WO2023087524A1 - 车辆行驶的方法及装置 - Google Patents

车辆行驶的方法及装置 Download PDF

Info

Publication number
WO2023087524A1
WO2023087524A1 PCT/CN2022/071275 CN2022071275W WO2023087524A1 WO 2023087524 A1 WO2023087524 A1 WO 2023087524A1 CN 2022071275 W CN2022071275 W CN 2022071275W WO 2023087524 A1 WO2023087524 A1 WO 2023087524A1
Authority
WO
WIPO (PCT)
Prior art keywords
driving
traffic participant
vehicle
participant
lane
Prior art date
Application number
PCT/CN2022/071275
Other languages
English (en)
French (fr)
Inventor
黄超
黎罗河
Original Assignee
上海仙途智能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海仙途智能科技有限公司 filed Critical 上海仙途智能科技有限公司
Publication of WO2023087524A1 publication Critical patent/WO2023087524A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0017—Planning or execution of driving tasks specially adapted for safety of other traffic participants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4044—Direction of movement, e.g. backwards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4049—Relationship among other objects, e.g. converging dynamic objects

Definitions

  • This specification relates to the technical field of automatic driving, in particular to a vehicle driving method and device.
  • unmanned driving technology has received more and more attention.
  • the unmanned vehicle When the unmanned vehicle is driving, when passing the intersection, it needs to interact with the traffic participants in the intersection, that is, based on the current position of the traffic participant, control the driving of the unmanned vehicle to communicate with the traffic participants in the intersection. Traffic participants interact (eg, avoid traffic participants).
  • the traffic participants are regarded as static objects, which is prone to the problem of not being able to interact with the moving traffic participants in time, resulting in low safety of unmanned vehicles.
  • this specification provides a vehicle driving method and device.
  • a vehicle driving method comprising: acquiring the first driving state information and the target driving lane of the first traffic participant in the area where the vehicle is going to pass through the intersection, and acquiring the The second driving state information of the vehicle; wherein, the first driving state information includes the current position of the first traffic participant; the second driving state information includes the current position and driving direction of the vehicle; according to the The first driving state information of the first traffic participant, the target driving lane, and the second driving state information of the vehicle, and determine the right-of-way information corresponding to the first traffic participant; wherein, the right-of-way information indicates the The avoidance behavior to be taken by the vehicle for the first traffic participant; determine the interaction participant from the first traffic participant; wherein, the interaction participant indicates the target object participating in the decision-making of the vehicle's driving information ; Control the driving of the vehicle according to the right-of-way information corresponding to the interaction participant.
  • the screening out the interactive participants from the first traffic participants includes: for each first traffic participant, obtaining the expected state information of the first traffic participant, and judging the Whether the first driving state information of the first traffic participant matches the expected state information of the first traffic participant; if the first driving state information matches the expected state information, it is determined that the first traffic The participant is not an interactive participant; if the first driving state information does not match the expected state information, then obtain the interaction intention corresponding to the first traffic participant, and according to the interaction corresponding to the first traffic participant It is intended to determine whether the first traffic participant is an interactive participant; wherein, the interaction intention indicates the driving priority of the first traffic participant.
  • the interaction intention includes priority driving and avoidance driving; determining whether the first traffic participant is an interactive participant according to the interaction intention corresponding to the first traffic participant includes: if the The interaction intention corresponding to the first traffic participant is the priority driving, then determine that the first traffic participant is the interaction participant; if the interaction intention corresponding to the first traffic participant is the avoidance driving, then determine the The above-mentioned first traffic participant is not an interactive participant.
  • the first driving state information also includes the current driving speed of the first traffic participant; the expected state information includes an expected speed range; Whether the driving state information matches the expected state information of the first traffic participant, including: judging whether the current driving speed of the first traffic participant is within the expected speed range of the first traffic participant; If it is not within the expected speed range, it is determined that the first driving state information matches the expected state information; if it is not within the expected speed range, then it is determined that the first driving state information does not match the expected state information .
  • determining the right-of-way information corresponding to the first traffic participant comprising: based on the current position of the vehicle and the current position of the first traffic participant, determining the target driving lane of the first traffic participant and the driving direction of the vehicle from a preset traffic rule table
  • the corresponding right-of-way information is determined as the right-of-way information corresponding to the first traffic participant; wherein, the traffic driving rule table includes a mapping relationship between the right of way and the driving direction.
  • the controlling the vehicle to drive according to the right-of-way information of the interactive participant includes: in response to the interaction participant whose right-of-way information is the first right-of-way among the interactive participants, controlling The vehicle stops running, wherein the first right-of-way instructs the vehicle to avoid; if there is no interactive participant whose right-of-way information is the first right-of-way among the interactive participants, in response to the existence of a road among the interactive participants
  • the interactive participant whose right information is the second right of way controls the vehicle to drive at a low speed in the first preset area in the intersection area to be passed, wherein the second right of way instructs the vehicle not to evade.
  • the method further includes: in response to an interaction participant whose right-of-way information is the second right-of-way among the interactive participants, according to a preset prompting method, inform the user that the right-of-way information is the second right-of-way
  • the interactive participants output vehicle traffic prompt information; wherein, the preset prompt mode includes a text prompt mode and/or a voice prompt mode.
  • the first driving state information also includes the current orientation of the first traffic participant; the method further includes: dividing the intersection area to be passed to obtain a plurality of sub-areas, and obtaining each The boundary line corresponding to the sub-area and the lane corresponding to each boundary line; for each first traffic participant in the intersection area to be passed, determine the corresponding driving direction sign line of the first traffic participant; wherein, the The indicated direction corresponding to the driving direction marking line is consistent with the current direction of the first traffic participant; the driving direction marking line corresponding to the first traffic participant is extended to determine the intersection with the extended driving direction marking line
  • a target boundary line : acquiring a lane corresponding to the target boundary line, and determining a target driving lane corresponding to the first traffic participant according to the lane corresponding to the target boundary line.
  • the first driving state information also includes the current position of a preset point on the first traffic participant; the method further includes: for each first traffic participant in the crossing area to be passed Or, obtain the exit lane corresponding to the first traffic participant; the exit lane indicates the lane through which the first traffic participant enters the intersection area to be passed; based on the first traffic participant The current position of the preset point on the first traffic participant, determine the connection line between the first preset position in the exit lane corresponding to the first traffic participant and the preset point on the first traffic participant, and The connecting line is extended to determine the target preset lane segment intersecting with the extended connecting line; the lane corresponding to the target preset lane segment is obtained, and the corresponding lane is determined according to the lane corresponding to the target preset lane segment.
  • the target driving lane corresponding to the above-mentioned first traffic participant is performed for each first traffic participant in the crossing area to be passed Or, obtain the exit lane corresponding to the first traffic participant; the exit lane indicates the lane through which the
  • the method further includes: acquiring a target lane area; wherein, the target lane area includes at least one lane, and the target lane area indicates the lane that the vehicle pays attention to when passing through the intersection area to be passed area; for each lane in the target lane area, obtain the collision time corresponding to each second traffic participant in the lane; wherein, the collision time indicates that the second traffic participant in the lane arrives at the The time required for the second preset position in the lane; according to the order of collision time from small to large, select a preset number of second traffic participants from all second traffic participants in the lane, and The selected second traffic participant serves as the first traffic participant.
  • a vehicle driving device including: an information acquisition module, configured to acquire the first driving state information and the target driving lane of the first traffic participant in the intersection area to be passed by the vehicle, And obtain the second driving state information of the vehicle; wherein, the first driving state information includes the current position of the first traffic participant; the second driving state information includes the current position and driving direction of the vehicle a right-of-way determination module, configured to determine the right-of-way information corresponding to the first traffic participant according to the first driving state information of the first traffic participant, the target driving lane and the second driving state information of the vehicle ; Wherein, the right-of-way information indicates the avoidance behavior to be taken by the vehicle for the first traffic participant; the participant determination module is used to determine an interactive participant from the first traffic participant; wherein, the The interactive participant indicates a target object participating in the decision-making of the vehicle's driving information; the driving control module is configured to control the driving of the vehicle according to the right-of-way information corresponding to the
  • the participant determination module is specifically configured to: for each first traffic participant, obtain the expected state information of the first traffic participant, and determine the first traffic participant's first Whether the driving state information matches the expected state information of the first traffic participant; if the first driving state information matches the expected state information, it is determined that the first traffic participant is not an interactive participant; if the If the first driving state information does not match the expected state information, then acquire the interaction intention corresponding to the first traffic participant, and determine the first traffic participant according to the interaction intention corresponding to the first traffic participant Whether it is an interactive participant; wherein, the interaction intention indicates the driving priority of the first traffic participant.
  • the interaction intention includes priority driving and avoidance driving; the participant determination module is further configured to: if the interaction intention corresponding to the first traffic participant is the priority driving, determine the first A traffic participant is an interactive participant; if the interaction intention corresponding to the first traffic participant is the avoidance driving, it is determined that the first traffic participant is not an interactive participant.
  • the first driving state information also includes the current driving speed of the first traffic participant; the expected state information includes an expected speed range; the participant determination module is also used for: judging the Whether the current driving speed of the first traffic participant is within the expected speed interval of the first traffic participant; if it is within the expected speed interval, it is determined that the first driving state information matches the expected state information; If not within the expected speed range, it is determined that the first driving state information does not match the expected state information.
  • the right-of-way determining module is specifically configured to: based on the current position of the vehicle and the current position of the first traffic participant, determine the The right-of-way information corresponding to the target driving lane of the participant and the driving direction of the vehicle, and determine it as the right-of-way information corresponding to the first traffic participant; wherein, the traffic driving rule table includes the right-of-way and driving direction mapping.
  • the driving control module is specifically configured to: control the vehicle to stop driving in response to an interaction participant whose right-of-way information is the first right-of-way among the interactive participants, wherein the first right-of-way indicates that the vehicle perform avoidance; in the case that there is no interactive participant whose right-of-way information is the first right-of-way among the interactive participants, in response to the presence of an interactive participant whose right-of-way information is the second right-of-way among the interactive participants, Controlling the vehicle to run at a low speed in a first preset area in the area to pass through the intersection, wherein the second right of way instructs the vehicle not to evade.
  • the driving control module is further configured to: in response to an interaction participant whose right-of-way information is the second right-of-way among the interactive participants, send the information to the interactive participant whose right-of-way information is the second right-of-way according to a preset prompt method
  • the interactive participants of the two-way right output vehicle passage prompt information wherein, the preset prompt mode includes a text prompt mode and/or a voice prompt mode.
  • the first driving state information also includes the current orientation of the first traffic participant;
  • the vehicle driving device further includes a first lane determination module;
  • the first lane determination module is specifically used for: Divide the intersection area to be passed to obtain a plurality of sub-areas, and obtain the boundary lines corresponding to each sub-area and the lanes corresponding to each boundary line; for each first traffic participant in the intersection area to be passed, determine The driving direction corresponding to the first traffic participant is towards the marking line; wherein, the indicated direction corresponding to the driving towards the marking line is consistent with the current direction of the first traffic participant; the driving direction corresponding to the first traffic participant Extend toward the marking line to determine the target boundary line that intersects with the extended driving direction marking line; obtain the lane corresponding to the target boundary line, and determine the first traffic participant according to the lane corresponding to the target boundary line corresponding target driving lane.
  • the first driving state information also includes the current position of a preset point on the first traffic participant;
  • the vehicle driving device also includes a second lane determination module; the second lane determination module specifically It is used to: for each first traffic participant in the intersection area to be passed, obtain the exit lane corresponding to the first traffic participant; the exit lane indicates that the first traffic participant enters the The lane to be passed when passing through the intersection area; based on the current position of the preset point on the first traffic participant, determine the first preset position in the exit lane corresponding to the first traffic participant and the A connection line between preset points on the first traffic participant, and extending the connection line to determine a target preset lane segment intersecting with the extended connection line; obtaining the target preset lane line segment intersecting with the target preset lane segment the corresponding lane, and determine the target driving lane corresponding to the first traffic participant according to the lane corresponding to the target preset lane segment.
  • the information acquisition module is also used to: acquire a target lane area; wherein, the target lane area includes at least one lane, and the target lane area indicates the area that the vehicle pays attention to when passing through the intersection area.
  • Lane area for each lane in the target lane area, obtain the collision time corresponding to each second traffic participant in the lane; wherein, the collision time indicates that the second traffic participant in the lane arrives The time required for the second preset position in the lane; according to the order of collision time from small to large, select a preset number of second traffic participants from all second traffic participants in the lane, and The selected second traffic participant is used as the first traffic participant.
  • a vehicle-mounted terminal including: a processor; a memory for storing instructions executable by the processor; The first driving state information and the target driving lane of the first traffic participant, and obtain the second driving state information of the vehicle; wherein, the first driving state information includes the current position of the first traffic participant; The second driving state information includes the current position and driving direction of the vehicle; according to the first driving state information of the first traffic participant, the target driving lane and the second driving state information of the vehicle, determine the Right-of-way information corresponding to the first traffic participant; wherein, the right-of-way information indicates an avoidance behavior to be taken by the vehicle for the first traffic participant; determining an interactive participant from the first traffic participant; Wherein, the interaction participant indicates a target object participating in the decision-making of the vehicle's driving information; and the vehicle is controlled according to the right-of-way information corresponding to the interaction participant.
  • a computer-readable storage medium stores computer-executable instructions, and when the processor executes the computer-executable instructions, the above first aspect and Various possible designs of the vehicle driving method in the first aspect.
  • a computer program product including a computer program.
  • the computer program When the computer program is executed by a processor, it can realize the driving of the vehicle described in the above first aspect and various possible designs of the first aspect. method.
  • the technical solutions provided by the embodiments of this specification can include the following beneficial effects:
  • the traffic participants in the intersection area to be passed by the vehicle that is, the current position and target driving lane of the first traffic participant (ie, the predicted The lane to be driven by the first traffic participant), as well as the current position and driving direction of the vehicle to determine the avoidance behavior to be taken by the vehicle for the first traffic participant, that is, according to the predicted driving situation of the first traffic participant and the current driving of the vehicle
  • the situation determines the avoidance situation between the vehicle and the first traffic participant, so as to obtain the right-of-way information corresponding to the first traffic participant.
  • the vehicle From the first traffic participants, determine the interactive participants who participate in the decision-making of the vehicle's driving information, that is, determine the first traffic participants who interact with the vehicle, and control the vehicle to drive through the waiting area according to the right of way information of the interactive participants.
  • the vehicle Through the intersection area, the vehicle can avoid the corresponding interaction participants in time when passing through the intersection area to be passed, so as to realize the timely interaction between the vehicle and the traffic participants, and improve the safety of vehicle driving.
  • Fig. 1 is a schematic diagram of a scene of vehicle interaction shown in this specification according to an exemplary embodiment.
  • Fig. 2 is a flow chart of a vehicle driving method shown in this specification according to an exemplary embodiment.
  • Fig. 3 is a schematic diagram of traffic participants in an intersection shown in this specification according to an exemplary embodiment.
  • Fig. 4 is a flowchart of another vehicle driving method shown in this specification according to an exemplary embodiment.
  • Fig. 5 is a schematic diagram of a vehicle attention area shown in this specification according to an exemplary embodiment.
  • Fig. 6 is a schematic diagram of determining a target driving lane according to an exemplary embodiment of the present specification.
  • Fig. 7 is a schematic diagram of another target driving lane determination according to an exemplary embodiment in this specification.
  • Fig. 8 is a schematic diagram of a preset low-speed area according to an exemplary embodiment of the present specification.
  • Fig. 9 is a schematic diagram of another preset low-speed area shown in this specification according to an exemplary embodiment.
  • Fig. 10 is a schematic diagram of another preset low-speed area according to an exemplary embodiment of the present specification.
  • Fig. 11 is a hardware structural diagram of the vehicle-mounted terminal where the vehicle traveling device is located in the embodiment of the present specification.
  • Fig. 12 is a structural block diagram of a vehicle traveling device shown in this specification according to an exemplary embodiment.
