CN118306425A

CN118306425A - Automatic driving decision method, device, equipment, storage medium and program product

Info

Publication number: CN118306425A
Application number: CN202410572680.8A
Authority: CN
Inventors: 王旭东; 赵睦瑞; 刘伟; 董霏
Original assignee: Navinfo Co Ltd
Current assignee: Navinfo Co Ltd
Priority date: 2024-05-09
Filing date: 2024-05-09
Publication date: 2024-07-09

Abstract

The application provides an automatic driving decision method, an automatic driving decision device, automatic driving decision equipment, an automatic driving decision storage medium and an automatic driving decision program product, and relates to the technical field of intelligent driving, wherein the automatic driving decision method comprises the following steps: processing the bifurcation points one by one according to the running sequence of the bifurcation points based on the attribute information and the direction information of at least one bifurcation point in the starting point to the ending point to obtain the running direction of the lane of the bifurcation point; the attribute information is used for indicating that the bifurcation point is a split point or a confluence point; the lane driving direction of the junction point is determined by the direction information of the next diversion point; the lane driving direction of the split point is determined by the direction information of the split point; determining a decision instruction based on the lane travel direction; the lane driving direction of the vehicle is planned in advance so that the vehicle can run along one lane line as far as possible, the number of the lane changes of the vehicle is reduced, and algorithm processing is only needed at the split point and the combined point corresponding to the lane changes, so that hardware cost and calculation cost are saved.

Description

Automatic driving decision method, device, equipment, storage medium and program product

Technical Field

The present application relates to the field of intelligent driving technologies, and in particular, to an automatic driving decision method, apparatus, device, storage medium, and program product.

Background

On the expressway, compared with the L2 (partially automated driving) function, the vehicle can use the high-speed automatic auxiliary navigation driving (Navigate on Autopilot, NOA) function, and further improve the user experience in the aspects of active lane change, combination with vehicle navigation, automatic passing through a high-speed hub and the like.

In the prior art, when a vehicle starts a NOA function, a global path planning from a start point to an end point is generally required according to a full-scale high-precision map and high-precision positioning, and for each track point on a path, a path planning is required to determine a driving lane of the vehicle.

However, the above method requires high hardware cost and high cost of calculation effort.

Disclosure of Invention

The application provides an automatic driving decision method, an automatic driving decision device, automatic driving decision equipment, an automatic driving decision storage medium and an automatic driving decision program product, which are used for solving the problems that hardware cost required by the conventional path planning is high and calculation force consumption cost is high.

In a first aspect, the present application provides an automated driving decision method comprising:

Acquiring attribute information and direction information of at least one bifurcation point in a starting point to a final point; the attribute information is used for indicating that the bifurcation point is a split point or a confluence point;

Determining the driving sequence of the at least one bifurcation point, and processing the at least one bifurcation point one by one according to the driving sequence based on the attribute information and the direction information to obtain a lane driving direction corresponding to the at least one bifurcation point; the lane driving direction of the junction point is determined by the direction information of the next split point; the lane driving direction of the split point is determined by the direction information of the split point;

determining a decision instruction based on the lane travel direction; the decision instruction is used for guiding the vehicle to run in a lane changing mode or based on the running in a single lane.

Optionally, the lane travel direction includes a first lane travel direction and a second lane travel direction; processing the at least one bifurcation point one by one to obtain a lane driving direction corresponding to the at least one bifurcation point, including:

Determining a first bifurcation point within the at least one bifurcation point;

Determining a first lane travel direction of the vehicle based on the direction information of the first bifurcation point;

And processing the bifurcation points after the first bifurcation point is removed one by one to obtain the running direction of the second road.

Optionally, determining a decision instruction based on the lane driving direction includes:

acquiring the distance between the vehicle and the first bifurcation point;

Determining a first decision instruction for the vehicle based on the distance and the first vehicle travel direction;

Determining a second decision instruction for the vehicle based on the second lane travel direction;

Summarizing the first decision instruction and the second decision instruction to obtain a decision instruction.

Optionally, the method further comprises:

when the last bifurcation point in the at least one bifurcation point is a confluence point, the lane driving direction of the last bifurcation point is determined by the direction information of the last bifurcation point.

