direction of the target vehicle should be consistent with the traffic direction of the current running lane, otherwise, lane change is needed or the route is re-planned based on the traffic direction of the current running lane. Therefore, the running direction of the target vehicle is compared with the current running direction of the current running lane and the current running direction of the variable lane, so that the running route of the target vehicle is determined.

According to the driving route determining method provided by the embodiment of the invention, the current passing direction of the variable lane is determined through the passing indication mark of the current intersection and/or the passing direction of the lane of the current intersection and the vehicle passing state of each lane, and the current passing direction of the variable lane is brought into the range of driving route planning, so that the optimal driving route in the current driving direction can be determined according to the passing direction of each lane of the current intersection, and the driving efficiency of the vehicle is improved.

In an alternative embodiment, the method of determining the current traffic direction of the variable lane in step 320 is further divided into two cases according to whether the traffic indication identifier includes the traffic direction of the variable lane, which is specifically as follows:

In the first case, if the traffic indication identifier of the current intersection includes the traffic direction of the variable lane, determining the traffic direction indicated in the traffic indication identifier as the current traffic direction of the variable lane. The traffic indication mark comprises the traffic direction of the variable lane, and the following two situations can be specifically corresponding to: the traffic indication mark indicates the traffic direction of the variable lanes, and the red and green lamps indicate the traffic state of each lane according to the traffic direction of the lanes. In the two cases, the current traffic direction of the variable lane can be obtained directly according to the traffic indication mark.

In the second case, if the traffic direction of the variable lane is not included in the traffic indication mark of the current intersection, determining the current traffic direction of the variable lane based on the traffic direction of the lane of the current intersection and the vehicle traffic state of the lane. In the traffic indication mark, the traffic indication mark does not indicate the traffic direction of the variable lane or the traffic indication mark is not acquired, and the traffic light only indicates the passable state of each driving direction and does not indicate the passable state of each lane according to the traffic direction of the lane.

In the second case, if the current driving lane is a variable lane, the current driving direction of the variable lane is determined based on the driving direction of the lane at the current intersection and the vehicle driving state of the lane, as shown in fig. 4, and the method includes the following steps:

step 410: the vehicle sequence of the target vehicle in the variable lane is acquired.

In the embodiment of the invention, the vehicle sequence of the target vehicle in the variable lane is used for determining whether the target vehicle is a head vehicle or a non-head vehicle in the variable lane. Specifically, if no vehicle is in front of the target vehicle, the vehicle sequence of the target vehicle is the head vehicle; if there is a vehicle in front of the target vehicle, the vehicle order of the target vehicle is non-head.

Step 420: if the vehicle sequence is non-head vehicles and the vehicle passing state of the variable lane is passing, determining the current passing direction of the variable lane based on the passing direction of the front vehicle of the target vehicle.

In the embodiment of the invention, if the vehicle sequence is non-head vehicles and the vehicle passing state of the variable lane is passing, the variable lane is indicated to be in the passing state at the moment, that is, the current passing direction of the variable lane is not required to be determined according to the passing indication mark, and the vehicle can be driven in a vehicle following mode, namely, the passing direction of the front vehicle of the target vehicle is taken as the current passing direction of the variable lane.

In an alternative embodiment, if the number of the front vehicles of the target vehicle is greater than or equal to 2, determining the passing direction of the front vehicles as the current passing direction of the variable lane, and directly adopting a vehicle following mode to follow the front vehicles; if the number of the front vehicles of the target vehicle is equal to 1, the situation that the front vehicles violate the traffic regulation and do not run in the correct direction exists, and at the moment, a vehicle passing prompt is sent out to remind a user whether to pass in the front vehicle direction or whether to take over the vehicles, so that the target vehicle can normally run and does not violate the traffic regulation when the variable lane is in a passing state.

Step 430: if the vehicle sequence is non-head vehicles and the vehicle passing state of the variable lane is stopped, the current passing direction of the variable lane is determined based on the passing directions of the other lanes except the variable lane and the vehicle passing state.

In the embodiment of the invention, since the traffic lane or the running direction in the traffic state is unique, when the vehicle sequence is non-head vehicle and the traffic state of the variable traffic lane is stopped, the current traffic direction of the variable traffic lane can be determined according to the traffic directions of the other traffic lanes except the variable traffic lane and the traffic state of the vehicle.