  • first, second, third, etc. may be used in this specification to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this specification, first information may also be called second information, and similarly, second information may also be called first information. Depending on the context, the word “if” as used herein may be interpreted as “at” or “when” or “in response to a determination.”
  • the characteristics of high risk, high intensity and high repetition of road sweeping work make unmanned driving technology have broad application prospects in this regard.
  • the vehicle-mounted terminal 102 on the unmanned vehicle 101 controls the driving of the unmanned vehicle 101 based on the current position of the traffic participant 103 in the intersection, so as to Interact with traffic participants 103 in the intersection.
  • the traffic participant 103 is regarded as a static object, which is prone to the problem of being unable to interact with the moving traffic participant 103 in time, resulting in the unmanned vehicle being unable to safely pass through the intersection.
  • the embodiment of the present application proposes an interactive method.
  • the method determines the focus of the unmanned vehicle when the unmanned vehicle passes the intersection based on the driving direction of the unmanned vehicle.
  • the driving status information of the traffic participants in the intersection area and the lane area determine the right of way corresponding to the traffic participants, and predict the driving trajectory of the traffic participants, so as to use the driving trajectory to determine the relationship between Traffic participants who interact with human-driven vehicles, that is, determine the interactive participants.
  • the unmanned vehicle is controlled to stop driving or drive at a low speed, so as to avoid the corresponding traffic participant in time, and realize timely interaction with the traffic participant, so that the unmanned vehicle can safely pass through the intersection, ensuring no traffic accidents.
  • Driving safety of human-driven vehicles is controlled to stop driving or drive at a low speed, so as to avoid the corresponding traffic participant in time, and realize timely interaction with the traffic participant, so that the unmanned vehicle can safely pass through the intersection, ensuring no traffic accidents.
  • Figure 2 is a flow chart of a vehicle driving method according to an exemplary embodiment of this specification, including the following steps: Step 201, obtaining the information of the first traffic participant in the intersection area where the vehicle is to pass The first driving state information and the target driving lane are obtained, and the second driving state information of the vehicle is obtained.
  • the first driving state information includes the current location of the first traffic participant.
  • the second driving status information includes the current location and driving direction of the vehicle.
  • the intersection when the vehicle needs to pass through the intersection, the intersection is used as the intersection to be passed, the image including the intersection to be passed is collected, and the image is identified to determine the area to be passed through the intersection and the area to pass through the intersection.
  • the traffic participant who is to pass through the intersection area is regarded as the first traffic participant.
  • the driving state information of each first traffic participant is determined, that is, the first driving state information, and the target driving lane of each first traffic participant is determined.
  • the driving state information of the vehicle is acquired and determined as the second driving state information.
  • the vehicle when the vehicle enters the guiding lane, that is, enters the lane area including the guiding lane line, the image including the intersection to be passed is collected. Specifically, the vehicle can be photographed within a certain distance from the stop line in the guiding lane.
  • the first traffic participant is a movable object, for example, a vehicle.
  • the first driving state information of the first traffic participant includes the current position of the first traffic participant, the current driving speed of the first traffic participant, the current direction of the first traffic participant and the preset point on the first traffic participant One or more of the current locations of .
  • the current orientation of the first traffic participant can be the current vehicle orientation, specifically, it can be the current orientation angle of the vehicle;
  • the current position of the preset point on the first traffic participant can be is a preset point on the vehicle, for example, a preset point on the head of the vehicle (the preset point shown in FIG. 3 ).
  • the target driving lane of the first traffic participant represents the predicted lane in which the first traffic participant will drive, that is, the lane into which the first traffic participant intends to drive.
  • the second driving state information of the vehicle includes one or more of the vehicle's current position, current driving speed and driving direction.
  • the driving direction includes directions such as going straight, turning left, turning right, and the like.
  • the vehicle is a vehicle capable of automatic driving, for example, an unmanned vehicle.
  • Step 202 Determine the right-of-way information corresponding to the first traffic participant according to the first driving state information of the first traffic participant, the target driving lane and the second driving state information of the vehicle. Wherein, the right-of-way information indicates the avoidance behavior to be taken by the vehicle for the first traffic participant.
  • the driving track of the first traffic participant can be predicted based on the first driving state information of the first traffic participant and the target driving vehicle.
  • the second driving state information of the vehicle itself that is, the current position and driving direction of the vehicle
  • the driving trajectory of the first traffic participant the avoidance situation between the vehicle and the first traffic participant is determined to determine the first traffic participant Corresponding right-of-way information.
  • the right-of-way information includes a first right-of-way and a second right-of-way.
  • first right-of-way means a high right-of-way, which instructs the vehicle to avoid, that is, when the right-of-way information of the first traffic participant is the first right-of-way, the vehicle needs to avoid the first traffic participant.
  • the second right-of-way means a low right-of-way, which instructs the vehicle not to avoid, that is, when the right-of-way of the first traffic participant is the second right-of-way, the vehicle does not need to avoid the first traffic participant.
  • the right-of-way information may also include a third right-of-way.
  • This third right of way means that the first traffic participant has no influence on the vehicle, ie has nothing to do with the vehicle.
  • the right-of-way information of the first traffic participant is the third right-of-way, the vehicle does not need to interact with the first traffic participant.
  • Step 203 determine the interaction participants from the first traffic participants.
  • the interaction participant indicates the target object participating in the decision-making of the driving information of the vehicle.
  • the first traffic participant who needs to interact with the vehicle is selected from the first traffic participants, that is, the first traffic participant who participates in the decision-making of the vehicle's driving information is determined. or, and take the screened first traffic participant as the interactive participant.
  • Step 204 Control the vehicle to run according to the right-of-way information corresponding to the interaction participant.
  • the right-of-way information corresponding to the interactive participant is determined from the right-of-way information of the first traffic participant, so as to determine the crossing passage of the vehicle according to the right-of-way information of the interactive participant strategy, and control the vehicle to drive according to the intersection traffic strategy, so that the vehicle can interact with the interaction participants in time when passing through the intersection area (for example, the vehicle waits for the interaction participant to pass the intersection before driving, that is, avoiding the corresponding interactive participants) to ensure the timeliness of the interaction.
  • the interactive participant who affects the driving of the vehicle is screened out from the first traffic participant to pass through the intersection area, and the vehicle is controlled based on the predicted driving track corresponding to the interactive participant, instead of the traffic participation
  • the vehicle can interact with the interactive participants in time (for example, to avoid the interactive participants), ensuring that the vehicle can safely pass through the intersection.
  • the traffic participants in the intersection area to be passed by the vehicle that is, the current position and target driving lane of the first traffic participant (that is, the predicted lane for the first traffic participant to travel) and the current position of the vehicle and the driving direction to determine the avoidance behavior of the vehicle for the first traffic participant, that is, to determine the avoidance situation between the vehicle and the first traffic participant according to the predicted driving situation of the first traffic participant and the current driving situation of the vehicle, so as to obtain The right-of-way information corresponding to the first traffic participant.
  • the vehicle From the first traffic participants, determine the interactive participants who participate in the decision-making of the vehicle's driving information, that is, determine the first traffic participants who interact with the vehicle, and control the vehicle to drive through the waiting area according to the right of way information of the interactive participants.
  • the vehicle Through the intersection area, the vehicle can avoid the corresponding interaction participants in time when passing through the intersection area to be passed, so as to realize the timely interaction between the vehicle and the traffic participants, and improve the safety of vehicle driving.
  • Fig. 4 is a flow chart of another vehicle driving method according to an exemplary embodiment of this specification.
  • the first traffic participant can be used The desired state information is determined. This process will be described in detail below in conjunction with a specific embodiment, as shown in Figure 4, the method includes the following steps:
  • Step 401 Obtain the first driving state information and the target driving lane of the first traffic participant in the area where the vehicle is going to pass through the intersection, and obtain the second driving state information of the vehicle.
  • the first driving state information includes the current location of the first traffic participant.
  • the second driving status information includes the current location and driving direction of the vehicle.
  • the vehicle since the vehicle will also be affected by traffic participants in other lane areas when passing through the intersection area to be passed, in order to further improve the safety of the vehicle passing through the intersection area to be passed, it can also be determined Affecting the first traffic participant in the lane area where the vehicle passes, so as to screen out the interactive participant from the first traffic participant in the lane area and the first traffic participant in the intersection area to be passed, and participate in the The corresponding right-of-way information controls the vehicle to drive.
  • the specific process of determining the first traffic participant in the lane area that affects vehicle traffic includes: acquiring a target lane area.
  • the target lane area includes at least one lane
  • the target lane area indicates the lane area that the vehicle pays attention to when passing through the intersection area.
  • the collision time corresponding to each second traffic participant in the lane is acquired.
  • the collision time represents the time required for the second traffic participant in the lane to reach the second preset position in the lane.
  • a preset number of second traffic participants is selected from all second traffic participants in the lane according to the order of collision time from small to large, and the selected second traffic participants are used as first traffic participants.
  • the traffic participant ie the second traffic participant
  • the second preset position in the lane for example, as shown in Figure 5 in the lane stop line
  • this time is taken as the collision time corresponding to the second traffic participant.
  • the second traffic participant with a shorter collision time that is, the second traffic participant who is closer to the intersection area to be passed is taken as the first traffic participant in the lane.
  • the target lane area is the lane area that the vehicle pays attention to when passing through the intersection area, and the traffic participants in the lane area may affect the vehicle.
  • the target lane area is determined based on the current position and driving direction of the vehicle. For example, as shown in FIG. 5 , when the vehicle is in lane 1 and the driving direction of the vehicle is going straight, the areas concerned by the vehicle include area 1 and area 3 , that is, the target lane area includes area 1 and area 3 .
  • the target driving lane corresponding to the first traffic participant may be determined according to the driving direction of the lane corresponding to the lane.
  • the lane driving direction corresponding to lane 2 includes going straight and turning right
  • the target driving lane corresponding to the first traffic participant in lane 2 includes lane 3 and lane 4 .
  • the determination may be performed in the following two ways.
  • One way is to divide the area to be passed through the intersection to obtain multiple sub-areas, and obtain the boundary lines corresponding to each sub-area and the lanes corresponding to each boundary line.
  • the corresponding driving direction sign line of the first traffic participant is determined.
  • the indicated direction corresponding to the driving direction sign line is consistent with the current direction of the first traffic participant.
  • the driving direction marking line corresponding to the first traffic participant is extended to determine a target boundary line intersecting with the extended driving direction marking line.
  • the lane corresponding to the target boundary line is obtained, and the target driving lane corresponding to the first traffic participant is determined according to the lane corresponding to the target boundary line.
  • the area to be passed through the intersection is divided to obtain multiple sub-areas, and the boundary lines corresponding to each sub-area and the lanes corresponding to each boundary line are determined.
  • the boundary line corresponding to the sub-area (that is, the outer boundary line) is a part of the boundary line of the intersection area to be passed.
  • the crossing area to be passed is divided into four sub-areas by using the grid-shaped gateway division method, and the boundary line of each sub-area is part of the boundary line of the intersection area to be passed.
  • the driving direction marking line For each first traffic participant who is to pass through the intersection area, draw the corresponding driving direction marking line of the first traffic participant on the current position of the first traffic participant, and the direction corresponding to the driving direction marking line is the same as The current orientation of the first traffic participant is the same.
  • the driving direction marking line is extended until it intersects with a certain boundary line, and the intersecting boundary line is used as the first traffic participation corresponding to the target boundary line.
  • the target driving lane corresponding to the first traffic participant is determined by using the lane corresponding to the target boundary line.
  • the lane corresponding to the target boundary line may be directly used as the target driving lane corresponding to the first traffic participant.
  • the number of lanes corresponding to the target boundary line is multiple, one lane can be arbitrarily selected from the lanes corresponding to the target boundary line, and the boundary where the intersection point between the target boundary line and the extended driving direction marking line can also be determined line segment, and use the lane corresponding to the boundary line segment as the target driving lane corresponding to the first traffic participant.
  • the boundary line of the sub-region corresponds to multiple lanes
  • the boundary line may be divided to obtain multiple boundary line segments, and each boundary line segment corresponds to one lane.
  • the exit lane corresponding to the first traffic participant is acquired.
  • the exit lane indicates the lane through which the first traffic participant enters the intersection area to be passed.
  • determine the connection between the first preset position in the exit lane corresponding to the first traffic participant and the preset point on the first traffic participant And extend the connecting line to determine the target preset lane segment intersecting with the extended connecting line.
  • the lane corresponding to the target preset lane segment is obtained, and the target driving lane corresponding to the first traffic participant is determined according to the lane corresponding to the target preset lane segment.
  • the preset point on the first traffic participant is combined with the first traffic participant or the corresponding first preset position in the exit lane to obtain the connection line between the first preset position and the preset point, and extend the connection line until the connection line is connected to a certain preset lane Line segments intersect.
  • the preset lane segment intersecting with the connecting line is used as the target preset lane segment corresponding to the first traffic participant, so as to determine the target driving lane corresponding to the first traffic participant according to the lane corresponding to the target preset lane segment .
  • the first preset position can be a position point on the stop line in the exit lane, for example, the first preset position is the center point of the stop line in the exit lane (the center point as shown in FIG. 7 ) .
  • the first preset position may also be other positions in the driving out lane, which is not limited here.
  • the lane corresponding to the target preset lane segment can be directly used as the target driving lane corresponding to the first traffic participant .
  • the number of lanes corresponding to the target preset lane segment is multiple, a lane can be arbitrarily selected from the lanes corresponding to the target boundary line, and the selected lane can be used as the target driving lane, and the relationship between the target preset lane segment and the traffic The sub-line segment where the intersection point of the connecting line corresponding to the participant is located, and the lane corresponding to the sub-line segment is used as the target driving lane corresponding to the first traffic participant.
  • the preset lane segment when the preset lane segment corresponds to multiple lanes, the preset lane segment may be divided to obtain multiple sub-line segments, and each sub-line segment corresponds to a lane.
  • Step 402 Determine the right-of-way information corresponding to the first traffic participant according to the first driving state information of the first traffic participant, the target driving lane and the second driving state information of the vehicle. Wherein, the right-of-way information indicates the avoidance behavior to be taken by the vehicle for the first traffic participant.
  • the road right information corresponding to the target driving lane of the first traffic participant and the driving direction of the vehicle is determined from the preset traffic driving rule table , and determine it as the right-of-way information corresponding to the first traffic participant.
  • the traffic driving rule table includes the mapping relationship between the right of way and the driving direction.
  • the target driving direction of the vehicle can be determined based on the current position of the vehicle and the driving direction of the vehicle.
  • the target driving direction represents the specific driving direction of the vehicle. For example, as shown in FIG. When the traveling direction is going straight, it is determined that the target traveling direction of the vehicle is going straight from south to north.
  • each first traffic participant determine the predicted driving trajectory corresponding to the first traffic participant based on the target driving lane corresponding to the first traffic participant, that is, the driving direction, and based on the corresponding driving direction of the first traffic participant and the current position to determine the target driving direction of the first traffic participant.
  • the corresponding target driving direction of the vehicle is from south to east
  • the right-of-way information corresponding to the first traffic participant is the first right-of-way.
  • the traffic driving rule table is determined according to actual traffic rules.
  • Step 403 for each first traffic participant, obtain the first traffic participant's expected state information, and judge whether the first traffic participant's first driving state information matches the first traffic participant's expected state information.
  • the desired state information of each first traffic participant that is, the safe driving state
  • the first driving state information of the first traffic participant is combined with the second driving state information.
  • the expected state information of a traffic participant is matched to determine whether the first traffic participant is in a safe driving state, that is, to determine whether the first traffic participant will affect the vehicle.
  • the expected state information includes an expected speed interval and/or an expected distance interval.
  • the expected speed range represents the safe driving speed of the first traffic participant, that is, when the current driving speed of the first traffic participant is within the expected speed range, the first traffic participant will not affect the vehicle.
  • the expected distance interval indicates the safe distance between the first traffic participant and the vehicle, that is, when the current distance between the first traffic participant and the vehicle is within the expected distance interval, the first traffic participant will not affect the vehicle .
  • the expected state information of the first traffic participant is determined according to the driving state information of the first traffic participant at a previous moment.
  • the desired state of the first traffic participant at the initial moment is an empty set, and the desired state at the next moment is determined based on the movement state, interaction intention and system delay time of the first traffic participant at the current moment.
  • E n+1 is the expected state of the first traffic participant at the next moment, is the current motion state of the first traffic participant
