WO2023165205A1

WO2023165205A1 - Intersection passing decision-making method and apparatus, medium, device, and vehicle

Info

Publication number: WO2023165205A1
Application number: PCT/CN2022/137966
Authority: WO
Inventors: 张兆瑞; 张磊; 朱正达; 林泽南; 王鲁宁
Original assignee: 魔门塔(苏州)科技有限公司
Priority date: 2022-03-01
Filing date: 2022-12-09
Publication date: 2023-09-07
Also published as: CN114261401B; CN114261401A

Abstract

The present application relates to the field of data processing, and discloses an intersection passing decision-making method and apparatus, a medium, a device, and a vehicle. The method mainly comprises: under the condition that a traffic light of an intersection that a vehicle is to pass flashes, subtracting the congestion time in an intersection area according to the flashing state setting duration of the traffic light, and subtracting the consumed time of the traffic light in the flashing state to calculate and obtain the passable duration of the vehicle; extracting a path corresponding to the passable duration from a planned trajectory of the vehicle, and taking the length of the path as a planned passable distance of the vehicle in the passable duration; and determining an intersection passing decision of the vehicle according to the size relationship between the planned passable distance and the distance of the vehicle from an intersection stop line. According to the present application, an automatic driving vehicle can make an intersection passing decision at an intersection where a traffic light without countdown flashes on the premise of ensuring the safety.

Description

A method, device, medium, equipment, and vehicle for decision-making on intersection traffic

technical field

The present application relates to the technical field of data processing, in particular to a decision-making method, device, medium, equipment and vehicle for crossing traffic.

Background technique

When performing automatic driving (including intelligent driving or assisted driving), when passing through an intersection with no countdown and flashing traffic lights, it is difficult to make a decision on whether the autonomous vehicle will pass through the intersection. Because, when making a decision at this time, there will be a risk of illegal passage when the decision result is passing; when the decision is made to stop, there will be a need to brake the self-driving vehicle at the intersection with a large deceleration when the distance is small, so that The passenger's ride comfort is poor. In addition, stopping the self-driving vehicle when it can pass will also lead to traffic congestion at the intersection.

Contents of the invention

In some actual scenarios, at intersections with flashing traffic lights without a countdown, it is difficult for autonomous driving (including intelligent driving or assisted driving) vehicles to make traffic decisions. This application mainly provides a method and device for traffic decision-making at intersections. , media, equipment, equipment and vehicles.

In the first aspect, an embodiment of the present application provides a decision-making method for crossing traffic, which includes: under the condition that the traffic light of the vehicle to pass the crossing is flickering, setting the duration, congestion time in the intersection area, and flickering according to the flickering state of the traffic light The elapsed time of the traffic light in the state is used to obtain the traversable time of the vehicle; the path corresponding to the traversable time is extracted from the planned trajectory of the vehicle, and the length of the path is used as the planned traversable distance of the vehicle within the traversable time; according to the planning The relationship between the traversable distance and the distance between the vehicle and the intersection stop line determines the vehicle's intersection passing decision.

Optionally, under the condition that the traffic light of the vehicle to pass through the intersection is flickering, the duration of the flashing state of the traffic light is set minus the congestion time in the intersection area, and the elapsed time of the traffic light in the flickering state is subtracted to calculate the vehicle the traversable time.

Optionally, the congestion time in the intersection area is calculated according to the number of target vehicles in the traveling direction of the vehicles in the intersection area and the preset congestion time of a single target vehicle.

Optionally, calculate the comfort braking distance of the vehicle according to the preset vehicle comfort parameters; according to the relationship between the planned traversable distance and the distance between the vehicle and the stop line at the intersection, and the comfort braking distance and the distance between the vehicle and the stop line The size relationship between the distances between the stop lines at the intersection determines the decision of the vehicle to pass through the intersection.

Optionally, calculating the comfort braking distance of the vehicle according to the preset vehicle comfort parameters includes: according to the preset maximum acceleration of the vehicle, the corresponding maximum acceleration rate of the vehicle, the current acceleration of the vehicle, the current speed of the vehicle and The braking time of the vehicle is calculated to obtain the first comfortable braking distance of the vehicle under the condition of medium and low speed; the second comfortable braking distance of the vehicle under the condition of high speed is calculated according to the current acceleration of the vehicle and the current speed of the vehicle Distance: Under the condition of the vehicle running at a medium and low speed, according to the relationship between the planned traversable distance and the distance between the vehicle and the stop line at the intersection, and the first comfort braking distance and the distance between the vehicle and the stop line at the intersection relationship to determine the decision-making of the vehicle at the intersection; under the condition of high-speed driving of the vehicle, according to the relationship between the planned traversable distance and the distance between the vehicle and the intersection stop line, as well as the second comfort braking distance and the distance between the vehicle and the intersection stop line The relationship between the size of the distance between them determines the intersection decision of the vehicle.