Optionally, the processing the at least one bifurcation point one by one based on the attribute information and the direction information includes:

Loading a planning instruction document, and judging whether attribute information and direction information of at least one bifurcation point are matched with information in the planning instruction document; the planning instruction document comprises decision instructions corresponding to a plurality of preset bifurcation point combinations;

if yes, determining a decision instruction;

if not, processing the at least one bifurcation point one by one based on the attribute information and the direction information.

Optionally, the method further comprises:

When the decision instruction is a unilateral lane following instruction, controlling the vehicle to run based on a unilateral lane line;

And when the decision instruction is an lane change instruction, controlling the vehicle to perform lane change running.

Optionally, controlling the vehicle to perform lane-changing driving includes:

Determining a target bifurcation point corresponding to the lane change;

And acquiring lane information in a preset range of the target bifurcation point, and determining a lane changing path based on the lane information so as to enable the vehicle to change lanes based on the lane changing path.

In a second aspect, the present application provides an automatic driving decision device, the device comprising:

the acquisition module is used for acquiring attribute information and direction information of at least one bifurcation point in the starting point and the ending point; the attribute information is used for indicating that the bifurcation point is a split point or a confluence point;

The processing module is used for determining the running sequence of the at least one bifurcation point, and processing the at least one bifurcation point one by one based on the attribute information and the direction information according to the running sequence to obtain the lane running direction corresponding to the at least one bifurcation point; the lane driving direction of the junction point is determined by the direction information of the next split point; the lane driving direction of the split point is determined by the direction information of the split point;

The determining module is used for determining a decision instruction based on the lane driving direction; the decision instruction is used for guiding the vehicle to run in a lane changing mode or based on the running in a single lane.

In a third aspect, the present application provides an electronic device comprising: a processor, and a memory communicatively coupled to the processor;

the memory stores computer-executable instructions;

The processor executes computer-executable instructions stored by the memory to implement the method of any one of the first aspects.

In a fourth aspect, the present application provides a computer-readable storage medium storing computer-executable instructions for implementing the method of any one of the first aspects when executed by a processor.

In a fifth aspect, the application provides a computer program product comprising a computer program which, when executed by a processor, implements the method according to any of the first aspects.

In summary, the present application provides an automatic driving decision method, apparatus, device, storage medium and program product, by acquiring all the split points and the merge points in the starting point and the end point, determining the lane driving direction of the vehicle, that is, the lane driving direction of the vehicle in which direction the vehicle is driving, by using the direction information of the split points and the merge points based on the driving sequence of the split points and the merge points on the high-precision map, and further summarizing the determined lane driving directions of all the split points and the merge points to plan a reasonable decision instruction to guide the vehicle to drive in a lane changing way or drive in a lane based on a single vehicle, wherein the lane driving direction of the merge point is determined by the direction information of the next split point; the lane driving direction of the split point is determined by the direction information of the split point, so that the lane driving direction of the vehicle is planned in advance, the vehicle can reach the end point by depending on one lane line as far as possible, and the variable pass number of the vehicle can be reduced.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application;

fig. 2 is a schematic flow chart of an automatic driving decision method according to an embodiment of the present application;

FIG. 3 is a schematic view of an automatic driving decision provided in an embodiment of the present application;

fig. 4 is a schematic structural diagram of an automatic driving decision device according to an embodiment of the present application;

Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Specific embodiments of the present application have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.

Detailed Description

In order to clearly describe the technical solution of the embodiments of the present application, in the embodiments of the present application, the words "first", "second", etc. are used to distinguish the same item or similar items having substantially the same function and effect. For example, the first device and the second device are merely for distinguishing between different devices, and are not limited in their order of precedence. It will be appreciated by those of skill in the art that the words "first," "second," and the like do not limit the amount and order of execution, and that the words "first," "second," and the like do not necessarily differ.

In the present application, the words "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.

In the present application, "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a alone, a and B together, and B alone, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b, or c may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or plural.

The automatic driving vehicle is generally configured with a high-speed NOA, when the vehicle runs on a highway, after navigation path calculation is performed based on position information of a starting point and an ending point, a decision-making planning module of a vehicle controller needs to perform global path planning from the starting point to the ending point and match a proper path, wherein in the process of path planning and path matching, features in a full-scale high-precision map need to be extracted for calculation, and the features of the high-precision map are extremely large, but the features actually used are quite small, so that the feature calculation is quite labor-consuming, a sensing device mounted on the vehicle is needed, environmental features around the vehicle are collected in real time, and environmental features are processed by utilizing algorithms such as regulation and the like to judge whether the current path needs to be adjusted, so that the hardware cost of the vehicle is extremely high, and the market of users is difficult to expand.