  • I n is the current interaction intention of the first traffic participant
  • t delay is the preset system delay time
  • h() is the preset function, which can be determined by relevant personnel according to actual needs customized.
  • it can also be determined in other ways, for example, by inputting the current motion state, interaction intention and system delay time of the first traffic participant into the trained neural network model, so that the model can perform corresponding processing, and The desired state of the first traffic participant at the next moment is output.
  • the current motion state of the first traffic participant may include information such as the first current driving speed and the current position of the vehicle.
  • the expected state information is set according to the second driving state information of the vehicle.
  • the speed interval corresponding to the current driving speed of the vehicle is determined from the first preset speed mapping table, and this speed interval is used as the expected speed interval of the first traffic participant.
  • the first preset speed mapping table includes a mapping relationship between expected speed ranges and driving speeds.
  • determination can be performed by using a preset speed range determination function defined by relevant personnel, and the argument of the first preset speed range determination function is the current driving speed of the vehicle.
  • the current driving situation of the first traffic participant can be combined, that is, for each first traffic participant, Based on the current position of the first traffic participant and the current position of the vehicle, determine the distance between the first traffic participant and the vehicle, and determine the distance and the current driving speed of the vehicle according to the preset speed interval determination method corresponding speed range, and use the speed range as the expected speed range of the first traffic participant.
  • the speed interval corresponding to the distance between the first traffic participant and the vehicle and the current driving speed of the vehicle when determining the speed interval corresponding to the distance between the first traffic participant and the vehicle and the current driving speed of the vehicle according to the preset speed interval determination method, it can be determined from the second preset speed mapping table.
  • the speed interval corresponding to the distance and the current driving speed of the vehicle, the distance and the current driving speed of the vehicle can also be input into the trained neural network model, so that the neural network model Correspondingly, a speed interval corresponding to the distance and the current driving speed of the vehicle is output.
  • other ways can also be used to determine the desired speed range, for example, using a second preset speed range determination function customized by relevant personnel to determine, and the arguments of the second preset speed range determination function are the current driving speed of the vehicle and the first speed range. - the distance between the traffic participant and the vehicle.
  • the expected distance interval of the first traffic participation when determining the expected distance interval of the first traffic participation, it can be determined based on the current driving speed of the vehicle, and the determination process is similar to the above-mentioned process of determining the expected speed interval of the first traffic participation based on the current driving speed of the vehicle. Therefore, it will not be described in detail.
  • the current driving situation of the first traffic participant can be combined, that is, for each first traffic participant , according to a preset distance interval determination method, determine a distance interval corresponding to the current driving speed of the first traffic participant and the current driving speed of the vehicle, and use the distance interval as the expected distance interval of the first traffic participant.
  • the types of ways included in the way of determining the preset distance interval are similar to the types of ways included in the way of determining the preset speed interval described above, and will not be repeated here.
  • the process of judging whether the first driving state information of the first traffic participant matches the expected state information of the first traffic participant includes: judging the current Whether the driving speed is within the expected speed range of the first traffic participant. If it is within the expected speed range, it indicates that the current driving speed of the first traffic participant is a safe speed, that is, the first traffic participant will not affect the driving of the vehicle, then it is determined that the first driving state information matches the expected state information . If it is not within the expected speed range, it indicates that the current driving speed of the first traffic participant is not a safe speed, that is, the first traffic participant will affect the driving of the vehicle, then it is determined that the first driving state information and the expected state information are not match.
  • the process of judging whether the first driving state information of the first traffic participant matches the expected state information of the first traffic participant includes: judging whether the first traffic participant and the vehicle Whether the distance between them is within the expected distance interval of the first traffic participant. If it is within the expected distance interval, indicating that the first traffic participant will not affect the driving of the vehicle, it is determined that the first driving state information matches the expected state information. If it is not within the expected distance interval, it indicates that the first traffic participant will affect the driving of the vehicle, and it is determined that the first driving state information does not match the expected state information.
  • the first driving state information matches the expected state information; otherwise, it is determined that the first driving state information does not match the expected state information.
  • Step 404 if the first driving state information matches the expected state information, then determine that the first traffic participant is not an interactive participant.
  • the first driving state information of the first traffic participant matches the expected state information of the first traffic participant, it indicates that the first traffic participant will not affect the vehicle, that is, the vehicle does not need to When interacting with the first traffic participant, it is determined that the first traffic participant is not an interactive participant.
  • Step 405. If the first driving state information does not match the expected state information, obtain the interaction intention corresponding to the first traffic participant, and determine whether the first traffic participant is an interaction participant according to the interaction intention corresponding to the first traffic participant . Wherein, the interaction intention indicates the driving priority of the first traffic participant.
  • the first traffic participant when it is determined that the first driving state information of the first traffic participant does not match the expected state information of the first traffic participant, it indicates that the current driving state of the first traffic participant is not a safe driving state, the The first traffic participant may affect the vehicle, and the interaction intention corresponding to the first traffic participant is further used to determine whether the first traffic participant is an interactive participant.
  • the interaction intention includes priority driving and avoidance driving.
  • the priority driving indicates that the first traffic participant has a higher driving priority, that is, the vehicle needs to avoid the first traffic participant.
  • the evasive driving indicates that the driving priority of the first road user is low, ie the first road user needs to avoid the vehicle.
  • the interaction intention of the first traffic participant at the initial moment is determined according to the right-of-way information of the first traffic participant.
  • the right-of-way information of the first traffic participant at the initial moment is the first right-of-way
  • the first traffic participant The interaction intention corresponding to the traffic participant is priority driving; when the right-of-way information of the first traffic participant at the initial moment is not the first right-of-way, the interaction intention corresponding to the first traffic participant is the first traffic participant avoiding driving.
  • the interaction intention of the first traffic participant at the subsequent moment is determined according to the first driving state information and the expected state information, and the process is as follows:
  • the interaction intention corresponding to the first traffic participant remains unchanged.
  • the interaction intention corresponding to the first traffic participant is switched to another state.
  • the current interaction intention of the first traffic participant is to avoid driving, and if the first driving state information of the first traffic participant does not match the expected state information of the first traffic participant, the first traffic participant The current interaction intent switches to priority driving.
  • determining whether the first traffic participant is an interactive participant according to the interaction intention corresponding to the first traffic participant includes: if the interaction intention corresponding to the first traffic participant is priority driving, indicating that the vehicle needs to avoid the first traffic participant, then determine the first traffic participant as an interactive participant.
  • the interaction intention corresponding to the first traffic participant is avoidance driving, which indicates that the vehicle does not need to avoid the first traffic participant, it is determined that the first traffic participant is not an interaction participant.
  • Step 406 Control the vehicle to drive according to the right-of-way information corresponding to the interaction participant.
  • the vehicle is controlled to stop driving in response to an interaction participant whose right-of-way information is the first right-of-way among the interactive participants, wherein the first right-of-way instructs the vehicle to avoid.
  • the vehicle in response to the presence of an interactive participant whose right-of-way information is the second right-of-way among the interactive participants, control the vehicle to pass through the intersection area Driving at a low speed in the first preset area, wherein the second right of way instructs the vehicle not to avoid.
  • the vehicle when the vehicle needs to enter the intersection area to be passed, it is judged whether there is an interactive participant whose right-of-way information is the first right-of-way among the determined interactive participants.
  • the interactive participant of the right-of-way controls the vehicle to stop driving until there is no interactive participant whose right-of-way information is the first right-of-way among the interactive participants, that is, until the area that the vehicle pays attention to (for example, the area to be passed through the intersection, the target lane There is no interaction participant whose right-of-way information is the first right-of-way in the region).
  • the vehicle can drive normally, that is, the vehicle is controlled to drive normally through the intersection area to be passed based on the preset route. If there is an interaction participant whose right-of-way information is the second right-of-way, the vehicle is controlled to travel at a low speed, that is, the vehicle is controlled to travel at a preset speed, and the value of the preset speed is relatively small.
  • the interactive participant in the area concerned by the vehicle is continuously determined, and the vehicle is controlled to drive accordingly according to the right-of-way information of the interactive participant.
  • the vehicle when the vehicle is controlled to run at a low speed, the vehicle is controlled to run at a low speed in a preset low-speed area.
  • the vehicle drives out of the preset low-speed area, the vehicle is controlled to drive normally.
  • the distance between the preset low-speed area and the stop line of the lane where the vehicle is located is within a preset distance range.
  • the number of preset low-speed areas can be one or more, which is related to the direction of travel of the vehicle. For example, as shown in FIG. , as shown in Figure 9, if the driving direction of the vehicle is turning right, the preset low-speed area includes area c; area e.
  • the interactive participant whose right-of-way information is the second right-of-way outputs the prompt information of vehicle passage, so that the interactive participant can avoid in time.
  • the preset prompting mode includes a text prompting mode and/or a voice prompting mode.
  • the accuracy of determining the expected state information is improved, so that the interactive participant can be accurately determined, and then This interactive participant can be used to enable the unmanned vehicle to pass through the intersection area efficiently while ensuring safety to the greatest extent.
  • the expected state information of the first traffic participant is obtained, and it is judged whether the first driving state information of the first traffic participant matches the expected state information of the first traffic participant, so as to determine the first traffic participation Whether the first traffic participant is currently in a safe driving state, that is, to determine whether the first traffic participant will affect the driving of the vehicle.
  • the first driving state information of the first traffic participant matches the expected state information of the first traffic participant, it indicates that the first traffic participant will not currently affect the driving of the vehicle, then determine that the first traffic participant Not an interactive participant, that is, the vehicle does not need to interact with the first traffic participant.
  • the right-of-way information of the first traffic participant is determined, so that based on the first traffic participant
  • the vehicle can interact with the interaction participant in a reasonable and timely manner.
  • the embodiment of the vehicle traveling device in this specification can be applied to a vehicle-mounted terminal.
  • the device embodiments can be implemented by software, or by hardware or a combination of software and hardware. Taking software implementation as an example, as a device in a logical sense, it is formed by reading the corresponding computer program instructions in the non-volatile memory into the memory for execution by the processor where it is located.
  • FIG. 11 it is a hardware structure diagram of the vehicle-mounted terminal where the vehicle driving device is located in the embodiment of this specification, except for the processor 1110, memory 1130, network interface 1120, and non-easy
  • the vehicle-mounted terminal where the vehicle driving device 1131 is located in the embodiment may also include other hardware according to the actual functions of the vehicle-mounted terminal, which will not be repeated here.
  • Fig. 12 is a block diagram of a vehicle driving device according to an exemplary embodiment of the present specification, and the device includes: an information acquisition module 1210, configured to acquire the first traffic in the area of the intersection to be passed by the vehicle The first driving state information and the target driving lane of the participant are obtained, and the second driving state information of the vehicle is obtained.
  • the first driving state information includes the current location of the first traffic participant.
  • the second driving status information includes the current location and driving direction of the vehicle.
  • Right of way determination 1220 configured to determine right of way information corresponding to the first traffic participant according to the first driving state information of the first traffic participant, the target driving lane, and the second driving state information of the vehicle. Wherein, the right-of-way information indicates the avoidance behavior to be taken by the vehicle for the first traffic participant.
  • a participant determining module 1230 configured to determine an interactive participant from the first traffic participants. Wherein, the interaction participant indicates the target object participating in the decision-making of the driving information of the vehicle.
  • the driving control module 1240 is configured to control the driving of the vehicle according to the right-of-way information corresponding to the interactive participants.
  • the participant determination module 1230 is specifically configured to: for each first traffic participant, obtain the expected state information of the first traffic participant, and It is judged whether the first driving state information of the first traffic participant matches the expected state information of the first traffic participant.
  • the first driving state information matches the expected state information, it is determined that the first traffic participant is not an interactive participant.
  • the interaction intention corresponding to the first traffic participant is acquired, and it is determined whether the first traffic participant is an interaction participant according to the interaction intention corresponding to the first traffic participant. Wherein, the interaction intention indicates the driving priority of the first traffic participant.
  • the interaction intention includes priority driving and avoidance driving.
  • the participant determination module 1230 is further configured to: if the interaction intention corresponding to the first traffic participant is priority driving, then determine the first traffic participant as the interaction participant.
  • the interaction intention corresponding to the first traffic participant is avoidance driving, it is determined that the first traffic participant is not an interaction participant.
  • the first driving state information further includes the current driving speed of the first traffic participant.
  • the desired state information includes desired speed intervals.
  • the participant determination module 1230 is also used for: judging whether the current driving speed of the first traffic participant is within the expected speed range of the first traffic participant.
  • the right of way determination 1220 is specifically configured to: based on the current position of the vehicle and the current position of the first traffic participant, determine the target driving lane of the first traffic participant and the vehicle's driving lane from the preset traffic driving rule table.
  • the right-of-way information corresponding to the direction is determined as the right-of-way information corresponding to the first traffic participant.
  • the traffic driving rule table includes the mapping relationship between the right of way and the driving direction.
  • the driving control module 1240 is specifically configured to: control the vehicle to stop driving in response to an interaction participant whose right-of-way information is the first right-of-way among the interaction participants, wherein the first right-of-way instructs the vehicle to avoid.
  • the driving control module 1240 is further configured to: in response to the interaction participant whose right-of-way information is the second right-of-way among the interactive participants, inform the interactive participant whose right-of-way information is the second right-of-way Output vehicle traffic prompt information.
  • the preset prompting mode includes a text prompting mode and/or a voice prompting mode.
  • the first driving state information also includes the current orientation of the first traffic participant.
  • the vehicle traveling device also includes a first lane determination module.
  • the first lane determination module is specifically configured to: divide the area to be passed through the intersection to obtain multiple sub-areas, and obtain the boundary lines corresponding to each sub-area and the lanes corresponding to each boundary line.
  • the corresponding driving direction sign line of the first traffic participant is determined. Wherein, the indicated direction corresponding to the driving direction sign line is consistent with the current direction of the first traffic participant.
  • the driving direction marking line corresponding to the first traffic participant is extended to determine a target boundary line intersecting with the extended driving direction marking line.
  • the lane corresponding to the target boundary line is obtained, and the target driving lane corresponding to the first traffic participant is determined according to the lane corresponding to the target boundary line.
  • the first driving state information also includes a current position of a preset point on the first traffic participant.
  • the vehicle traveling device also includes a second lane determination module.
  • the second lane determination module is specifically configured to: for each first traffic participant in the area to pass through the intersection, obtain the exit lane corresponding to the first traffic participant.
  • the exit lane indicates the lane through which the first traffic participant enters the intersection area to be passed.
  • the lane corresponding to the target preset lane segment is obtained, and the target driving lane corresponding to the first traffic participant is determined according to the lane corresponding to the target preset lane segment.
  • the information acquiring module 1210 is also configured to: acquire the target lane area.
  • the target lane area includes at least one lane, and the target lane area indicates the lane area that the vehicle pays attention to when passing through the intersection area.
  • the collision time corresponding to each second traffic participant in the lane is acquired.
  • the collision time represents the time required for the second traffic participant in the lane to reach the second preset position in the lane.
  • a preset number of second traffic participants is selected from all second traffic participants in the lane according to the order of collision time from small to large, and the selected second traffic participants are used as first traffic participants.
  • An embodiment of the present application provides a computer-readable storage medium, in which computer program code is stored, and the above method steps are implemented when the computer program code is executed by a processor.
  • An embodiment of the present application further provides a computer program product, including a computer program, and when the computer program is executed by a processor, the above method steps are implemented.
  • the device embodiment since it basically corresponds to the method embodiment, for related parts, please refer to the part description of the method embodiment.
  • the device embodiments described above are only illustrative, and the modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in One place, or it can be distributed to multiple network modules. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution in this specification. It can be understood and implemented by those skilled in the art without creative effort.