In an alternative embodiment, if the vehicle sequence is the head car, the running direction of the head car cannot be referred to, and at this time, a vehicle passing reminder is sent to remind the user to take over the vehicle.

Specifically, fig. 5 is a schematic flow chart of determining a current traffic direction of a variable lane according to an embodiment of the present invention, as shown in fig. 5, the step 430 may include the following steps:

step 510: and acquiring all passable directions of lanes of the current intersection.

In the embodiment of the invention, the passable direction is used for indicating the passable state of each lane of the current intersection. Based on the drivable state of the driving directions indicated in the traffic indication mark, that is, the drivable state of each driving direction indicated by the traffic light, all the drivable directions of the lanes at the current intersection can be obtained. For example, assuming that the traffic light indicates that the left turn direction is green light and the straight direction and the right turn direction are red light, the passable direction of the lane at the current intersection is: left turn passable direction, straight go passable direction, right turn passable direction.

Step 520: and screening in all passable directions based on the passing directions of the other lanes and the passing states of the vehicles, and determining the current passing direction of the variable lane.

In the embodiment of the invention, the traffic directions of the other lanes except the variable lanes can be directly obtained through navigation information or map information, and then the traffic states and the traffic directions of each lane are combined to be compared, so that the vehicle can be in one-to-one correspondence with each driving direction, and the current traffic direction of the variable lanes can be determined by combining the positions of the variable lanes in the current road.

Specifically, firstly, according to the directions of the passable states in all passable directions, determining which adjacent lanes are compared according to the changeable lanes, and then determining the current passing direction of the changeable lanes according to the comparison result. This can be divided into the following cases:

If the traffic direction is the left-turn passable direction, acquiring the passing direction and the vehicle passing state of the adjacent lane on the left side of the variable lane, and if the passing direction of the adjacent lane on the left side is the left-turn direction and the vehicle passing state is the driving state, determining that the current passing direction of the variable lane is the straight-going direction; if the passing direction of the adjacent lane on the left side is a straight passing direction and the vehicle passing state is a stop state, determining that the current passing direction of the variable lane is a right turning direction;

If the traffic direction is a straight-going passable direction, the passing direction and the vehicle passing state of the adjacent lanes on the left side and the right side of the variable lane are obtained, and if the passing direction of the adjacent lanes on the left side is a straight-going direction and the vehicle passing state is a running state, or the passing direction of the adjacent lanes on the left side is a right-turn direction and the vehicle passing state is a stop state, the current passing direction of the variable lane is determined to be the right-turn direction; if the traffic direction of the adjacent lane on the right side is a straight direction and the vehicle traffic state is a running state, or the traffic direction of the adjacent lane on the right side is a left turn direction and the vehicle traffic state is a stopped state, determining that the current traffic direction of the variable lane is the left turn direction;

If the traffic direction is the right-turn passable direction, acquiring the passing direction and the vehicle passing state of the adjacent lane on the right side of the variable lane, and if the passing direction of the adjacent lane on the right side is the right-turn direction and the vehicle passing state is the driving state, determining that the current passing direction of the variable lane is the straight-going direction; if the traffic direction of the adjacent lane on the right side is the straight direction and the vehicle traffic state is the stopped state, the current traffic direction of the variable lane is determined to be the left turn direction.

Therefore, the current passing direction of the variable lane is accurately judged by the method, so that the driving route of the target vehicle can be further planned on the basis of the current passing direction of the variable lane, the target vehicle can be ensured to drive according to the corresponding passing direction of the lane, and the adjustment can be timely made when the driving direction of the target vehicle is inconsistent with the current passing direction.