Optionally, under the condition that the comfort braking distance is greater than the distance between the vehicle and the stop line at the intersection, and the planned traversable distance is greater than the distance between the vehicle and the stop line at the intersection, a passing decision is issued to the vehicle.

Optionally, under the condition that the planned traversable distance is greater than the distance between the vehicles of the first predetermined proportion and the stop line at the intersection, and the comfort braking distance is greater than the distance between the vehicles of the second predetermined proportion and the stop line of the intersection, the The vehicle issues a passing decision, wherein the first predetermined ratio is greater than 1, and the second predetermined ratio is smaller than 1.

Optionally, under the condition that the planned traversable distance is greater than the distance between vehicles of the third predetermined proportion and the stop line at the intersection, and the comfort braking distance is greater than the distance between the vehicles of the fourth predetermined proportion and the stop line of the intersection, A passing decision is issued to the vehicle, wherein the third predetermined ratio is less than 1, and the fourth predetermined ratio is greater than 1.

Optionally, under the condition that the vehicle passes the intersection stop line and enters the intersection, according to the state of the intersection indicator light, the current motion state of the vehicle, the distance traveled by the vehicle in the intersection and/or the longitudinal following target number of the vehicle, it is determined that the vehicle is in the intersection. Traffic decision in intersection area.

In the second aspect, an embodiment of the present application provides a decision-making device for passing through an intersection, which includes: a passable duration acquisition module, which is used to set the duration, crossing The congestion time in the area and the elapsed time of the traffic light in the blinking state are calculated to obtain the traversable time of the vehicle; the planned traversable distance acquisition module is used to extract the path corresponding to the traversable time from the planned trajectory of the vehicle, and The length of the path is used as the planned traversable distance of the vehicle within the traversable time; the decision module is used to determine the vehicle's intersection traffic decision based on the relationship between the planned traversable distance and the distance between the vehicle and the intersection stop line.

In a third aspect, the present application provides a computer-readable storage medium, which stores computer instructions, and the computer instructions are operated to execute the intersection traffic decision-making method according to the first aspect of the present application and any implementation manner thereof.

In the fourth aspect, the embodiment of the present application provides a computer device, which includes a processor and a memory, the memory stores computer instructions, and when the computer instructions are executed by the processor, the intersection according to the first aspect of the application and any implementation manner thereof is realized. common decision-making method.

In a fifth aspect, the present application provides a vehicle configured to execute the intersection decision-making method according to the first aspect of the present application and any implementation manner thereof.

The technical solution of the embodiment of the present application compares the planned traversable distance of the vehicle at the intersection with the distance between the vehicle and the stop line at the intersection, and on the premise of ensuring the safety of the autonomous vehicle, the autonomous vehicle can make The decision-making that is more in line with the actual scene ensures the traffic efficiency of the intersection and reduces the congestion at the intersection.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description Some embodiments of the present application are shown as examples.

Fig. 1 is the schematic diagram of a specific embodiment of a kind of crossing traffic decision-making method of the present application;

Fig. 2 is the schematic diagram that the acceleration of the vehicle changes with time in a specific embodiment of a kind of crossing traffic decision-making method of the present application;

Fig. 3 is a schematic diagram of a specific embodiment of an intersection traffic decision-making device according to the present application.

By means of the above drawings, specific embodiments of the present application have been shown, which will be described in more detail hereinafter. These drawings and text descriptions are not intended to limit the scope of the concept of the application in any way, but to illustrate the concept of the application for those skilled in the art by referring to specific embodiments.

Detailed ways

The preferred embodiments of the present application will be described in detail below in conjunction with the accompanying drawings, so that the advantages and features of the present application can be more easily understood by those skilled in the art, so that the protection scope of the present application can be defined more clearly.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. There is no such actual relationship or order between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the statement "comprising..." does not exclude the presence of additional same elements in the process, method, article or device comprising said element.

In the following, the technical solution of the present application and how the technical solution of the present application solves the above technical problems will be described in detail with specific embodiments. The specific embodiments described below can be combined with each other to form new embodiments. The same or similar idea or process described in one embodiment may not be repeated in some other embodiments. Embodiments of the present application will be described below in conjunction with the accompanying drawings.