In one possible implementation manner, when the vehicle starts the NOA function and performs global path planning from a start point to an end point according to a full-scale high-precision map and high-precision positioning, for each track point, such as a split point and a merging point, on the path, the environmental characteristics of each split point or the surrounding of the merging point are identified, so as to process the environmental characteristics of each point, determine the running direction of the vehicle, and further perform path planning to determine the running lane of the vehicle.

However, since each trace point needs to be processed, the required hardware cost is high, and the calculation effort cost is high.

In view of the above problems, the present application provides an automatic driving decision method, by acquiring all the split points and the combined points in the starting point and the final point, determining the lane driving direction of the vehicle, that is, the lane driving direction of the vehicle in which direction the vehicle is driving, by using the direction information of the split points and the combined points based on the driving sequence of the split points and the combined points on the high-precision map, and further summarizing the determined lane driving directions of all the split points and the combined points, so as to plan a reasonable decision instruction to guide the vehicle to drive in a lane changing way or drive in a lane based on a single vehicle, wherein the lane driving direction of the combined point is determined by the direction information of the next split point; the lane driving direction of the split point is determined by the direction information of the split point, so that the lane driving direction of the vehicle is planned in advance, the vehicle can reach the end point by depending on one lane line as far as possible, and the variable pass number of the vehicle can be reduced.

Fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present application, where, as shown in fig. 1, the application scenario may be applied to a vehicle high-speed autopilot scenario, where the application scenario includes: a vehicle end 101, an in-vehicle terminal device 102, and a high-precision map 103.

For example, when the vehicle end 101 drives automatically on the highway, the vehicle-mounted terminal device 102 may determine a starting point and an ending point of driving on the highway from the high-precision map 103, and in the driving process of the starting point and the ending point, the main road section of the highway may adopt a traditional L2 driving function, and when approaching the split point or the junction point, the vehicle-mounted terminal device 102 determines all the split points and the junction points between the starting point and the ending point from the high-precision map 103, further obtains direction information of the split points and the junction point, further determines a lane driving direction of the vehicle end 101 based on the driving sequence and the direction information of the split points and the junction point, and further, gathers the determined lane driving directions corresponding to all the split points and the junction point to plan a reasonable decision instruction to guide the vehicle to drive in a lane or based on the inside of a single vehicle.

The lane driving direction of the junction point is determined by the direction information of the next diversion point; the lane driving direction of the split point is determined by the direction information of the split point, optionally, the direction information refers to the left direction and the right direction.

Alternatively, the driving direction of the lane may be displayed on a display screen corresponding to the vehicle-mounted terminal device 102, such as a thickened route displayed in the high-precision map 103 in fig. 1, that is, the vehicle end 101 is controlled to run out of the whole ramp depending on one lane line based on the decision instruction.

It may be understood that the execution process of the decision-making instruction may be performed on other network devices or cloud devices, for example, the vehicle-mounted terminal device 102 sends the obtained attribute information and direction information of all the bifurcation points in the starting point and the ending point to the network device or cloud device, and then the network device or cloud device performs the automatic driving decision-making method, and after obtaining the decision-making instruction, sends the decision-making instruction to the vehicle-mounted terminal device 102, so that the vehicle end 101 guides the vehicle to travel based on the decision-making instruction; wherein the attribute information of the bifurcation point is used for indicating that the bifurcation point is a split point or a confluence point.

It should be noted that, the apparatus for executing the automatic driving decision method according to the embodiments of the present application is not particularly limited.

The following describes the technical scheme of the present application and how the technical scheme of the present application solves the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

Fig. 2 is a schematic flow chart of an automatic driving decision method according to an embodiment of the present application, as shown in fig. 2, an execution subject of the automatic driving decision method may be the above-mentioned vehicle terminal device, and the automatic driving decision method includes the following steps:

s201, acquiring attribute information and direction information of at least one bifurcation point in a starting point to a final point; the attribute information is used for indicating that the bifurcation point is a split point or a confluence point.