Abstract

本说明书提供一种车辆行驶方法及装置，该方法包括：获取车辆的待通过路口区域内的第一交通参与者的第一行驶状态信息和目标行驶车道，并获取车辆的第二行驶状态信息；其中，第一行驶状态信息包括第一交通参与者的当前位置；第二行驶状态信息包括车辆的当前位置和行驶方向；根据第一交通参与者的第一行驶状态信息、目标行驶车道和车辆的第二行驶状态信息，确定第一交通参与者对应的路权信息；其中，路权信息指示车辆对于第一交通参与者待采取的避让行为；从第一交通参与者中确定交互参与者；其中，交互参与者指示参与车辆的行驶信息的决策的目标对象；根据交互参与者对应的路权信息控制车辆行驶，保证交互的及时性。

Description

车辆行驶的方法及装置 技术领域
本说明书涉及自动驾驶技术领域，尤其涉及车辆行驶方法及装置。
背景技术
随着科技的进步，无人驾驶技术受到越来越多的关注。无人驾驶车辆在行驶的过程中，当通过路口时，需要与路口中的交通参与者进行交互，即基于交通参与者当前所处的位置，控制无人驾驶车辆行驶，以与处于路口内的交通参与者进行交互(例如，避让交通参与者)。
然而，在控制车辆行驶时，是将交通参与者作为静态对象，容易出现无法及时与移动的交通参与者交互的问题，导致无人驾驶车辆的安全性较低。
发明内容
为克服相关技术中存在的问题，本说明书提供了车辆行驶方法及装置。
根据本说明书实施例的第一方面，提供一种车辆行驶方法，所述方法包括：获取车辆的待通过路口区域内的第一交通参与者的第一行驶状态信息和目标行驶车道，并获取所述车辆的第二行驶状态信息；其中，所述第一行驶状态信息包括所述第一交通参与者的当前位置；所述第二行驶状态信息包括所述车辆的当前位置和行驶方向；根据所述第一交通参与者的第一行驶状态信息、目标行驶车道和所述车辆的第二行驶状态信息，确定所述第一交通参与者对应的路权信息；其中，所述路权信息指示所述车辆对于所述第一交通参与者待采取的避让行为；从所述第一交通参与者中确定交互参与者；其中，所述交互参与者指示参与所述车辆的行驶信息的决策的目标对象；根据所述交互参与者对应的路权信息控制所述车辆行驶。
在一些实施方式中，所述从所述第一交通参与者中筛选出交互参与者，包括：对于每个第一交通参与者，获取所述第一交通参与者的期望状态信息，并判断所述第一交通参与者的第一行驶状态信息和所述第一交通参与者的期望状态信息是否匹配；若所述第一行驶状态信息和所述期望状态信息匹配，则确定所述第一交通参与者不是交互参与者；若所述第一行驶状态信息和所述期望状态信息不匹配，则获取所述第一交通参与者对应的交互意图，并根据所述第一交通参与者对应的交互意图确定所述第一交通参与者是否为交互参与者；其中，所述交互意图指示所述第一交通参与者的行驶优先级。
在一些实施方式中，所述交互意图包括优先行驶和避让行驶；所述根据所述第一交通参与者对应的交互意图确定所述第一交通参与者是否为交互参与者，包括：若所述第一交通参与者对应的交互意图为所述优先行驶，则确定所述第一交通参与者为交互参与者；若所述第一交通参与者对应的交互意图为所述避让行驶，则确定所述第一交通参与者不为交互参与者。
在一些实施方式中，所述第一行驶状态信息还包括所述第一交通参与者的当前行驶速度；所述期望状态信息包括期望速度区间；所述判断所述第一交通参与者的第一行驶状态信息和所述第一交通参与者的期望状态信息是否匹配，包括：判断所述第一交通参与者的当前行驶速度是否在所述第一交通参与者的期望速度区间内；若在所述期望速度区间内，则确定所述第一行驶状态信息和所述期望状态信息匹配；若未在所述期望速度区间内，则确定所述第一行驶状态信息和所述期望状态信息不匹配。
在一些实施方式中，所述根据所述第一交通参与者的第一行驶状态信息、目标行驶车道和所述车辆的第二行驶状态信息，确定所述第一交通参与者对应的路权信息，包括：基于所述车辆的当前位置和所述第一交通参与者的当前位置，从预设交通行驶规则表中确定与所述第一交通参与者的目标行驶车道和所述车辆的行驶方向对应的路权信息，并将其确定为所述第一交通参与者对应的路权信息；其中，所述交通行驶规则表包括路权 与行驶方向的映射关系。
在一些实施方式中，所述根据所述交互参与者的路权信息控制所述车辆进行行驶，包括：响应于所述交互参与者中存在路权信息为第一路权的交互参与者，控制车辆停止行驶，其中，第一路权指示车辆进行避让；在所述交互参与者中不存在路权信息为第一路权的交互参与者的情况下，响应于所述交互参与者中存在路权信息为第二路权的交互参与者，控制所述车辆在所述待通过路口区域中的第一预设区域内低速行驶，其中，第二路权指示车辆不进行避让。
在一些实施方式中，所述方法还包括：响应于所述交互参与者中存在路权信息为第二路权的交互参与者，按照预设提示方式向所述路权信息为第二路权的交互参与者输出车辆通行提示信息；其中，所述预设提示方式包括文字提示方式和/或语音提示方式。
在一些实施方式中，所述第一行驶状态信息还包括所述第一交通参与者的当前朝向；所述方法还包括：对所述待通过路口区域进行划分，得到多个子区域，并获取各个子区域对应的边界线以及各个边界线对应的车道；对于所述待通过路口区域内的每个第一交通参与者，确定所述第一交通参与者对应的行驶朝向标志线；其中，所述行驶朝向标志线对应的指示方向与所述第一交通参与者的当前朝向一致；对所述第一交通参与者对应的行驶朝向标志线进行延长，以确定与延长后的行驶朝向标志线相交的目标边界线；获取所述目标边界线对应的车道，并根据所述目标边界线对应的车道确定所述第一交通参与者对应的目标行驶车道。
在一些实施方式中，所述第一行驶状态信息还包括第一交通参与者上的预设点的当前位置；所述方法还包括：对于所述待通过路口区域内的每个第一交通参与者，获取所述第一交通参与者对应的驶出车道；所述驶出车道表示所述第一交通参与者进入所述待通过路口区域时所通过的车道；基于所述第一交通参与者上的预设点的当前位置，确定所述第一交通参与者对应的驶出车道内的第一预设位置与所述第一交通参与者上的预设点之间的连线，并对所述连线进行延长，以确定与延长后的连线相交的目标预设车道线段；获取与所述目标预设车道线段对应的车道，并根据所述目标预设车道线段对应的车道确定所述第一交通参与者对应的目标行驶车道。
在一些实施方式中，所述方法还包括：获取目标车道区域；其中，所述目标车道区域包括至少一个车道，所述目标车道区域指示所述车辆通过所述待通过路口区域时所关注的车道区域；对于所述目标车道区域内的每个车道，获取所述车道内的各个第二交通参与者对应的碰撞时间；其中，所述碰撞时间表示所述车道内的第二交通参与者到达所述车道内的第二预设位置所需的时间；按照碰撞时间由小到大的排序，从所述车道内的所有第二交通参与者中选取预设数目的第二交通参与者，并将选取的第二交通参与者作为第一交通参与者。
根据本说明书实施例的第二方面，提供一种车辆行驶装置，包括：信息获取模块，用于获取车辆的待通过路口区域内的第一交通参与者的第一行驶状态信息和目标行驶车道，并获取所述车辆的第二行驶状态信息；其中，所述第一行驶状态信息包括所述第一交通参与者的当前位置；所述第二行驶状态信息包括所述车辆的当前位置和行驶方向；路权确定模块，用于根据所述第一交通参与者的第一行驶状态信息、目标行驶车道和所述车辆的第二行驶状态信息，确定所述第一交通参与者对应的路权信息；其中，所述路权信息指示所述车辆对于所述第一交通参与者待采取的避让行为；参与者确定模块，用于从所述第一交通参与者中确定交互参与者；其中，所述交互参与者指示参与所述车辆的行驶信息的决策的目标对象；行驶控制模块，用于根据所述交互参与者对应的路权信息控制所述车辆行驶。
在一些实施方式中，所述参与者确定模块具体用于：对于每个第一交通参与者，获取所述第一交通参与者的期望状态信息，并判断所述第一交通参与者的第一行驶状态信息和所述第一交通参与者的期望状态信息是否匹配；若所述第一行驶状态信息和所述期 望状态信息匹配，则确定所述第一交通参与者不是交互参与者；若所述第一行驶状态信息和所述期望状态信息不匹配，则获取所述第一交通参与者对应的交互意图，并根据所述第一交通参与者对应的交互意图确定所述第一交通参与者是否为交互参与者；其中，所述交互意图指示所述第一交通参与者的行驶优先级。
在一些实施方式中，所述交互意图包括优先行驶和避让行驶；所述参与者确定模块还用于：若所述第一交通参与者对应的交互意图为所述优先行驶，则确定所述第一交通参与者为交互参与者；若所述第一交通参与者对应的交互意图为所述避让行驶，则确定所述第一交通参与者不为交互参与者。
在一些实施方式中，所述第一行驶状态信息还包括所述第一交通参与者的当前行驶速度；所述期望状态信息包括期望速度区间；所述参与者确定模块还用于：判断所述第一交通参与者的当前行驶速度是否在所述第一交通参与者的期望速度区间内；若在所述期望速度区间内，则确定所述第一行驶状态信息和所述期望状态信息匹配；若未在所述期望速度区间内，则确定所述第一行驶状态信息和所述期望状态信息不匹配。
在一些实施方式中，所述路权确定模块具体用于：基于所述车辆的当前位置和所述第一交通参与者的当前位置，从预设交通行驶规则表中确定与所述第一交通参与者的目标行驶车道和所述车辆的行驶方向对应的路权信息，并将其确定为所述第一交通参与者对应的路权信息；其中，所述交通行驶规则表包括路权与行驶方向的映射关系。
在一些实施方式中，所述行驶控制模块具体用于：响应于所述交互参与者中存在路权信息为第一路权的交互参与者，控制车辆停止行驶，其中，第一路权指示车辆进行避让；在所述交互参与者中不存在路权信息为第一路权的交互参与者的情况下，响应于所述交互参与者中存在路权信息为第二路权的交互参与者，控制所述车辆在所述待通过路口区域中的第一预设区域内低速行驶，其中，第二路权指示车辆不进行避让。
在一些实施方式中，所述行驶控制模块还用于：响应于所述交互参与者中存在路权信息为第二路权的交互参与者，按照预设提示方式向所述路权信息为第二路权的交互参与者输出车辆通行提示信息；其中，所述预设提示方式包括文字提示方式和/或语音提示方式。
在一些实施方式中，所述第一行驶状态信息还包括所述第一交通参与者的当前朝向；所述车辆行驶装置还包括第一车道确定模块；所述第一车道确定模块具体用于：对所述待通过路口区域进行划分，得到多个子区域，并获取各个子区域对应的边界线以及各个边界线对应的车道；对于所述待通过路口区域内的每个第一交通参与者，确定所述第一交通参与者对应的行驶朝向标志线；其中，所述行驶朝向标志线对应的指示方向与所述第一交通参与者的当前朝向一致；对所述第一交通参与者对应的行驶朝向标志线进行延长，以确定与延长后的行驶朝向标志线相交的目标边界线；获取所述目标边界线对应的车道，并根据所述目标边界线对应的车道确定所述第一交通参与者对应的目标行驶车道。
在一些实施方式中，所述第一行驶状态信息还包括第一交通参与者上的预设点的当前位置；所述车辆行驶装置还包括第二车道确定模块；所述第二车道确定模块具体用于：对于所述待通过路口区域内的每个第一交通参与者，获取所述第一交通参与者对应的驶出车道；所述驶出车道表示所述第一交通参与者进入所述待通过路口区域时所通过的车道；基于所述第一交通参与者上的预设点的当前位置，确定所述第一交通参与者对应的驶出车道内的第一预设位置与所述第一交通参与者上的预设点之间的连线，并对所述连线进行延长，以确定与延长后的连线相交的目标预设车道线段；获取与所述目标预设车道线段对应的车道，并根据所述目标预设车道线段对应的车道确定所述第一交通参与者对应的目标行驶车道。
在一些实施方式中，信息获取模块还用于：获取目标车道区域；其中，所述目标车道区域包括至少一个车道，所述目标车道区域指示所述车辆通过所述待通过路口区域时所关注的车道区域；对于所述目标车道区域内的每个车道，获取所述车道内的各个第二 交通参与者对应的碰撞时间；其中，所述碰撞时间表示所述车道内的第二交通参与者到达所述车道内的第二预设位置所需的时间；按照碰撞时间由小到大的排序，从所述车道内的所有第二交通参与者中选取预设数目的第二交通参与者，并将选取的第二交通参与者作为第一交通参与者。