In an alternative embodiment, if the traffic direction of the variable lane is not included in the traffic indication identifier of the current intersection and the current driving lane is the variable lane, step 330 includes: if the running direction of the target vehicle is inconsistent with the passing direction of the current running lane, the target vehicle is controlled to run according to the passing direction of the current running lane; the travel route of the target vehicle is adjusted based on the direction of passage of the current travel lane. Since the traffic indication flag does not include the traffic direction of the variable lane, that is, the target vehicle does not acquire the traffic indication flag indicating the traffic direction of the lane, in this case, when it is confirmed that the current traffic lane is the variable lane by detecting the shape of the lane on the ground, the target vehicle has entered the solid line range of the lane, and the lane change operation has not been performed at this time, when the traffic direction of the target vehicle does not coincide with the traffic direction of the current traffic lane, the traffic direction of the target vehicle is adjusted to the traffic direction of the current traffic lane, the target vehicle is controlled to travel in the traffic direction of the current traffic lane, and the travel route of the target vehicle is simultaneously re-planned in the traffic direction of the current traffic lane. Therefore, when the target vehicle enters the solid line range of the variable lane, the driving route of the target vehicle can be planned according to the driving direction of the target vehicle and the driving direction of the variable lane, and the situation that the driving direction of the target vehicle is inconsistent with the driving direction of the variable lane in the related art can not be caused to forcibly change the lane, so that the situation that the solid line is pressed to change the lane is avoided.

In an alternative embodiment, if the traffic indication identifier of the current intersection includes the traffic direction of the variable lane, step 330 includes: and if the running direction of the target vehicle is consistent with the current running direction of the variable lane, determining the target running lane of the target vehicle at the current intersection based on the current running lane and the running efficiency of the variable lane. Since the traffic indication identifier includes the traffic direction of the variable lane, that is, the target vehicle acquires the traffic indication identifier indicating the driving direction of the lane, in this case, the target vehicle does not enter the solid line range of the lane yet, and at this time, the lane with higher traffic efficiency can be selected as the target driving lane of the target vehicle at the current intersection according to the traffic efficiency of the current driving lane and the variable lane. Alternatively, the traffic efficiency may be determined based on the traffic flow in the lane and the traveling speed of the vehicle. Therefore, when the target vehicle does not enter the solid line range of the lane, the target driving lane can be selected according to the traffic efficiency of the lane, so that the traffic efficiency of the target vehicle is improved.

The embodiment of the present invention further provides a driving route determining device, fig. 6 is a schematic structural diagram of an embodiment of the driving route determining device provided by the embodiment of the present invention, as shown in fig. 6, the device 600 includes:

A current driving lane obtaining module 610, configured to obtain a current driving lane of a target vehicle at a current intersection and a traffic direction of the current driving lane, where the current intersection includes a variable lane;

A variable lane direction determining module 620, configured to determine a current traffic direction of the variable lane based on a traffic indication identifier of the current intersection, and/or a traffic direction of a lane of the current intersection and a vehicle traffic state of the lane;

The driving route determining module 630 is configured to determine a driving route of the target vehicle based on the driving direction of the target vehicle, the current driving direction of the current driving lane, and the current driving direction of the variable lane.

In an alternative approach, the variable lane direction determination module 620 is configured to:

If the traffic indication mark of the current intersection comprises the traffic direction of the variable lane, determining the traffic direction indicated in the traffic indication mark as the current traffic direction of the variable lane;

If the traffic direction of the variable lane is not included in the traffic indication mark of the current intersection, determining the current traffic direction of the variable lane based on the traffic direction of the lane of the current intersection and the traffic state of the vehicle of the lane.

In an alternative embodiment, if the current driving lane is a variable lane, the variable lane direction determining module 620 includes:

A vehicle sequence acquisition unit configured to acquire a vehicle sequence of a target vehicle in a variable lane;

The current traffic direction determining unit is used for determining the current traffic direction of the variable lane based on the front traffic direction of the target vehicle if the vehicle sequence is non-head vehicles and the traffic state of the variable lane is traffic.

In an alternative embodiment, the current traffic direction determining unit is further configured to:

If the number of the front vehicles of the target vehicle is greater than or equal to 2, determining that the passing direction of the front vehicles is the current passing direction of the variable lane;

and if the number of the front vehicles of the target vehicle is equal to 1, sending out a vehicle passing reminding.

In an alternative embodiment, the current traffic direction determining unit is further configured to:

If the vehicle sequence is non-head and the vehicle traffic state of the variable lane is stopped, the current traffic direction of the variable lane is determined based on the traffic directions of the remaining lanes except the variable lane and the vehicle traffic state.