In the embodiment of the present application, the split point may refer to a track point corresponding to a vehicle needing to turn into an auxiliary road from a main road, for example, a track point corresponding to a vehicle driving out of a highway or changing into a service area, and the split point may refer to a track point corresponding to a vehicle needing to merge into a main road from an auxiliary road, for example, a track point corresponding to a vehicle driving into a highway from a service area or adding into a main road, where it is understood that the split point and the split point are not a specific point but a place or position on a highway, for example, may be a certain position in a section of route, and the embodiment of the present application is not limited in particular.

In this step, during the automatic driving process of the expressway, the NOA function of the vehicle may receive the data results of the navigation of the vehicle and the matching of the high-precision map, that is, the attribute information and the direction information of at least one bifurcation point, and may be represented by point coordinates, for example, bifurcation points (1, 2), where the first bit indicates the attribute of the bifurcation point, that is, a bifurcation point or a confluence point, and the second bit indicates the direction, that is, the left direction or the right direction, and in the embodiment of the present application, 1 in the first bit indicates the bifurcation and 2 indicates the confluence; a1 in the second bit indicates the left direction, and a2 indicates the right direction.

The attribute information and the direction information of at least one bifurcation point may be obtained from a high-precision map, or may be obtained from other devices through data interaction, which is not limited in particular in the embodiment of the present application, for example, a query instruction is sent to a base station to obtain the attribute information and the direction information of at least one bifurcation point in a starting point to a final point from a map provider device.

It should be noted that other numbers or letters and other identifiers may be used to indicate the attribute information and the direction information of the bifurcation point, which are not particularly limited in this embodiment of the present application, and the attribute information and the direction information in the following embodiments are indicated by numerals 1 and 2 for convenience.

It can be understood that the number of branch points in the starting point and the ending point is determined based on actual scenes, and the expressways of different road sections correspond to different numbers of branch points.

S202, determining a driving sequence of at least one bifurcation point, and processing the at least one bifurcation point one by one based on the attribute information and the direction information according to the driving sequence to obtain a lane driving direction corresponding to the at least one bifurcation point; the lane driving direction of the junction point is determined by the direction information of the next split point; the lane driving direction of the split point is determined by the direction information of the split point.

In the embodiment of the present application, the running sequence may refer to determining, according to the spatial sequence, the sequence corresponding to the track points where the vehicle passes in the moving process, where, for example, there are 5 bifurcation points in the starting point to the ending point, and the running sequence corresponding to the vehicle passing through the 5 bifurcation points in turn is (1, 2), (2, 1), (1, 2), (2, 2).

Fig. 3 is a schematic view of a scenario of an automatic driving decision provided in an embodiment of the present application, as shown in fig. 3, the interface is a relatively complex highway hub, there are 5 bifurcation points in a starting point to a final point, and attribute information and direction information of the 5 bifurcation points are respectively expressed as: (1, 2), (2, 1), (1, 2), (2, 2), and the vehicle sequentially passes through the 5 bifurcation points in the corresponding driving sequence [ (1, 2), (2, 1), (1, 2), (2, 2) ], and corresponds to rightward diversion, merging from the left side, leftward diversion, merging from the right side, further, the 5 bifurcation points are processed one by one, the lane driving direction of the bifurcation point (1, 2) is sequentially determined to be 2-right, the lane driving direction of the bifurcation point (1, 2) is 2-right, the lane driving direction of the bifurcation point (2, 1) is 2-right, the lane driving direction of the bifurcation point (1, 2) is 2-right, and the lane driving direction of the bifurcation point (2, 2) is 2-right, so that the vehicle can walk out of the whole ramp depending on the lane line on the right side.

When the last branch point is a junction point, since the junction point has no next branch point, the driving direction of the lane of the junction point may be determined by the direction information of the previous branch point, may be determined by the direction information of the junction point, or may be specified by a user, which is not particularly limited in the embodiment of the present application.

S203, determining a decision instruction based on the lane driving direction; the decision instruction is used for guiding the vehicle to run in a lane changing mode or based on the running in a single lane.

The vehicle can travel in the single vehicle lane on the basis of the fact that the vehicle can travel in the single vehicle lane in a centered manner, and the vehicle can travel in the single vehicle lane.