FIG. 1 shows a specific implementation of a decision-making method for intersection traffic in the present application.

The intersection traffic decision-making method shown in Fig. 1 includes step S101, under the condition that the traffic light of the vehicle to pass through the intersection flickers, according to the flashing state of the traffic light, set the duration, the congestion time in the intersection area, and the traffic light in the flashing state The elapsed time of the vehicle is calculated to obtain the travel time of the vehicle;

Step S102, extracting the path corresponding to the traversable time from the planned trajectory of the vehicle, and using the length of the path as the planned traversable distance of the vehicle within the traversable time;

Step S103, according to the size relationship between the planned traversable distance and the distance between the vehicle and the intersection stop line, determine the intersection passing decision of the vehicle.

This specific implementation mode can make the decision of whether to pass by the self-driving vehicle more reasonable and ensure smooth traffic at the intersection under the condition of ensuring the safety of the self-driving vehicle at an intersection with no countdown and flashing traffic lights.

In a specific embodiment of the present application, when the distance between the self-driving vehicle and the intersection stop line is greater than the distance threshold, when making a decision for the self-driving vehicle, only the vehicle's longitudinal decision is made regardless of the state of the traffic lights at the intersection. When the distance between the self-driving vehicle and the stop line at the intersection is less than the distance threshold, the status of the traffic light without countdown at the intersection is obtained, and the decision-making of the intersection of the self-driving vehicle is made according to the state of the traffic light. If the color of the traffic light at the intersection means that no traffic is allowed, the decision-making self-driving vehicle stops driving; When passing and the indicator light is flashing, according to the size relationship between the planned traversable distance of the vehicle and the distance between the vehicle and the intersection stop line, the traffic decision of the self-driving vehicle at the intersection is made. Among them, the state of the traffic light is the passing state and the light flashes to indicate that the countdown to the pass is about to end. The state of the traffic light is the pass state and the light is always on, indicating that the remaining time of the countdown to the pass is longer, usually the countdown time is longer than 3 seconds The traffic light does not flash.

Further, the countdown of the traffic light is coming to an end and the countdown time is long, and there may be other manifestations, such as changing the shape of the icon, and issuing a buzzer warning light.

In the embodiment shown in Fig. 1, the intersection traffic decision-making method includes step S101, under the condition that the traffic light of the vehicle to pass through the intersection is flickering, the duration, the congestion time in the intersection area, and the flickering time are set according to the flickering state of the traffic light. The elapsed time of the traffic light in the state is calculated to obtain the trafficable time of the vehicle. This step can ensure that the vehicle can safely pass through the intersection before the allowable state of the intersection is about to end, and ensure the correctness of the decision.

In a specific embodiment of the present application, step S101 includes: subtracting the congestion time in the intersection area from the set duration of the flashing state of the traffic light, and subtracting the elapsed time of the traffic light in the flashing state to obtain the traversable time of the vehicle .

In a specific embodiment of the present application, according to the distance between the vehicle and the intersection stop line and the distance threshold, it is judged whether it is necessary to make a decision whether to pass or not to the vehicle according to the state of the traffic light; when the distance between the vehicle and the intersection stop line When the distance is not less than the distance threshold, the decision whether to pass the vehicle is not made according to the state of the traffic lights; when the distance between the vehicle and the stop line at the intersection is less than the distance threshold, the decision whether to pass the vehicle is made according to the state of the traffic lights. This specific embodiment can prevent the automatic driving vehicle from performing intersection traffic planning at a position far from the intersection, so that the automatic driving vehicle does not need to perform unnecessary calculations, and reduces the amount of calculation during the automatic driving process of the vehicle.

Specifically, when the distance between the self-driving vehicle and the intersection stop line is greater than the distance threshold, when making a decision for the self-driving vehicle, the state of the traffic lights at the intersection is not considered and only the longitudinal decision of the vehicle is made. When the distance between the self-driving vehicle and the intersection stop line is less than the distance threshold, the state of the traffic light without countdown is acquired in real time by using the sensing device of the self-driving vehicle. Wherein, the perception device of the self-driving vehicle includes a camera, and the distance threshold may be 90 meters or 120 meters.

In a specific embodiment of the present application, the traffic congestion time in the intersection is subtracted from the setting duration of the traffic light in the flashing state, and the difference is calculated by subtracting the time spent by the traffic light in the flashing state. The difference is the travel time of the vehicle. Wherein, the set duration of the traffic light in the flashing state refers to the sum of the flashing time of the traffic state light when the traffic state is about to end and the time set for the waiting pause state light.