根据本说明书实施例的第三方面，提供一种车载终端，包括：处理器；用于存储处理器可执行指令的存储器；其中，所述处理器被配置为：获取车辆的待通过路口区域内的第一交通参与者的第一行驶状态信息和目标行驶车道，并获取所述车辆的第二行驶状态信息；其中，所述第一行驶状态信息包括所述第一交通参与者的当前位置；所述第二行驶状态信息包括所述车辆的当前位置和行驶方向；根据所述第一交通参与者的第一行驶状态信息、目标行驶车道和所述车辆的第二行驶状态信息，确定所述第一交通参与者对应的路权信息；其中，所述路权信息指示所述车辆对于所述第一交通参与者待采取的避让行为；从所述第一交通参与者中确定交互参与者；其中，所述交互参与者指示参与所述车辆的行驶信息的决策的目标对象；根据所述交互参与者对应的路权信息控制所述车辆行驶。
根据本说明书实施例的第四方面，提供一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机执行指令，当处理器执行所述计算机执行指令时，实现如上第一方面以及第一方面各种可能的设计所述的车辆行驶方法。
根据本说明书实施例的第五方面，提供一种计算机程序产品，包括计算机程序，所述计算机程序被处理器执行时，实现如上第一方面以及第一方面各种可能的设计所述的车辆行驶方法。
本说明书的实施例提供的技术方案可以包括以下有益效果：本说明书实施例中，根据车辆的待通过路口区域内的交通参与者，即第一交通参与者的当前位置和目标行驶车道(即预测的第一交通参与者待行驶的车道)、以及车辆的当前位置和行驶方向确定车辆对于第一交通参与者待采取的避让行为，即根据第一交通参与者的预测行驶情况以及车辆的当前行驶情况确定车辆与第一交通参与者之间的避让情况，以得到第一交通参与者对应的路权信息。从第一交通参与者中确定出参与车辆的行驶信息的决策的交互参与者，即确定出与车辆存在交互的第一交通参与者，并根据交互参与者的路权信息控制车辆行驶通过该待通过路口区域，使得车辆在通过待通过路口区域的过程中，可以及时避让相应的交互参与者，实现车辆与交通参与者的及时交互，提高车辆行驶的安全性。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本说明书。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本说明书的实施例，并与说明书一起用于解释本说明书的原理。
图1是本说明书根据一示例性实施例示出的一种车辆交互的场景示意图。
图2是本说明书根据一示例性实施例示出的一种车辆行驶方法的流程图。
图3是本说明书根据一示例性实施例示出的一种路口内的交通参与者的示意图。
图4是本说明书根据一示例性实施例示出的另一种车辆行驶方法的流程图。
图5是本说明书根据一示例性实施例示出的一种车辆关注区域的示意图。
图6是本说明书根据一示例性实施例示出的一种目标行驶车道确定的示意图。
图7是本说明书根据一示例性实施例示出的另一种目标行驶车道确定的示意图。
图8是本说明书根据一示例性实施例示出的一种预设低速区域的示意图。
图9是本说明书根据一示例性实施例示出的另一种预设低速区域的示意图。
图10是本说明书根据一示例性实施例示出的又一种预设低速区域的示意图。
图11是本说明书实施例车辆行驶装置所在车载终端的一种硬件结构图。
图12是本说明书根据一示例性实施例示出的一种车辆行驶装置的结构框图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本说明书相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本说明书的一些方面相一致的装置和方法的例子。
在本说明书使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本说明书。在本说明书和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本说明书可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本说明书范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。
接下来对本说明书实施例进行详细说明。
在一些实施方式中，道路清扫工作的高危险、高强度与高重复性等特性使得无人驾驶技术在此方面有广阔的应用前景。如图1所示，在无人驾驶车辆101在进入路口时，无人驾驶车辆101上的车载终端102基于路口内的交通参与者103当前所处的位置，控制无人驾驶车辆101行驶，以与处于路口内的交通参与者103进行交互。但在控制无人驾驶车辆101行驶时，是将交通参与者103作为静态对象，容易出现无法及时与移动的交通参与者103交互的问题，导致无人驾驶车辆无法安全地通过路口。
因此，针对上述问题，本申请实施例提出了一种交互方法，该方法通过在无人驾驶车辆需通过路口时，车载终端基于无人驾驶车辆的行驶方向确定无人驾驶车辆通过路口时所关注的路口区域以及车道区域，根据路口区域以及车道区域内的交通参与者的行驶状态信息，确定交通参与者对应的路权，并预测交通参与者的行驶轨迹，从而利用该行驶轨迹确定出与无人驾驶车辆存在交互的交通参与者，即确定出交互参与者。根据该交互参与者对应的路权控制无人驾驶车辆停止行驶或低速行驶，以及时避让相应的交通参与者，实现与交通参与者的及时交互，使得无人驾驶车辆可以安全通过路口，保证无人驾驶车辆的行驶安全性。
如图2所示，图2是本说明书根据一示例性实施例示出的一种车辆行驶方法的流程图，包括以下步骤：步骤201、获取车辆的待通过路口区域内的第一交通参与者的第一行驶状态信息和目标行驶车道，并获取车辆的第二行驶状态信息。其中，第一行驶状态信息包括第一交通参与者的当前位置。第二行驶状态信息包括车辆的当前位置和行驶方向。
在本实施例中，当车辆需通过路口时，将该路口作为待通过路口，采集包括该待通过路口的图像，对该图像进行识别，以确定该待通过路口区域以及待通过路口区域内的交通参与者，将该待通过路口区域内的交通参与者作为第一交通参与者。确定各个第一交通参与者的行驶状态信息，即第一行驶状态信息，以及确定各个第一交通参与者的目标行驶车道。获取车辆的行驶状态信息，并将其确定为第二行驶状态信息。
可选的，当车辆进入引导车道，即进入包含导向车道线的车道区域时，采集包括待通过路口的图像。具体的，车辆可以在行驶至距离引导车道内的停止线的一定距离内，进行拍摄。
其中，第一交通参与者为可移动的对象，例如，车辆。第一交通参与者的第一行驶状态信息包括第一交通参与者的当前位置、第一交通参与者的当前行驶速度、第一交通参与者的当前朝向和第一交通参与者上的预设点的当前位置中的一个或多个。当第一交通参与者为车辆时，第一交通参与者的当前朝向可以是当前车辆朝向，具体的，其可以 为车辆当前的朝向角；第一交通参与者上的预设点的当前位置可以是车辆上的一个预设点，例如，预设点车辆头部上的一个点(如图3中所示的预设点)。
其中，第一交通参与者的目标行驶车道表示预测的第一交通参与者待行驶的车道，即第一交通参与者欲驶入的车道。
其中，车辆的第二行驶状态信息包括车辆的当前位置、当前行驶速度和行驶方向中的一个或多个。该行驶方向包括直行、左转、右转等方向。
可选的，车辆为可以进行自动驾驶的车辆，例如，无人驾驶车辆。
步骤202、根据第一交通参与者的第一行驶状态信息、目标行驶车道和车辆的第二行驶状态信息，确定第一交通参与者对应的路权信息。其中，路权信息指示车辆对于第一交通参与者待采取的避让行为。
在本实施例中，基于第一交通参与者的第一行驶状态信息和目标行驶车辆可以预测第一交通参与者的行驶轨迹。根据车辆自身的第二行驶状态信息(即车辆的当前位置和行驶方向)以及第一交通参与者的行驶轨迹，判定车辆与第一交通参与者之间的避让情况，以确定第一交通参与者对应的路权信息。
可选的，路权信息包括第一路权和第二路权。其中，第一路权表示高路权，其指示车辆进行避让，即当第一交通参与者的路权信息为第一路权时，车辆需避让该第一交通参与者。第二路权表示低路权，其指示车辆不进行避让，即当第一交通参与者的路权为第二路权时，车辆无需避让该第一交通参与者。
可选的，路权信息还可以包括第三路权。该第三路权表示第一交通参与者对车辆不存在影响，即与车辆无关。当第一交通参与者的路权信息为第三路权时，车辆无需与该第一交通参与者进行交互。
步骤203、从第一交通参与者中确定交互参与者。其中，交互参与者指示参与车辆的行驶信息的决策的目标对象。
在本实施例中，在确定第一交通参与者后，从第一交通参与者中筛选出车辆需进行交互的第一交通参与者，即确定出参与车辆的行驶信息的决策的第一交通参与者，并将筛选的第一交通参与者作为交互参与者。
步骤204、根据交互参与者对应的路权信息控制车辆行驶。
在本实施例中，在确定交互参与者后，从第一交通参与者的路权信息中确定交互参与者对应的路权信息，以供根据该交互参与者的路权信息确定车辆的路口通行策略，并根据该路口通行策略控制车辆进行行驶，使得车辆在通过待通过路口区域的过程中，可以及时与交互参与者进行交互(例如，车辆等待交互参与者通过路口才进行行驶，即避让相应的交互参与者)，保证交互的及时性。
在本实施例中，从待通过路口区域内的第一交通参与者中筛选出影响车辆行驶的交互参与者，并基于预测的该交互参与者对应的行驶轨迹控制车辆行驶，而不是将交通参与者作为静态对象，使得车辆可以及时与交互参与者进行交互(例如，避让交互参与者)，保证车辆可以安全低通过待通过路口。
从上述描述可知，根据车辆的待通过路口区域内的交通参与者，即第一交通参与者的当前位置和目标行驶车道(即预测的第一交通参与者待行驶的车道)以及车辆的当前位置和行驶方向确定车辆对于第一交通参与者待采取的避让行为，即根据第一交通参与者的预测行驶情况以及车辆的当前行驶情况确定车辆与第一交通参与者之间的避让情况，以得到第一交通参与者对应的路权信息。从第一交通参与者中确定出参与车辆的行驶信息的决策的交互参与者，即确定出与车辆存在交互的第一交通参与者，并根据交互参与者的路权信息控制车辆行驶通过该待通过路口区域，使得车辆在通过待通过路口区域的过程中，可以及时避让相应的交互参与者，实现车辆与交通参与者的及时交互，提高车辆行驶的安全性。
如图4所示，图4是本说明书根据一示例性实施例示出的另一种车辆行驶方法的流 程图，在从第一交通参与者中确定交互参与者时，可以利用第一交通参与者的期望状态信息进行确定。下面将结合一个具体实施例对此过程进行详细说明，如图4所示，该方法包括以下步骤：
步骤401、获取车辆的待通过路口区域内的第一交通参与者的第一行驶状态信息和目标行驶车道，并获取车辆的第二行驶状态信息。其中，第一行驶状态信息包括第一交通参与者的当前位置。第二行驶状态信息包括车辆的当前位置和行驶方向。
在本实施例中，由于车辆在通过待通过路口区域的过程中，也会受到其它车道区域内的交通参与者的影响，因此，为了进一步提高车辆通过待通过路口区域的安全性，还可以确定影响车辆通行的车道区域内的第一交通参与者，以从该车道区域内的第一交通参与者和待通过路口区域内的第一交通参与者中筛选出交互参与者，并根据该交互参与者对应的路权信息控制车辆进行行驶。
可选的，确定影响车辆通行的车道区域内的第一交通参与者的具体过程包括：获取目标车道区域。其中，目标车道区域包括至少一个车道，目标车道区域指示车辆通过待通过路口区域时所关注的车道区域。对于目标车道区域内的每个车道，获取车道内的各个第二交通参与者对应的碰撞时间。其中，碰撞时间表示车道内的第二交通参与者到达车道内的第二预设位置所需的时间。按照碰撞时间由小到大的排序，从车道内的所有第二交通参与者中选取预设数目的第二交通参与者，并将选取的第二交通参与者作为第一交通参与者。
具体的，对于目标车道区域内的每个车道，计算该车道内的交通参与者(即第二交通参与者)行驶至该车道内的第二预设位置(例如，如图5中的车道内的停止线)所需的时间，并将该时间作为该第二交通参与者对应的碰撞时间。将碰撞时间较小的第二交通参与者，即距离待通过路口区域较近的第二交通参与者作为该车道内的第一交通参与者。
其中，目标车道区域是车辆在通过待通过路口区域时所关注的车道区域，该车道区域内的交通参与者可能会对车辆造成影响。具体的，目标车道区域是基于车辆的当前位置和行驶方向确定的。例如，如图5所示，当车辆处于车道1，且车辆的行驶方向为直行时，该车辆关注的区域包括区域1和区域3，即目标车道区域包括区域1和区域3。
可选的，在确定车道内的第一交通参与者后，可以根据该车道对应的车道行驶方向确定该第一交通参与者对应的目标行驶车道。例如，如图5所示，车道2对应的车道行驶方向包括直行和右转，则车道2内的第一交通参与者对应的目标行驶车道包括车道3和车道4。