In the embodiment of the application, the driving directions of the lanes corresponding to the two adjacent bifurcation points can be the same or different, and when the driving directions of the lanes corresponding to the two adjacent bifurcation points are different, the vehicle can normally drive only by controlling the lane change; the lane travel direction is used to determine the lane of the vehicle, for example, whether the vehicle is traveling in the form of a right lane or a left lane.

In the present application, a controller based on L2 assisted driving may be employed, which has limited computational power, but hardware is equipped with a front-View camera and a front radar, and two front-View and two rear-View radars, compared to a vehicle having a BEV (Bird Eye View) perception scheme mounted with great computational power, the present application is relatively conservative in active lane change, because the active lane change is triggered after confirming absolute safety, i.e., lane change operation is triggered when it is determined that the driving directions of lanes corresponding to adjacent two bifurcation points are different, so that the present application can guide (control) the vehicle to pass through the ramp based on decision instructions with the minimum number of change passes.

It should be noted that, during lane changing, the vehicle is required to process the characteristic information of the surrounding environment collected in advance to determine the path and the time of lane changing, and complex algorithm logic is required to be executed during lane changing, compared with the existing algorithm processing for lane changing at each track point, the application only needs to execute the algorithm processing for the corresponding track points when the driving directions of the lanes corresponding to the two bifurcation points are different, thereby greatly reducing the cost of calculation.

Therefore, under the condition of not depending on a high-precision global positioning system (Global Positioning System, GPS) positioning, the lane driving direction can be determined according to the processing of the navigation calculation path of the vehicle and the high-precision map matching result, namely the processing of the attribute information and the direction information of at least one bifurcation point in the starting point to the ending point, and then the decision instruction of the vehicle driving is reasonably planned based on the lane driving direction.

Therefore, the embodiment of the application can realize a high-order auxiliary driving function, after the vehicle is started to navigate, the vehicle enters from a high speed to a driving-away high speed, a high-precision map is used for covering a road section, the attribute information and the direction information of at least one bifurcation point in a final point are obtained, the driving direction of a lane corresponding to the at least one bifurcation point is determined based on the method, and then a decision instruction with less number of variable passes is planned so as to control the vehicle to run in a lane changing way or run in a lane based on a single vehicle, so that the cost is saved.

In the embodiment of the application, the first bifurcation point (the first bifurcation point) can be processed independently before entering the ramp, and when the first bifurcation point is a diversion point, the first lane driving direction of the vehicle can be determined according to the direction information of the diversion point, namely, the vehicle is guided to actively change the lane to one side lane when approaching the diversion point, so that diversion is completed; similarly, when the first bifurcation point is a merging point, the vehicles are directly controlled to merge according to the direction information indicated by the merging point.

Where merging refers to the process of a vehicle entering one road or lane from another, typically occurring at a ramp, highway entrance, etc., and diverging refers to the process of a vehicle entering a different road or lane separately from one road or lane.

Further, the branch points after the first branch point is removed are processed one by one, namely global decision planning is conducted, if the branch point is the next branch point, the direction of the branch point is determined by the next branch point, if the branch point is the branch point, the direction of the branch point is determined by the branch point, and the like until all the branch points are processed, and the second road running direction is obtained.

Thus, after the above processing, it can be determined whether the vehicle can walk out of the whole ramp by one-side lane line control after passing through the first bifurcation point.

It can be understood that the first bifurcation point is usually the entrance of the ramp or the connection point with the main road, which is important for accurate positioning of the vehicle, by processing the first bifurcation point alone, the vehicle can be ensured to enter the ramp accurately, wrong driving caused by position deviation is avoided, and processing the first bifurcation point alone can ensure that the vehicle enters the ramp safely and smoothly.

acquiring the distance between the vehicle and the first bifurcation point;

In the embodiment of the application, the distance from the first bifurcation point before entering the ramp is also required to be acquired so as to be convenient for carrying out effective global decision planning. When entering the ramp, the vehicle needs to select a proper driving path according to traffic rules and road conditions, so that the distance of the first bifurcation point is determined to ensure that the vehicle drives according to the planned path, and wrong steering or driving is avoided.

For example, taking the first bifurcation point as an example, after determining the distance between the vehicle and the bifurcation point, guiding the vehicle to actively change the lane to one side lane at a preset position, where the lane changing process of the vehicle is controlled by a first decision instruction, and the preset position is a position close to the bifurcation point.