For example, when the duration of each state of the traffic signal light has no countdown, and the settings of each state of the traffic signal light are red light stop, green light go, green light flickering means that the passing time is about to end, and the yellow light means that it will be changed from the passing state to the stop passing state , using the perception device of the self-driving vehicle to obtain the green light flashing time and the yellow light lighting time of the traffic signal light. According to the difference between the green flash setting time, congestion loss time, and green flash duration, the green flash traversable time is calculated. Among them, the green flash setting time, that is, the time when the traffic is about to end, is a fixed value obtained based on experience. For example, the green flash setting time is the sum of the green light flashing time and the yellow light time, which is 3.5 seconds; The duration of green flashing refers to the time length between the time point when the green light starts to flash and the time point when a decision is made, which is obtained by using the vehicle's visual perception, and is a variable.

In particular, when making an intersection decision, when the vehicle perceives a jumping perception result, the decision made by the vehicle is often incorrect, and these incorrect decisions will cause the vehicle to be dangerous when driving at the intersection. Therefore, in order to prevent jumping, anti-jumping protection is required to ensure the accuracy of decision-making. Among them, the jump refers to the perception of a green flash for 1 second, the sudden perception of a green light for 1 frame, and then the detection of a green light. Jump protection refers to treating the green light that appears suddenly for multiple times as a green flash.

In a specific embodiment of the present application, the congestion time in the intersection area is calculated according to the number of target vehicles in the driving direction of the vehicle in the intersection area and the preset congestion time of a single target vehicle. This specific embodiment can ensure that the decision made is still safe and reliable when the intersection is congested.

Specifically, the congestion time in the intersection is calculated according to the product of the number of target vehicles in the driving direction of the vehicles in the intersection and the preset target weight.

For example, if a single weight is set to 0.1 second, and the number of longitudinal target vehicles is 10, the congestion loss time is 1 second.

Or, preset the congestion time corresponding to different numbers of target vehicles in the longitudinal direction of the vehicle traveling direction, and check the congestion time in the intersection according to the number of target vehicles in the longitudinal direction of the vehicle traveling direction in the intersection.

In the specific implementation shown in Fig. 1, the intersection traffic decision-making method also includes step S102, extracting the path corresponding to the traversable time length from the planned trajectory of the vehicle, and using the length of the path as the planned traversable time length of the vehicle within the traversable time length travel distance. This specific embodiment is the basis for ensuring the correctness of the decision-making of the self-driving vehicle.

Specifically, in the planned trajectory of the vehicle, the planned path of the vehicle within the time corresponding to the traversable duration of the vehicle is obtained by consulting, and the path is extracted and the length corresponding to the path is calculated, which is the planned traversable length of the vehicle. distance. In particular, because there may be obstacles on the driving path of the vehicle, the traversable distance calculated by using the traversable time of the vehicle and the current speed of the vehicle is not necessarily equal to the planned traversable distance.

In the specific embodiment shown in FIG. 1 , the method for decision-making on crossing traffic further includes step S103 , determining the crossing traffic decision of the vehicle according to the size relationship between the planned traversable distance and the distance between the vehicle and the stop line at the crossing. In this specific embodiment, under the condition of ensuring the safety of the self-driving vehicle, the decision-making of the intersection of the self-driving vehicle is more reasonable, and the traffic at the intersection is guaranteed to be smooth.

Specifically, when the planned traversable distance is greater than the distance between the vehicle and the stop line at the intersection, which means that the vehicle can pass safely at an intersection with no countdown and flashing traffic lights, the automatic driving vehicle is given a traffic decision. When the planned traversable distance is less than the distance between the vehicle and the stop line at the intersection, which means that the vehicle cannot pass safely at an intersection with no countdown and flashing traffic lights, or can pass but there is a certain safety risk in passing at this time, the automatic driving vehicle will be given Parking decision or combined with other conditions for further judgment.