可选的，在确定待通过路口区域内的第一交通参与者对应的目标行驶车道时，可以根据以下两种方式进行确定。
一种方式为，对待通过路口区域进行划分，得到多个子区域，并获取各个子区域对应的边界线以及各个边界线对应的车道。对于待通过路口区域内的每个第一交通参与者，确定第一交通参与者对应的行驶朝向标志线。其中，行驶朝向标志线对应的指示方向与第一交通参与者的当前朝向一致。对第一交通参与者对应的行驶朝向标志线进行延长，以确定与延长后的行驶朝向标志线相交的目标边界线。获取目标边界线对应的车道，并根据目标边界线对应的车道确定第一交通参与者对应的目标行驶车道。
具体的，按照预设划分方式，对待通过路口区域进行划分，得到多个子区域，并确定各个子区域对应的边界线以及各个边界线对应的车道。其中，子区域对应的边界线(即外边界线)为待通过路口区域的部分边界线。例如，如图6所示，采用田字网关划分方式，将待通过路口区域等分为四个子区域，每个子区域的边界线为待通过路口区域的部分边界线。
对于待通过路口区域内的每个第一交通参与者，在该第一交通参与者的当前位置上绘制该第一交通参与者对应的行驶朝向标志线，该行驶朝向标志线对应的指示方向与该 第一交通参与者的当前朝向相同。按照该行驶朝向标志线(如图6所示的行驶朝向标志线)的指示方向，对该行驶朝向标志线进行延长，直至与某个边界线相交，并将相交的边界线作为第一交通参与者对应的目标边界线。利用目标边界线对应的车道确定该第一交通参与者对应的目标行驶车道。
可选的，当与第一交通参与者对应的目标边界线对应的车道的数量为一个时，可以直接将该目标边界线对应的车道作为该第一交通参与者对应的目标行驶车道。当该目标边界线对应的车道的数量为多个时，可以从目标边界线对应的车道中任意选取一个车道，也可以确定目标边界线与延长后的行驶朝向标志线之间的交点所在的边界线段，并将该边界线段对应的车道作为第一交通参与者对应的目标行驶车道。
其中，当子区域的边界线对应多个车道时，可以对该边界线进行分割，得到多个边界线段，每个边界线段对应一个车道。
另一种方式为，对于待通过路口区域内的每个第一交通参与者，获取第一交通参与者对应的驶出车道。驶出车道表示第一交通参与者进入待通过路口区域时所通过的车道。基于第一交通参与者上的预设点的当前位置，确定第一交通参与者对应的驶出车道内的第一预设位置与第一交通参与者上的预设点之间的连线，并对连线进行延长，以确定与延长后的连线相交的目标预设车道线段。获取与目标预设车道线段对应的车道，并根据目标预设车道线段对应的车道确定第一交通参与者对应的目标行驶车道。
具体的，如图7所示，当车辆处于车道1内时，对于待通过路口区域内的每个第一交通参与者，将该第一交通参与者上的预设点与该第一交通参与者对应的驶出车道内的第一预设位置进行连接，得到该第一预设位置与该预设点之间的连线，并延长该连线，直至该连线与某个预设车道线段相交。将与该连线相交的预设车道线段作为该第一交通参与者对应的目标预设车道线段，以供根据该目标预设车道线段对应的车道确定该第一交通参与者对应的目标行驶车道。
其中，第一预设位置可以是驶出车道内的停止线上的一个位置点，例如，第一预设位置为驶出车道内的停止线的中心点(如图7所示的中心点)。当然，第一预设位置也可以为驶出车道内的其它位置，在此，不对其进行限制。
可选的，当与第一交通参与者对应的目标预设车道线段对应的车道的数量为一个时，可以直接将该目标预设车道线段对应的车道作为第一交通参与者对应的目标行驶车道。当目标预设车道线段对应的车道的数量为多个时，可以从目标边界线对应的车道中任意选取一个车道，并将选取的车道作为目标行驶车道，也可以确定目标预设车道线段与交通参与者对应的连线的交点所在的子线段，并将该子线段对应的车道作为第一交通参与者对应的目标行驶车道。
其中，当预设车道线段对应多个车道时，可以对该预设车道线段进行分割，得到多个子线段，每个子线段对应一个车道。
步骤402、根据第一交通参与者的第一行驶状态信息、目标行驶车道和车辆的第二行驶状态信息，确定第一交通参与者对应的路权信息。其中，路权信息指示车辆对于第一交通参与者待采取的避让行为。
在本实施例中，基于车辆的当前位置和第一交通参与者的当前位置，从预设交通行驶规则表中确定与第一交通参与者的目标行驶车道和车辆的行驶方向对应的路权信息，并将其确定为第一交通参与者对应的路权信息。其中，交通行驶规则表包括路权与行驶方向的映射关系。
具体的，基于车辆的当前位置和车辆的行驶方向可以确定车辆的目标行驶方向，该目标行驶方向表示车辆具体的行驶方向，例如，如图3所示，车辆在车道1内行驶，当车辆的行驶方向为直行时，则确定车辆的目标行驶方向为由南向北直行。
对于每个第一交通参与者，基于该第一交通参与者对应的目标行驶车道确定该第一交通参与者对应的预测行驶轨迹，即行驶方向，并基于该第一交通参与者对应的行驶方 向和当前位置确定该第一交通参与者的目标行驶方向。从预设交通行驶规则中查找与第一交通参与者的目标行驶方向和车辆的目标行驶方向对应的路权信息，并将该路权信息作为该第一交通参与者对应的路权信息。例如，如图3所示，第一交通参与者对应的目标行驶方向为由西向东直行，车辆在车道1内行驶，当车辆的行驶方向为右转时，车辆对应的目标行驶方向为由南向东右转，车辆需避让该第一交通参与者，则该第一交通参与者对应的路权信息为第一路权。
其中，交通行驶规则表是根据实际的交通规则确定的。
步骤403、对于每个第一交通参与者，获取第一交通参与者的期望状态信息，并判断第一交通参与者的第一行驶状态信息和第一交通参与者的期望状态信息是否匹配。
在本实施例中，根据车辆的当前行驶情况，即第二行驶状态信息确定各个第一交通参与者的期望状态信息，即安全行驶状态，将第一交通参与者的第一行驶状态信息与第一交通参与者的期望状态信息进行匹配，以确定第一交通参与者是否处于安全行驶状态，即确定第一交通参与者是否会对车辆造成影响。
可选的，期望状态信息包括期望速度区间和/或期望距离区间。其中，期望速度区间表示第一交通参与者的安全行驶速度，即当第一交通参与者的当前行驶速度处于该期望速度区间时，该第一交通参与者不会对车辆造成影响。期望距离区间指示第一交通参与者与车辆之间的安全距离，即当第一交通参与者与车辆之间的当前距离处于该期望距离区间时，该第一交通参与者不会对车辆造成影响。
可选的，第一交通参与者的期望状态信息是根据第一交通参与者的上一时刻的行驶状态信息确定的。具体的，第一交通参与者的初始时刻的期望状态为空集，下一时刻的期望状态是基于该第一交通参与者当前时刻的运动状态、交互意图与系统延迟时间确定的。相应的，可以通过预设函数
Figure PCTCN2022071275-appb-000001
确定第一交通者在下一时刻的期望状态，其中，E n+1为第一交通参与者在下一时刻的期望状态，
Figure PCTCN2022071275-appb-000002
为第一交通参与者的当前运动状态，I n为第一交通参与者的当前交互意图，t delay为预设系统延迟时间，h()为该预设函数，其可以是相关人员根据实际需求自定义的。当然也可以采用其它方式进行确定，例如，通过将第一交通参与者当前时刻的运动状态、交互意图与系统延迟时间输入至训练好的神经网络模型中，以使该模型进行相应的处理，并输出第一交通参与者在下一时刻的期望状态。
其中，第一交通参与者的当前运动状态可以包括车辆的第一当前行驶速度、当前位置等信息。
可选的，期望状态信息是根据车辆的第二行驶状态信息设置的。在确定第一交通参与的期望速度区间时，从第一预设速度映射表中确定与车辆的当前行驶速度对应的速度区间，并将该速度区间作为该第一交通参与者的期望速度区间。其中，第一预设速度映射表包括期望速度区间与行驶速度的映射关系。当然，也可以采用其它方式进行确定，例如，采用相关人员自定义的预设速度区间确定函数进行确定，该第一预设速度区间确定函数的自变量为车辆的当前行驶速度。
为了提高第一交通参与者的期望速度区间的准确性，在确定第一交通参与者的期望速度区间时，可以结合第一交通参与者的当前行驶情况，即对于每个第一交通参与者，基于该第一交通参与者的当前位置和车辆的当前位置，确定该第一交通参与者与该车辆之间的距离，按照预设速度区间确定方式，确定与该距离和该车辆的当前行驶速度对应的速度区间，并将该速度区间作为该第一交通参与者的期望速度区间。
其中，在按照预设速度区间确定方式，确定与第一交通参与者和车辆之间的距离以及该车辆的当前行驶速度对应的速度区间时，可以从第二预设速度映射表中确定与该距离和该车辆的当前行驶速度对应的速度区间，也可以将该距离和车辆的当前行驶速度输入至训练好的神经网络模型中，以使该神经网络模型对该距离和车辆的当前行驶速度进 行相应的处理，输出与该距离和该车辆的当前行驶速度对应的速度区间。当然也可以采用其它方式确定期望速度区间，例如，采用相关人员自定义的第二预设速度区间确定函数进行确定，该第二预设速度区间确定函数的自变量为车辆的当前行驶速度以及第一交通参与者和车辆之间的距离。
相应的，在确定第一交通参与的期望距离区间时，可以基于车辆的当前行驶速度进行确定，其确定过程与上述基于车辆的当前行驶速度确定第一交通参与的期望速度区间的过程类似，在此，不再对其进行赘述。
为了提高确定第一交通参与者的期望距离区间的准确性，在确定第一交通参与者的期望距离区间时，可以结合第一交通参与者的当前行驶情况，即对于每个第一交通参与者，按照预设距离区间确定方式，确定与该第一交通参与者的当前行驶速度和该车辆的当前行驶速度对应的距离区间，并将该距离区间作为该第一交通参与者的期望距离区间。
其中，预设距离区间确定方式所包括的方式类型与上述预设速度区间确定方式所包括的方式类型类似，在此，不再对其进行赘述。
可选的，在期望状态信息包括期望速度区间时，判断第一交通参与者的第一行驶状态信息和第一交通参与者的期望状态信息是否匹配的过程包括：判断第一交通参与者的当前行驶速度是否在第一交通参与者的期望速度区间内。若在期望速度区间内，表明该第一交通参与者的当前行驶速度为安全速度，即该第一交通参与者不会对车辆的行驶造成影响，则确定第一行驶状态信息和期望状态信息匹配。若未在期望速度区间内，表明该第一交通参与者的当前行驶速度不是安全速度，即该第一交通参与者会对车辆的行驶造成影响，则确定第一行驶状态信息和期望状态信息不匹配。
可选的，在期望状态信息包括期望距离区间时，判断第一交通参与者的第一行驶状态信息和第一交通参与者的期望状态信息是否匹配的过程包括：判断第一交通参与者与车辆之间的距离是否在第一交通参与者的期望距离区间内。若在期望距离区间内，表明该第一交通参与者不会对车辆的行驶造成影响，则确定第一行驶状态信息和期望状态信息匹配。若未在期望距离区间内，表明该第一交通参与者会对车辆的行驶造成影响，则确定第一行驶状态信息和期望状态信息不匹配。
可选的，也可以基于期望速度区间和期望距离区间综合判断，即在第一交通参与者的当前行驶速度在第一交通参与者的期望速度区间内，且第一交通参与者与车辆之间的距离在第一交通参与者的期望距离区间内的情况下，确定该第一行驶状态信息和期望状态信息匹配，否则，则确定该第一行驶状态信息和期望状态信息不匹配。
步骤404、若第一行驶状态信息和期望状态信息匹配，则确定第一交通参与者不是交互参与者。
在本实施例中，在确定第一交通参与者的第一行驶状态信息和该第一交通参与者的期望状态信息匹配时，表明该第一交通参与者不会对车辆造成影响，即车辆无需与该第一交通参与者进行交互，则确定该第一交通参与者不是交互参与者。
步骤405、若第一行驶状态信息和期望状态信息不匹配，则获取第一交通参与者对应的交互意图，并根据第一交通参与者对应的交互意图确定第一交通参与者是否为交互参与者。其中，交互意图指示第一交通参与者的行驶优先级。
在本实施例中，在确定第一交通参与者的第一行驶状态信息与该第一交通参与者的期望状态信息不匹配时，表明该第一交通参与者当前行驶状态不是安全行驶状态，该第一交通参与者可能会对车辆造成影响，则进一步利用该第一交通参与者对应的交互意图确定该第一交通参与者是否为交互参与者。
可选的，交互意图包括优先行驶和避让行驶。其中，优先行驶指示第一交通参与者行驶的优先权较高，即车辆需要避让该第一交通参与者。避让行驶指示第一交通参与者行驶的优先权较低，即第一交通参与者需要避让该车辆。