In an alternative embodiment, the current traffic direction determining unit comprises:

The passable direction acquisition subunit is used for acquiring all passable directions of lanes of the current intersection;

The current traffic direction determining subunit is used for screening in all traffic directions based on traffic directions of other lanes and traffic states of vehicles and determining the current traffic direction of the variable lane.

In an alternative embodiment, if the traffic direction of the variable lane is not included in the traffic indication identifier of the current intersection and the current driving lane is the variable lane, the driving route determining module 630 includes:

the traffic direction adjusting unit is used for controlling the target vehicle to run according to the traffic direction of the current running lane if the running direction of the target vehicle is inconsistent with the traffic direction of the current running lane;

And a travel route adjustment unit for adjusting the travel route of the target vehicle based on the passing direction of the current travel lane.

In an alternative embodiment, if the traffic indication identifier of the current intersection includes the traffic direction of the variable lane, the driving route determining module 630 includes:

And the target driving lane determining unit is used for determining the target driving lane of the target vehicle at the current intersection based on the current driving lane and the traffic efficiency of the variable lane if the driving direction of the target vehicle is consistent with the current traffic direction of the variable lane.

The device and method embodiments in the embodiments of the present application are based on the same application concept.

Fig. 7 is a schematic structural diagram of an embodiment of a vehicle-mounted terminal according to an embodiment of the present invention, which is not limited to a specific implementation of the vehicle-mounted terminal.

As shown in fig. 7, the in-vehicle terminal may include: a processor 702, a communication interface (Communications Interface), a memory 706, and a communication bus 708.

Wherein: processor 702, communication interface 704, and memory 706 perform communication with each other via a communication bus 708. A communication interface 704 for communicating with network elements of other devices, such as clients or other servers. The processor 702 is configured to execute the program 710, and may specifically perform the relevant steps in the above-described embodiments of the method for determining a driving route.

In particular, program 710 may include program code including computer-executable instructions.

The processor 702 may be a Central Processing Unit (CPU) or an Application-specific integrated Circuit (ASIC) or one or more integrated circuits configured to implement embodiments of the present invention. The one or more processors included in the vehicle-mounted terminal may be the same type of processor, such as one or more CPUs; but may also be different types of processors such as one or more CPUs and one or more ASICs.

Memory 706 for storing programs 710. The memory 706 may comprise high-speed RAM memory or may further comprise non-volatile memory (non-volatile memory), such as at least one disk memory.

The program 710 may be specifically invoked by the processor 702 to cause the in-vehicle terminal to perform the relevant steps described above in connection with the embodiments of the travel route determination method.

It will be appreciated by those skilled in the art that the configuration shown in fig. 7 is merely illustrative and is not intended to limit the configuration of the apparatus described above. For example, the in-vehicle terminal may further include more or fewer components than those shown in fig. 7, or have a different configuration from that shown in fig. 7.

An embodiment of the present invention provides a computer-readable storage medium storing at least one executable instruction that, when executed on an in-vehicle terminal/travel route determining device, causes the in-vehicle terminal/travel route determining device to execute the travel route determining method in any of the above-described method embodiments.

The algorithms or displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. In addition, embodiments of the present invention are not directed to any particular programming language.

In the description provided herein, numerous specific details are set forth. It will be appreciated, however, that embodiments of the invention may be practiced without such specific details. Similarly, in the above description of exemplary embodiments of the invention, various features of embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. Wherein the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Except that at least some of such features and/or processes or elements are mutually exclusive.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names. The steps in the above embodiments should not be construed as limiting the order of execution unless specifically stated.

Claims (11)

1. A travel route determination method, characterized in that the method comprises:

Acquiring a current driving lane of a target vehicle at a current intersection and a traffic direction of the current driving lane; the current intersection comprises a variable lane;

determining the current traffic direction of the variable lane based on the traffic indication mark of the current intersection and/or the traffic direction of the lane of the current intersection and the vehicle traffic state of the lane;

A travel route of the target vehicle is determined based on a travel direction of the target vehicle, a traffic direction of the current travel lane, and a current traffic direction of the variable lane.