In a specific embodiment of the present application, the intersection traffic decision-making method further includes, according to the preset vehicle comfort parameters, calculating the comfort braking distance of the vehicle includes: according to the preset maximum acceleration of the vehicle, the corresponding maximum acceleration of the vehicle Acceleration rate of change, the current acceleration of the vehicle, the current speed of the vehicle and the braking time of the vehicle are calculated to obtain the first comfortable braking distance of the vehicle under the condition of low-to-medium speed driving; calculated according to the current acceleration of the vehicle and the current speed of the vehicle Obtain the second comfortable braking distance of the vehicle under the condition of high-speed driving; under the condition of medium-low speed of the vehicle, according to the size relationship between the planned traversable distance and the distance between the vehicle and the intersection stop line, and the first comfortable braking distance The relationship between the stopping distance and the distance between the vehicle and the intersection stop line is used to determine the intersection decision of the vehicle; under the condition of high-speed driving of the vehicle, according to the relationship between the planned traversable distance and the distance between the vehicle and the intersection stop line, and The relationship between the second comfort braking distance and the distance between the vehicle and the intersection stop line determines the intersection decision of the vehicle. This specific embodiment enables the vehicle to make intersection decisions at intersections where the traffic lights have no countdown under the condition of satisfying safety and comfort.

Specifically, when the planned traversable distance is greater than the distance between the vehicle and the stop line at the intersection, and the comfortable braking distance of the vehicle is greater than the distance between the vehicle and the stop line at the intersection, a traffic decision is issued to the vehicle.

When the planned traversable distance is less than the distance between the vehicle and the intersection stop line, but the comfortable braking distance of the vehicle is greater than the distance between the vehicle and the intersection stop line The distance between the lines, but the planned traversable distance is greater than the distance between the vehicle and the intersection stop line, the decision result of the vehicle at the intersection is obtained according to the preset threshold.

In a specific example of the present application, according to the preset maximum acceleration of the vehicle, the corresponding maximum acceleration rate of the vehicle, the current acceleration of the vehicle, the current speed of the vehicle and the braking time of the vehicle, the vehicle's low-to-medium speed is calculated. The first comfortable braking distance under the condition; the second comfortable braking distance under the condition of the high-speed driving of the vehicle is calculated according to the current acceleration of the vehicle and the current speed of the vehicle. By calculating the first comfort braking distance and the second comfort braking distance, the vehicle can have a better comfort whether it is traveling at a medium or low speed or at a high speed.

Further, the acceleration rate of the vehicle is calculated according to the maximum acceleration of the vehicle, and the acceleration rate of the vehicle is represented by jerk, where the maximum acceleration of the vehicle can be changed according to the usage scenario, and the maximum acceleration of the vehicle cannot be set greater than the vehicle performance. Satisfied maximum acceleration. The maximum acceleration value of the vehicle is related to the value of the comfort level, ie the value of the comfort level is variable. For example, the value of comfort can be changed according to different usage scenarios. For example, at a congested intersection or a long intersection, when the vehicle enters the intersection when the green flashes, it is easy to cause congestion in the intersection. In this case, the comfort value can be reduced accordingly. In the short-circuit junction, the comfort value can be adjusted accordingly. Moreover, when adjusting the speed of the vehicle, a uniform rate of change of speed (that is, uniform jerk) should be maintained to improve the comfort of the vehicle.

Specifically, according to the maximum acceleration of the vehicle, the acceleration rate of the vehicle and the current acceleration of the vehicle, calculate the time required for the vehicle to reach the maximum acceleration evenly; The braking time of the vehicle is calculated to obtain the first comfortable braking distance under the medium-low speed driving condition of the vehicle. That is, using the current acceleration a_0 of the vehicle, the maximum acceleration a_max of the vehicle, and the jerk rate of the vehicle, the time required for the acceleration of the vehicle to change from a_0 to a_max is calculated. Among them, the change of the acceleration of the vehicle stopped at the intersection with time is shown in Figure 2. In Figure 2, the change from a_0 to a_max includes two processes. The first stage is to change a_0 to a_max allowed by the comfort at a uniform speed , the second stage is when the acceleration reaches a_max, and the acceleration of the vehicle no longer increases. In practical application, the vehicle includes two actual usage scenarios during the braking or acceleration process, that is, the maximum braking deceleration is reached during the braking or acceleration process and the maximum braking deceleration is not reached during the braking or acceleration process.

Therefore, when calculating the comfort braking distance, it is necessary to input the set maximum acceleration a_max of the vehicle, the jerk value k (k<0) allowed by the set comfort level, the vehicle speed v_0, the vehicle acceleration a_0 and the remaining time , and the remaining time refers to the passing time of the green flashing. When the green flash is found, according to the current speed of the vehicle v0, calculate the time t required for the vehicle to brake to v=0; further calculate the first comfort level of the vehicle under low-to-medium driving conditions when the braking time is t according to the calculation results Stopping distance s.