其中，第一交通参与者在初始时刻的交互意图是根据第一交通参与者的路权信息 进行确定的，当第一交通参与者在初始时刻的路权信息为第一路权时，该第一交通参与者对应的交互意图为优先行驶；当第一交通参与者在初始时刻的路权信息不为第一路权时，该第一交通参与者对应的交互意图为第一交通参与者避让行驶。第一交通参与者在后续时刻的交互意图是根据第一行驶状态信息以及期望状态信息进行确定，其过程为：
在第一交通参与者的第一行驶状态信息和第一交通参与者的期望状态信息匹配的情况下，第一交通参与者对应的交互意图保持不变。在第一交通参与者的第一行驶状态信息和第一交通参与者的期望状态信息不匹配的情况下，将第一交通参与者对应的交互意图切换为另一状态。例如，第一交通参与者当前的交互意图为避让行驶，在第一交通参与者的第一行驶状态信息和第一交通参与者的期望状态信息不匹配的情况下，则将第一交通参与者当前的交互意图切换为优先行驶。
可选的，根据第一交通参与者对应的交互意图确定第一交通参与者是否为交互参与者，包括：若第一交通参与者对应的交互意图为优先行驶，表明车辆需避让该第一交通参与者，则确定第一交通参与者为交互参与者。
若第一交通参与者对应的交互意图为避让行驶，表明车辆无需避让该第一交通参与者，则确定第一交通参与者不为交互参与者。
步骤406、根据交互参与者对应的路权信息控制车辆行驶。
在本实施例中，响应于交互参与者中存在路权信息为第一路权的交互参与者，控制车辆停止行驶，其中，第一路权指示车辆进行避让。在交互参与者中不存在路权信息为第一路权的交互参与者的情况下，响应于交互参与者中存在路权信息为第二路权的交互参与者，控制车辆在待通过路口区域中的第一预设区域内低速行驶，其中，第二路权指示车辆不进行避让。
在本实施例中，当车辆需进入待通过路口区域时，判断确定的交互参与者中是否存在路权信息为第一路权的交互参与者，若存在，表明车辆需避让路权信息为第一路权的交互参与者，则控制车辆停止行驶，直至交互参与者中不存在路权信息为第一路权的交互参与者，即直至车辆关注的区域(例如、待通过路口区域、目标车道区域)内不存在路权信息为第一路权的交互参与者。
在确定交互参与者中不存在路权信息为第一路权的交互参与者时，判断该交互参与者中是否存在路权信息为第二路权的交互参与者，若不存在路权信息为第二路权的交互参与者，则车辆可以正常行驶，即控制车辆基于预设路径正常行驶通过待通过路口区域。若存在路权信息为第二路权的交互参与者，则控制车辆低速行驶，即控制车辆按照预设速度行驶，该预设速度的值较小。
可以理解，在车辆通过待通过路口区域的过程中，持续确定车辆关注的区域内的交互参与者，并根据该交互参与者的路权信息控制车辆进行相应的行驶。
可选的，在控制车辆低速行驶时，控制车辆在预设低速区域内低速行驶。在车辆驶出预设低速区域的情况下，控制车辆正常行驶。
其中，预设低速区域与车辆所在车道的停止线之间的距离在预设距离范围内。预设低速区域的数量可以为一个或多个，其与车辆的行驶方向相关，例如，如图8所示，车辆的行驶方向为直行，则预设低速区域包括区域a和区域b；又例如，如图9所示，车辆的行驶方向为右转，则预设低速区域包括区域c；又例如，如图10所示，车辆的行驶方向为左转，则预设低速区域包括区域d和区域e。
可选的，在控制车辆低速行驶的过程中，即响应于交互参与者中存在路权信息为第二路权的交互参与者，按照预设提示方式向路权信息为第二路权的交互参与者输出车辆通行提示信息，以使该交互参与者及时进行避让。其中，预设提示方式包括文字提示方式和/或语音提示方式。
在本实施例中，在确定第一交通参与者的期望状态信息时，考虑到受硬件性能带来的系统延迟，提高期望状态信息确定的准确性，从而可以准确地确定出交互参与者， 进而可以利用该交互参与者使无人车能最大限度的在保证安全性的前提下高效通过路口区域。
在本实施例中，获取第一交通参与者的期望状态信息，判断第一交通参与者的第一行驶状态信息和该第一交通参与者的期望状态信息是否匹配，以确定该第一交通参与者当前是否处于安全行驶状态，即确定该第一交通参与者是否会影响车辆的行驶。在确定第一交通参与者的第一行驶状态信息和该第一交通参与者的期望状态信息匹配时，表明该第一交通参与者当前不会影响车辆的行驶，则确定该第一交通参与者不是交互参与者，即车辆无需与该第一交通参与者进行交互。在确定第一交通参与者的第一行驶状态信息和该第一交通参与者的期望状态信息不匹配时，进一步利用第一交通参与者对应的交互意图确定该第一交通参与者是否需与车辆进行交互，即确定该第一交通参与者是否为交互参与者，实现交互参与者的准确确定，即实现车辆需进行交互的交通参与者的准确确定，从而使得车辆可以及时与需进行交互的交通参与者进行交互，保证交互的及时性。
在本实施例中，通过预测第一交通参与者的目标行驶车道，即行驶轨迹，并结合实际的交通规则，确定第一交通参与者的路权信息，从而在基于从第一交通参与者中确定的交互参与者的路权信息控制车辆进行行驶时，可以使车辆合理及时地与交互参与者进行交互。
本说明书车辆行驶装置的实施例可以应用在车载终端上。装置实施例可以通过软件实现，也可以通过硬件或者软硬件结合的方式实现。以软件实现为例，作为一个逻辑意义上的装置，是通过其所在的处理器将非易失性存储器中对应的计算机程序指令读取到内存中运行形成的。从硬件层面而言，如图11所示，为本说明书实施例车辆行驶装置所在车载终端的一种硬件结构图，除了图11所示的处理器1110、内存1130、网络接口1120、以及非易失性存储器1140之外，实施例中车辆行驶装置1131所在的车载终端，通常根据该车载终端的实际功能，还可以包括其他硬件，对此不再赘述。
如图12所示，图12是本说明书根据一示例性实施例示出的一种车辆行驶装置的框图，该装置包括：信息获取模块1210，用于获取车辆的待通过路口区域内的第一交通参与者的第一行驶状态信息和目标行驶车道，并获取车辆的第二行驶状态信息。其中，第一行驶状态信息包括第一交通参与者的当前位置。第二行驶状态信息包括车辆的当前位置和行驶方向。
路权确定1220，用于根据第一交通参与者的第一行驶状态信息、目标行驶车道和车辆的第二行驶状态信息，确定第一交通参与者对应的路权信息。其中，路权信息指示车辆对于第一交通参与者待采取的避让行为。
参与者确定模块1230，用于从第一交通参与者中确定交互参与者。其中，交互参与者指示参与车辆的行驶信息的决策的目标对象。
行驶控制模块1240，用于根据交互参与者对应的路权信息控制车辆行驶。
在本申请的另一个实施例中，在上述图8实施例的基础上，参与者确定模块1230具体用于：对于每个第一交通参与者，获取第一交通参与者的期望状态信息，并判断第一交通参与者的第一行驶状态信息和第一交通参与者的期望状态信息是否匹配。
若第一行驶状态信息和期望状态信息匹配，则确定第一交通参与者不是交互参与者。
若第一行驶状态信息和期望状态信息不匹配，则获取第一交通参与者对应的交互意图，并根据第一交通参与者对应的交互意图确定第一交通参与者是否为交互参与者。其中，交互意图指示第一交通参与者的行驶优先级。
在本实施例中，可选的，交互意图包括优先行驶和避让行驶。
参与者确定模块1230还用于：若第一交通参与者对应的交互意图为优先行驶，则确定第一交通参与者为交互参与者。
若第一交通参与者对应的交互意图为避让行驶，则确定第一交通参与者不为交互参与者。
在本实施例中，可选的，第一行驶状态信息还包括第一交通参与者的当前行驶速度。期望状态信息包括期望速度区间。
参与者确定模块1230还用于：判断第一交通参与者的当前行驶速度是否在第一交通参与者的期望速度区间内。
若在期望速度区间内，则确定第一行驶状态信息和期望状态信息匹配。
若未在期望速度区间内，则确定第一行驶状态信息和期望状态信息不匹配。
可选的，路权确定1220具体用于：基于车辆的当前位置和第一交通参与者的当前位置，从预设交通行驶规则表中确定与第一交通参与者的目标行驶车道和车辆的行驶方向对应的路权信息，并将其确定为第一交通参与者对应的路权信息。其中，交通行驶规则表包括路权与行驶方向的映射关系。
可选的，行驶控制模块1240具体用于：响应于交互参与者中存在路权信息为第一路权的交互参与者，控制车辆停止行驶，其中，第一路权指示车辆进行避让。
在交互参与者中不存在路权信息为第一路权的交互参与者的情况下，响应于交互参与者中存在路权信息为第二路权的交互参与者，控制车辆在待通过路口区域中的第一预设区域内低速行驶，其中，第二路权指示车辆不进行避让。
可选的，行驶控制模块1240还用于：响应于交互参与者中存在路权信息为第二路权的交互参与者，按照预设提示方式向路权信息为第二路权的交互参与者输出车辆通行提示信息。其中，预设提示方式包括文字提示方式和/或语音提示方式。
可选的，第一行驶状态信息还包括第一交通参与者的当前朝向。
车辆行驶装置还包括第一车道确定模块。第一车道确定模块具体用于：对待通过路口区域进行划分，得到多个子区域，并获取各个子区域对应的边界线以及各个边界线对应的车道。
对于待通过路口区域内的每个第一交通参与者，确定第一交通参与者对应的行驶朝向标志线。其中，行驶朝向标志线对应的指示方向与第一交通参与者的当前朝向一致。
对第一交通参与者对应的行驶朝向标志线进行延长，以确定与延长后的行驶朝向标志线相交的目标边界线。
获取目标边界线对应的车道，并根据目标边界线对应的车道确定第一交通参与者对应的目标行驶车道。
可选的，第一行驶状态信息还包括第一交通参与者上的预设点的当前位置。
车辆行驶装置还包括第二车道确定模块。第二车道确定模块具体用于：对于待通过路口区域内的每个第一交通参与者，获取第一交通参与者对应的驶出车道。驶出车道表示第一交通参与者进入待通过路口区域时所通过的车道。
基于第一交通参与者上的预设点的当前位置，确定第一交通参与者对应的驶出车道内的第一预设位置与第一交通参与者上的预设点之间的连线，并对连线进行延长，以确定与延长后的连线相交的目标预设车道线段。
获取与目标预设车道线段对应的车道，并根据目标预设车道线段对应的车道确定第一交通参与者对应的目标行驶车道。
可选的，信息获取模块1210还用于：获取目标车道区域。其中，目标车道区域包括至少一个车道，目标车道区域指示车辆通过待通过路口区域时所关注的车道区域。
对于目标车道区域内的每个车道，获取车道内的各个第二交通参与者对应的碰撞时间。其中，碰撞时间表示车道内的第二交通参与者到达车道内的第二预设位置所需的时间。
按照碰撞时间由小到大的排序，从车道内的所有第二交通参与者中选取预设数目的第二交通参与者，并将选取的第二交通参与者作为第一交通参与者。
本申请实施例提供一种计算机可读存储介质，其中存储有计算机程序代码，该计算机程序代码被处理器执行时实现上述方法步骤。
本申请实施例还提供一种计算机程序产品，包括计算机程序，所述计算机程序被处理器执行时，实现如上述方法步骤。
对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理模块，即可以位于一个地方，或者也可以分布到多个网络模块上。可以根据实际的需要选择其中的部分或者全部模块来实现本说明书方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
上述对本说明书特定实施例进行了描述。其它实施例在所附权利要求书的范围内。在一些情况下，在权利要求书中记载的动作或步骤可以按照不同于实施例中的顺序来执行并且仍然可以实现期望的结果。另外，在附图中描绘的过程不一定要求示出的特定顺序或者连续顺序才能实现期望的结果。在某些实施方式中，多任务处理和并行处理也是可以的或者可能是有利的。
本领域技术人员在考虑说明书及实践这里申请的发明后，将容易想到本说明书的其它实施方案。本说明书旨在涵盖本说明书的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本说明书的一般性原理并包括本说明书未申请的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本说明书的真正范围和精神由下面的权利要求指出。
应当理解的是，本说明书并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本说明书的范围仅由所附的权利要求来限制。
以上所述仅为本说明书的较佳实施例而已，并不用以限制本说明书，凡在本说明书的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本说明书保护的范围之内。