2. The method of claim 1, wherein the determining the current traffic direction of the variable lane based on the traffic indication identification of the current intersection and/or the traffic direction of the lane of the current intersection and the vehicle traffic state of the lane comprises:

If the traffic indication mark of the current intersection comprises the traffic direction of the variable lane, determining the traffic direction indicated in the traffic indication mark as the current traffic direction of the variable lane;

And if the traffic direction of the variable lane is not included in the traffic indication mark of the current intersection, determining the current traffic direction of the variable lane based on the traffic direction of the lane of the current intersection and the vehicle traffic state of the lane.

3. The method of claim 2, wherein if the current driving lane is the variable lane, the determining the current driving direction of the variable lane based on the driving direction of the lane at the current intersection and the vehicle driving state of the lane comprises:

acquiring a vehicle sequence of the target vehicle in the variable lane;

And if the vehicle sequence is a non-head vehicle and the vehicle passing state of the variable lane is passing, determining the current passing direction of the variable lane based on the passing direction of the front vehicle of the target vehicle.

4. The method of claim 3, wherein the determining the current traffic direction of the variable lane based on the direction of the front vehicle traffic of the target vehicle comprises:

If the number of the front vehicles of the target vehicle is greater than or equal to 2, determining that the passing direction of the front vehicles is the current passing direction of the variable lane;

and if the number of the front vehicles of the target vehicle is equal to 1, sending out a vehicle passing reminding.

5. The method of claim 3, wherein the determining the current traffic direction of the variable lane based on the traffic direction of the lane of the current intersection and the vehicle traffic state of the lane further comprises:

And if the vehicle sequence is a non-head vehicle and the vehicle passing state of the variable lane is a stop, determining the current passing direction of the variable lane based on the passing directions of the other lanes except the variable lane and the vehicle passing state.

6. The method of claim 5, wherein the determining the current traffic direction of the variable lane based on the traffic directions of the remaining lanes other than the variable lane and the vehicle traffic state comprises:

acquiring all passable directions of lanes of the current intersection;

and screening in all the passable directions based on the passing directions of the rest lanes and the traffic state of the vehicle, and determining the current passing direction of the variable lane.

7. The method according to any one of claims 3-6, wherein if the traffic direction of the variable lane is not included in the traffic indication flag of the current intersection and the current traveling lane is the variable lane, the determining the traveling route of the target vehicle based on the traffic direction of the current traveling lane and the current traffic direction of the variable lane includes:

If the running direction of the target vehicle is inconsistent with the passing direction of the current running lane, controlling the target vehicle to run according to the passing direction of the current running lane;

and adjusting the driving route of the target vehicle based on the passing direction of the current driving lane.

8. The method according to claim 2, wherein if the traffic direction of the variable lane is included in the traffic indication flag of the current intersection, the determining the driving route of the target vehicle based on the traffic direction of the current driving lane and the current traffic direction of the variable lane includes:

And if the running direction of the target vehicle is consistent with the current passing direction of the variable lane, determining the target running lane of the target vehicle at the current intersection based on the passing efficiencies of the current running lane and the variable lane.

9. A travel route determination device, characterized in that the device comprises:

the current driving lane acquisition module is used for acquiring a current driving lane of a target vehicle at a current intersection and a traffic direction of the current driving lane, wherein the current intersection comprises a variable lane;

the variable lane direction determining module is used for determining the current traffic direction of the variable lane based on the traffic indication mark of the current intersection and/or the traffic direction of the lane of the current intersection and the vehicle traffic state of the lane;

And the driving route determining module is used for determining the driving route of the target vehicle based on the driving direction of the target vehicle, the passing direction of the current driving lane and the current passing direction of the variable lane.

10. A vehicle-mounted terminal, characterized by comprising: the device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete communication with each other through the communication bus;

the memory is configured to store at least one executable instruction that causes the processor to perform the operations of the travel route determination method according to any one of claims 1-8.

11. A computer-readable storage medium, characterized in that at least one executable instruction is stored in the storage medium, which executable instruction, when run on an in-vehicle terminal/travel route determination device, causes the in-vehicle terminal/travel route determination device to perform the operations of the travel route determination method according to any one of claims 1-8.