Further, determining a second track driving direction of the remaining bifurcation points after the first bifurcation point is removed in the starting point and the ending point, where the second track driving direction may include a driving direction of a lane change, and further determining a second decision instruction of the vehicle by using a predefined execution logic based on the second track driving direction, where the predefined execution logic is to determine the lane change instruction by using a lane change algorithm for track points with different lane driving directions corresponding to the two bifurcation points, and the other track points determine the driving instruction according to a logic of driving on a single-sided lane.

Furthermore, the first decision instruction and the second decision instruction are summarized, so that the decision instruction for guiding the vehicle to pass through the whole ramp can be obtained.

Therefore, the embodiment of the application can reasonably plan the decision instruction, so that the vehicle can run as close to the road on one side of the road edge as possible when running, the number of lane changing times is reduced, and the calculation cost is saved.

Optionally, the method further comprises:

Alternatively, when the last bifurcation point is a junction point, the lane driving direction of the junction point may be manually specified or the vehicle may determine the lane driving direction according to the surrounding environmental characteristics at that time, which is not particularly limited in the embodiment of the present application.

Therefore, the waiting and adjustment of the vehicle at the junction can be reduced by determining the driving direction of the lane at the junction in advance, the traffic smoothness is improved, and the traffic jam is reduced.

if yes, determining a decision instruction;

In the embodiment of the application, statistics is made on global decision planning, data analysis is performed by traversing all branch point combinations, namely, the combination modes of all branch points in the ramp are enumerated by an enumeration method, and 1620 branch point combinations of a route are counted under the condition of not considering actual road conditions, wherein 802 branch point combinations are possible through the ramp by depending on a lane line on one side, the rest conditions are limited, for example, when only 4 or 5 branch points are in the ramp, the branch points in the ramp and the current junction points are mutually matched, and the like, 16 branch point combinations are counted, and only one or two lane changes are needed to pass in the ramp, but the complex ramp is extremely rare, so that the passing rate of a vehicle through the ramp can reach 99% by depending on the lane line on one side based on the decision instruction determined by the automatic driving decision method provided by the application, and the conditions can be regarded as the boundary of a lightweight NOA function.

Because the number of branch point combinations in the ramp is limited, all possible branch point combinations can be stored in the planning instruction document in advance, each branch point combination corresponds to a planned decision instruction, and therefore after the attribute information and the direction information of at least one branch point in the starting point to the ending point are obtained, the attribute information and the direction information of at least one branch point in the ending point can be directly matched with the information in the planning instruction document.

For example, after 5 bifurcation points (1, 2), (2, 1), (1, 2), (2, 2) are obtained, the information in the planning instruction document is directly matched, whether the information of 5 bifurcation points exists is checked, if yes, the decision instruction corresponding to the 5 bifurcation points is directly called, otherwise, the decision instruction is determined by the method of S201-S203.

Optionally, after determining the decision instruction by using the method of S201-S203, the decision instruction, and the attribute information and the direction information of the corresponding bifurcation point may be stored in the planning instruction document, and the information of the planning instruction document is updated, so as to be convenient for the next use.

Therefore, the method and the device do not need to calculate in real time after acquiring the attribute information and the direction information of at least one bifurcation point in the starting point to the ending point every time, so that the calculation force and the calculation resource are saved, the response speed and the response efficiency of the vehicle end are improved, and the user experience is improved.

Optionally, the method further comprises:

For example, if the vehicle can control the vehicle to run out of the ramp depending on one lane line, determining to generate a one-side lane following instruction, wherein the ramp passing rate is 100%; if the vehicle can drive out of the ramp only after changing the ramp, generating a ramp command, and sending the ramp command to the progress management module to trigger the ramp operation.

The lane changing operation may refer to an existing lane changing method of a vehicle or redefine a new lane changing method of the vehicle, and the lane changing operation is not particularly limited in the embodiment of the present application, for example, a lane changing method of an intelligent lane changing method by identifying the surrounding environment of the vehicle.

Therefore, the embodiment of the application can generate different vehicle instructions to control the vehicle to pass through the ramp aiming at different scenes, thereby improving the flexibility of the vehicle passing through the ramp.