Claims (12)

  1. 一种车辆行驶方法，包括：
    获取车辆的待通过路口区域内的第一交通参与者的第一行驶状态信息和目标行驶车道，并获取所述车辆的第二行驶状态信息；其中，所述第一行驶状态信息包括所述第一交通参与者的当前位置；所述第二行驶状态信息包括所述车辆的当前位置和行驶方向；
    根据所述第一交通参与者的第一行驶状态信息、目标行驶车道和所述车辆的第二行驶状态信息，确定所述第一交通参与者对应的路权信息；其中，所述路权信息指示所述车辆对于所述第一交通参与者待采取的避让行为；
    从所述第一交通参与者中确定交互参与者；其中，所述交互参与者指示参与所述车辆的行驶信息的决策的目标对象；
    根据所述交互参与者对应的路权信息控制所述车辆行驶。
  2. 根据权利要求1所述的方法，其特征在于，所述从所述第一交通参与者中筛选出交互参与者，包括：
    对于每个第一交通参与者，获取所述第一交通参与者的期望状态信息，并判断所述第一交通参与者的第一行驶状态信息和所述第一交通参与者的期望状态信息是否匹配；
    若所述第一行驶状态信息和所述期望状态信息匹配，则确定所述第一交通参与者不是交互参与者；
    若所述第一行驶状态信息和所述期望状态信息不匹配，则获取所述第一交通参与者对应的交互意图，并根据所述第一交通参与者对应的交互意图确定所述第一交通参与者是否为交互参与者；其中，所述交互意图指示所述第一交通参与者的行驶优先级。
  3. 根据权利要求2所述的方法，其特征在于，所述交互意图包括优先行驶和避让行驶；
    所述根据所述第一交通参与者对应的交互意图确定所述第一交通参与者是否为交互参与者，包括：
    若所述第一交通参与者对应的交互意图为所述优先行驶，则确定所述第一交通参与者为交互参与者；
    若所述第一交通参与者对应的交互意图为所述避让行驶，则确定所述第一交通参与者不为交互参与者。
  4. 根据权利要求2所述的方法，其特征在于，所述第一行驶状态信息还包括所述第一交通参与者的当前行驶速度；所述期望状态信息包括期望速度区间；
    所述判断所述第一交通参与者的第一行驶状态信息和所述第一交通参与者的期望状态信息是否匹配，包括：
    判断所述第一交通参与者的当前行驶速度是否在所述第一交通参与者的期望速度区间内；
    若在所述期望速度区间内，则确定所述第一行驶状态信息和所述期望状态信息匹配；
    若未在所述期望速度区间内，则确定所述第一行驶状态信息和所述期望状态信息不匹配。
  5. 根据权利要求1所述的方法，其特征在于，所述根据所述第一交通参与者的第一行驶状态信息、目标行驶车道和所述车辆的第二行驶状态信息，确定所述第一交通参与者对应的路权信息，包括：
    基于所述车辆的当前位置和所述第一交通参与者的当前位置，从预设交通行驶规则表中确定与所述第一交通参与者的目标行驶车道和所述车辆的行驶方向对应的路权信息，并将其确定为所述第一交通参与者对应的路权信息；其中，所述交通行驶规则表包括路权与行驶方向的映射关系。
  6. 根据权利要求1所述的方法，其特征在于，所述根据所述交互参与者的路权信 息控制所述车辆进行行驶，包括：
    响应于所述交互参与者中存在路权信息为第一路权的交互参与者，控制车辆停止行驶，其中，第一路权指示车辆进行避让；
    在所述交互参与者中不存在路权信息为第一路权的交互参与者的情况下，响应于所述交互参与者中存在路权信息为第二路权的交互参与者，控制所述车辆在所述待通过路口区域中的第一预设区域内低速行驶，其中，第二路权指示车辆不进行避让。
  7. 根据权利要求6所述的方法，其特征在于，所述方法还包括：
    响应于所述交互参与者中存在路权信息为第二路权的交互参与者，按照预设提示方式向所述路权信息为第二路权的交互参与者输出车辆通行提示信息；其中，所述预设提示方式包括文字提示方式和/或语音提示方式。
  8. 根据权利要求1至7任一项所述的方法，其特征在于，所述第一行驶状态信息还包括所述第一交通参与者的当前朝向；所述方法还包括：
    对所述待通过路口区域进行划分，得到多个子区域，并获取各个子区域对应的边界线以及各个边界线对应的车道；
    对于所述待通过路口区域内的每个第一交通参与者，确定所述第一交通参与者对应的行驶朝向标志线；其中，所述行驶朝向标志线对应的指示方向与所述第一交通参与者的当前朝向一致；
    对所述第一交通参与者对应的行驶朝向标志线进行延长，以确定与延长后的行驶朝向标志线相交的目标边界线；
    获取所述目标边界线对应的车道；并
    根据所述目标边界线对应的车道确定所述第一交通参与者对应的目标行驶车道。
  9. 根据权利要求1至7任一项所述的方法，其特征在于，所述第一行驶状态信息还包括第一交通参与者上的预设点的当前位置；所述方法还包括：
    对于所述待通过路口区域内的每个第一交通参与者，获取所述第一交通参与者对应的驶出车道；所述驶出车道表示所述第一交通参与者进入所述待通过路口区域时所通过的车道；
    基于所述第一交通参与者上的预设点的当前位置，确定所述第一交通参与者对应的驶出车道内的第一预设位置与所述第一交通参与者上的预设点之间的连线；
    对所述连线进行延长，以确定与延长后的连线相交的目标预设车道线段；
    获取与所述目标预设车道线段对应的车道；
    根据所述目标预设车道线段对应的车道，确定所述第一交通参与者对应的目标行驶车道。
  10. 根据权利要求1至7任一项所述的方法，其特征在于，所述方法还包括：
    获取目标车道区域；其中，所述目标车道区域包括至少一个车道，所述目标车道区域指示所述车辆通过所述待通过路口区域时所关注的车道区域；
    对于所述目标车道区域内的每个车道，获取所述车道内的各个第二交通参与者对应的碰撞时间；其中，所述碰撞时间表示所述车道内的第二交通参与者到达所述车道内的第二预设位置所需的时间；
    按照碰撞时间由小到大的排序，从所述车道内的所有第二交通参与者中选取预设数目的第二交通参与者；并
    将选取的第二交通参与者作为第一交通参与者。
  11. 一种车辆行驶装置，包括：
    信息获取模块，用于获取车辆的待通过路口区域内的第一交通参与者的第一行驶状态信息和目标行驶车道，并获取所述车辆的第二行驶状态信息；其中，所述第一行驶状态信息包括所述第一交通参与者的当前位置；所述第二行驶状态信息包括所述车辆的当前位置和行驶方向；
    路权确定模块，用于根据所述第一交通参与者的第一行驶状态信息、目标行驶车道和所述车辆的第二行驶状态信息，确定所述第一交通参与者对应的路权信息；其中，所述路权信息指示所述车辆对于所述第一交通参与者待采取的避让行为；
    参与者确定模块，用于从所述第一交通参与者中确定交互参与者；其中，所述交互参与者指示参与所述车辆的行驶信息的决策的目标对象；
    行驶控制模块，用于根据所述交互参与者对应的路权信息控制所述车辆行驶。
  12. 一种车载终端，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，其中，所述处理器执行所述程序时实现如下方法：
    获取车辆的待通过路口区域内的第一交通参与者的第一行驶状态信息和目标行驶车道，并获取所述车辆的第二行驶状态信息；其中，所述第一行驶状态信息包括所述第一交通参与者的当前位置；所述第二行驶状态信息包括所述车辆的当前位置和行驶方向；
    根据所述第一交通参与者的第一行驶状态信息、目标行驶车道和所述车辆的第二行驶状态信息，确定所述第一交通参与者对应的路权信息；其中，所述路权信息指示所述车辆对于所述第一交通参与者待采取的避让行为；
    从所述第一交通参与者中确定交互参与者；其中，所述交互参与者指示参与所述车辆的行驶信息的决策的目标对象；
    根据所述交互参与者对应的路权信息控制所述车辆行驶。
PCT/CN2022/071275 2021-11-18 2022-01-11 车辆行驶的方法及装置 WO2023087524A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202111370641.2A CN115257715A (zh) 2021-11-18 2021-11-18 车辆行驶方法及装置
CN202111370641.2 2021-11-18

Publications (1)

Publication Number Publication Date
WO2023087524A1 true WO2023087524A1 (zh) 2023-05-25

Family

ID=83758581

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/071275 WO2023087524A1 (zh) 2021-11-18 2022-01-11 车辆行驶的方法及装置

Country Status (2)

Country Link
CN (1) CN115257715A (zh)
WO (1) WO2023087524A1 (zh)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013027112A2 (en) * 2011-08-24 2013-02-28 Toyota Jidosha Kabushiki Kaisha Driving support device and driving support method
CN107111946A (zh) * 2014-10-10 2017-08-29 大陆-特韦斯股份有限公司 用于运行中央服务器的方法和用于操纵管制图的方法
CN109949596A (zh) * 2019-02-28 2019-06-28 北京百度网讯科技有限公司 用于自动驾驶车辆的车辆交互方法和装置
CN110488816A (zh) * 2019-08-06 2019-11-22 华为技术有限公司 自动驾驶纵向规划方法及相关设备
CN111559388A (zh) * 2020-03-26 2020-08-21 吉利汽车研究院（宁波）有限公司 一种目标车辆筛选方法、装置、设备及存储介质
CN112634644A (zh) * 2020-12-14 2021-04-09 武汉理工大学 自动驾驶车辆左转优化控制方法及系统
CN113071487A (zh) * 2021-02-24 2021-07-06 中移智行网络科技有限公司 自动驾驶车辆控制方法、装置及云端设备

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013027112A2 (en) * 2011-08-24 2013-02-28 Toyota Jidosha Kabushiki Kaisha Driving support device and driving support method
CN107111946A (zh) * 2014-10-10 2017-08-29 大陆-特韦斯股份有限公司 用于运行中央服务器的方法和用于操纵管制图的方法
CN109949596A (zh) * 2019-02-28 2019-06-28 北京百度网讯科技有限公司 用于自动驾驶车辆的车辆交互方法和装置
CN110488816A (zh) * 2019-08-06 2019-11-22 华为技术有限公司 自动驾驶纵向规划方法及相关设备
CN111559388A (zh) * 2020-03-26 2020-08-21 吉利汽车研究院（宁波）有限公司 一种目标车辆筛选方法、装置、设备及存储介质
CN112634644A (zh) * 2020-12-14 2021-04-09 武汉理工大学 自动驾驶车辆左转优化控制方法及系统
CN113071487A (zh) * 2021-02-24 2021-07-06 中移智行网络科技有限公司 自动驾驶车辆控制方法、装置及云端设备

Also Published As

Publication number Publication date
CN115257715A (zh) 2022-11-01

Similar Documents

Publication Publication Date Title
US11409288B2 (en) Lane changing method, device for driverless vehicle and computer-readable storage medium
JP7160251B2 (ja) ナビゲーションシステム、方法、およびプログラム
CN113071520B (zh) 车辆行驶控制方法及装置
JP6650904B2 (ja) 車両制御装置
KR102094622B1 (ko) 씬 평가 장치, 주행 지원 장치, 씬 평가 방법
US20220026923A1 (en) Apparatus for controlling group driving and method thereof
CN112249033B (zh) 一种车辆的自动驾驶系统及方法
RU2744018C1 (ru) Способ управления вождением и оборудование управления вождением
RU2743683C1 (ru) Способ управления вождением и оборудование управления вождением
Schörner et al. Predictive trajectory planning in situations with hidden road users using partially observable markov decision processes
CN113283647B (zh) 一种障碍物轨迹预测的方法、装置及自动驾驶车辆
CN112325898B (zh) 路径规划方法、装置、设备和存储介质
US20210229690A1 (en) Method for operating a motor vehicle for improving working conditions of evaluation units in the motor vehicle, control system for performing a method of this kind, and motor vehicle having a control system of this kind
CN114898564A (zh) 一种非结构化场景下的交叉路口多车协同通行方法及系统
JP5664062B2 (ja) 車群走行制御装置、プログラム、及び車群交通流制御システム
WO2023087524A1 (zh) 车辆行驶的方法及装置
WO2024051310A1 (zh) 一种控制方法、装置及车辆
JP7347252B2 (ja) 車両行動評価装置、車両行動評価方法、および車両行動評価プログラム
WO2023221537A1 (zh) 路径规划方法及装置、无人车
WO2020135738A1 (zh) 车辆自动驾驶时避障的方法、系统及车辆
WO2023274284A1 (zh) 一种车辆控制方法、装置及系统
Shiomi et al. A lane-change maneuver of automated vehicles for improving traffic flow on highways with multiple lanes
WO2022213373A1 (zh) 一种轨迹规划方法以及相关设备
CN113788028B (zh) 车辆控制方法、装置及计算机程序产品
JP2019175051A (ja) 車両制御装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22894073

Country of ref document: EP

Kind code of ref document: A1