Optionally, controlling the vehicle to perform lane-changing driving includes:

Determining a target bifurcation point corresponding to the lane change;

In the embodiment of the application, the vehicle can acquire the lane information in real time, so after the vehicle is determined to need lane change, the corresponding bifurcation point with different running directions of two continuous lanes is found, the target bifurcation point is further determined, further, the obstacle characteristics, the lane line characteristics and the like are determined based on the lane information in the preset range of the target bifurcation point, the target position is further determined based on the characteristics to change the lane, and the lane changing diameter is determined by the target position.

The preset range is a region range that can be scanned by the vehicle-mounted sensor, and the preset range can be modified manually, which is not particularly limited in the embodiment of the present application.

The method includes the steps of obtaining a speed of a current vehicle and a predetermined lane change speed, and selecting a suitable lane change path from a plurality of lane change paths based on the speed of the current vehicle, the predetermined lane change speed and a target position when the vehicle approaches a target bifurcation point.

Therefore, after the decision instruction with fewer lane changing times is planned, the embodiment of the application can select a proper path to change lanes, thereby improving driving efficiency, reducing frequent lane changing by planning lane changing paths in advance, and saving time and fuel cost.

By combining the embodiments, the method of the application obtains the attribute information and the direction information of the split point and the current junction point by using the high-precision map which is processed in a lightweight way, so that decision planning is carried out on the continuous split point and the current junction point on the expressway, the existing L2 functions are multiplexed in other scenes, the driving experience of the vehicle can be improved, and the cost is greatly reduced.

In the foregoing embodiment, the autopilot decision method provided by the embodiment of the present application is described, and in order to implement each function in the method provided by the embodiment of the present application, the electronic device as the execution body may include a hardware structure and/or a software module, and each function may be implemented in the form of a hardware structure, a software module, or a hardware structure plus a software module. Some of the functions described above are performed in a hardware configuration, a software module, or a combination of hardware and software modules, depending on the specific application of the solution and design constraints.

For example, fig. 4 is a schematic structural diagram of an automatic driving decision device according to an embodiment of the present application, as shown in fig. 4, the device 400 includes: an acquisition module 401, a processing module 402, and a determination module 403;

The acquiring module 401 is configured to acquire attribute information and direction information of at least one bifurcation point in a starting point to a ending point; the attribute information is used for indicating that the bifurcation point is a split point or a confluence point;

The processing module 402 is configured to determine a driving order of the at least one bifurcation point, and process the at least one bifurcation point one by one according to the driving order based on the attribute information and the direction information, so as to obtain a lane driving direction corresponding to the at least one bifurcation point; the lane driving direction of the junction point is determined by the direction information of the next split point; the lane driving direction of the split point is determined by the direction information of the split point;

The determining module 403 is configured to determine a decision instruction based on the lane driving direction; the decision instruction is used for guiding the vehicle to run in a lane changing mode or based on the running in a single lane.

Optionally, the lane travel direction includes a first lane travel direction and a second lane travel direction; the processing module 402 is specifically configured to:

Optionally, the determining module 403 is specifically configured to:

acquiring the distance between the vehicle and the first bifurcation point;

Optionally, the apparatus 400 further includes a determining unit, configured to:

Optionally, the processing module 402 is specifically configured to:

if yes, determining a decision instruction;

Optionally, the apparatus 400 further includes a control module, where the control module is configured to:

and when the decision instruction is a lane change instruction, controlling the vehicle to run in a lane change mode.

Optionally, the control module is specifically configured to:

Determining a target bifurcation point corresponding to the lane change;

It should be noted that, the specific implementation principle and effect of the automatic driving decision device may be referred to the relevant description and effect corresponding to the above embodiment, and will not be repeated here.

The embodiment of the application also provides a schematic structural diagram of an electronic device, and fig. 5 is a schematic structural diagram of an electronic device provided by the embodiment of the application, as shown in fig. 5, the electronic device may include: a processor 501 and a memory 502 communicatively coupled to the processor; the memory 502 stores a computer program; the processor 501 executes the computer program stored in the memory 502, so that the processor 501 performs the method described in any one of the embodiments above.

Wherein the memory 502 and the processor 501 may be connected by a bus 503.

Embodiments of the present application also provide a computer-readable storage medium storing computer program-executable instructions that, when executed by a processor, are configured to implement a method as described in any of the foregoing embodiments of the present application.

The embodiment of the application also provides a chip for running instructions, and the chip is used for executing the method in any of the previous embodiments executed by the electronic equipment in any of the previous embodiments.

Embodiments of the present application also provide a computer program product comprising a computer program which, when executed by a processor, performs a method as in any of the preceding embodiments of the present application, as in any of the preceding embodiments performed by an electronic device.

In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules is merely a logical function division, and there may be additional divisions of actual implementation, e.g., multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.

The modules illustrated as separate components may or may not be physically separate, and components shown as modules may or may not be physical units, may be located in one place, or may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to implement the solution of this embodiment.

In addition, each functional module in the embodiments of the present application may be integrated in one processing unit, or each module may exist alone physically, or two or more modules may be integrated in one unit. The units formed by the modules can be realized in a form of hardware or a form of hardware and software functional units.

The integrated modules, which are implemented in the form of software functional modules, may be stored in a computer readable storage medium. The software functional modules described above are stored in a storage medium and include instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or processor to perform some of the steps of the methods described in the various embodiments of the application.

It should be appreciated that the Processor may be a central processing unit (Central Processing Unit, abbreviated as CPU), or may be other general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, abbreviated as DSP), application SPECIFIC INTEGRATED Circuit (ASIC), or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present application may be embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in a processor for execution.

The Memory may include a high-speed random access Memory (Random Access Memory, abbreviated as RAM), and may further include a Non-volatile Memory (NVM), such as at least one magnetic disk Memory, and may also be a U-disk, a removable hard disk, a read-only Memory, a magnetic disk, or an optical disk.

The bus may be an industry standard architecture (Industry Standard Architecture, ISA) bus, an external device interconnect (PERIPHERAL COMPONENT INTERCONNECT, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, the buses in the drawings of the present application are not limited to only one bus or to one type of bus.

The storage medium may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random-Access Memory (SRAM), electrically erasable programmable Read-Only Memory (ELECTRICALLY ERASABLE PROGRAMMABLE READ ONLY MEMORY EEPROM), erasable programmable Read-Only Memory (Erasable Programmable Read-Only Memory, EPROM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an Application SPECIFIC INTEGRATED Circuits (ASIC). It is also possible that the processor and the storage medium reside as discrete components in an electronic device or a master device.

It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are alternative embodiments, and that the acts and modules referred to are not necessarily required for the present application.

It should be further noted that, although the steps in the flowchart are sequentially shown as indicated by arrows, the steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least a portion of the steps in the flowcharts may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order in which the sub-steps or stages are performed is not necessarily sequential, and may be performed in turn or alternately with at least a portion of the sub-steps or stages of other steps or other steps.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments. The technical features of the foregoing embodiments may be arbitrarily combined, and for brevity, all of the possible combinations of the technical features of the foregoing embodiments are not described, however, all of the combinations of the technical features should be considered as being within the scope of the disclosure.

Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

The foregoing is merely a specific implementation of the embodiment of the present application, but the protection scope of the embodiment of the present application is not limited to this, and any changes or substitutions within the technical scope disclosed in the embodiment of the present application should be covered in the protection scope of the embodiment of the present application. Therefore, the protection scope of the embodiments of the present application shall be subject to the protection scope of the claims.

Claims

1. An automated driving decision method, the method comprising:

2. The method of claim 1, wherein the lane travel direction comprises a first lane travel direction and a second lane travel direction; processing the at least one bifurcation point one by one to obtain a lane driving direction corresponding to the at least one bifurcation point, including:

3. The method of claim 2, wherein determining a decision instruction based on the lane travel direction comprises:

acquiring the distance between the vehicle and the first bifurcation point;

4. The method according to claim 1, wherein the method further comprises:

5. The method of claim 1, wherein processing the at least one bifurcation point one by one based on the attribute information and the direction information comprises:

if yes, determining a decision instruction;

6. The method according to any one of claims 1-5, further comprising:

7. The method of claim 6, wherein controlling the vehicle to travel in a lane change comprises:

Determining a target bifurcation point corresponding to the lane change;

8. An automatic driving decision making device, characterized in that the device comprises:

9. An electronic device, comprising: a processor, and a memory communicatively coupled to the processor;

the memory stores computer-executable instructions;

The processor executes computer-executable instructions stored in the memory to implement the method of any one of claims 1-7.

10. A computer readable storage medium storing computer executable instructions which when executed by a processor are adapted to carry out the method of any one of claims 1 to 7.

11. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any of claims 1-7.