Wherein, according to the current speed v0 of the vehicle, the step of calculating the time t required for braking to v=0 includes, by t>t ₁ ,

Calculate the result t', that is, calculate the period of acceleration change in Figure 2 at t, that is, 0~t1 in Figure 2, or the period when the acceleration does not change in Figure 2, that is, after t1 in Figure 2; if t'<t1, that is, in the 0~t1 stage in Figure 2, then t=t', using

Calculate the first comfort braking distance s under the medium-low speed driving condition of the vehicle when the braking time is t.

If t'>t1, that is, in the t1~t2 stage in Figure 2, then t1=t' from t≥t ₁ , v=v ₀ +(a ₀ -a _max )·t ₁ +1/2·kt ₁ ² +a _max ·t, calculate t, and according to the formula t≥t1 _, s=1/2·a _max ·t ₁ ² -1/3·k·t ₁ ³ -1/2·a ₀ ·t ₁ ² +(v ₀ +(a ₀ -a _max )·t ₁ +1/2·k·t ₁ ² )·t+1/2·a _max ·t ² Calculate the braking time of the vehicle when it is t The first comfort braking distance s under medium and low speed driving conditions.

In a specific example of the present application, when the speed of the vehicle is high, v ² /2a is used to calculate the second comfortable braking distance that can guarantee the comfort in high-speed scenarios, where v is the speed of the own vehicle, and a is ego acceleration. Moreover, the high speed here generally refers to the vehicle speed above 60 kilometers per hour.

In a specific embodiment of the present application, the intersection traffic decision-making method further includes, when the comfort braking distance is greater than the distance between the vehicle and the intersection stop line, and the planned traversable distance is greater than the distance between the vehicle and the intersection stop line Under the condition of , issue a traffic decision to the vehicle. This specific embodiment enables the vehicle to ensure both the safety of the vehicle and the comfort of the vehicle when making an intersection decision.

Specifically, if the braking distance of the first comfort level is greater than the distance between the vehicle and the intersection stop line, and the planned traversable distance is greater than the distance between the vehicle and the intersection stop line, then a traffic decision is issued to the vehicle; if the second comfort level If the braking distance is greater than the distance between the vehicle and the intersection stop line, and the planned traversable distance is greater than the distance between the vehicle and the intersection stop line, then a traffic decision is issued to the vehicle; if the first comfort braking distance is greater than the distance between the vehicle and the intersection If the distance between the stop lines and the second comfort braking distance are greater than the distance between the vehicle and the stop line at the intersection, and the planned traversable distance is greater than the distance between the vehicle and the stop line at the intersection, a passing decision is issued to the vehicle. That is to say, when the vehicle speed is high, because the standard for medium and low speeds is relatively conservative, the planned traversable distance may not support the vehicle to pass through the intersection. Low. Therefore, the method of calculating the comfort braking distance in high-speed scenes is different from the method of calculating the braking distance in low and medium speeds.

Compare the calculated second comfort braking distance with the distance between the vehicle and the intersection stop line, if the second comfort braking distance is greater than the distance between the vehicle and the intersection stop line, and the planned traversable distance is greater than the vehicle The distance between the stop line of the intersection and the traffic decision is issued to the vehicle. If the second comfort braking distance is less than the distance between the vehicle and the intersection stop line, a parking decision is issued to the vehicle.

In a specific embodiment of the present application, the intersection traffic decision-making method further includes, the distance between vehicles whose planned passable distance is greater than the first predetermined proportion and the intersection stop line, and the comfort braking distance is greater than the second predetermined proportion Under the condition of the distance between the vehicle and the intersection stop line, a passing decision is issued to the vehicle, wherein the first predetermined ratio is greater than 1, and the second predetermined ratio is smaller than 1. This specific embodiment can enable the self-driving vehicle to pass through the intersection comfortably under the premise of ensuring the safety of the self-driving vehicle in a specific scenario.

Specifically, within the variable threshold range, when making safety-based decisions and comfort-based decisions, the first comfort braking distance is slightly smaller than the distance between the vehicle and the stop line at the intersection, but the planned traversable distance is greater than the distance between the vehicle and the intersection There is a lot of distance from the stop line, and it is also judged that the self-driving vehicle can execute the traffic decision result, that is, pass the intersection. For example, the first predetermined ratio is that the planned traffic is greater than 50% of the distance from the vehicle to the stop line at the intersection, and the second predetermined ratio is that the comfortable braking distance at medium and low speeds is less than 10% of the distance from the vehicle to the stop line at the intersection. The medium-low speed here refers to the speed below 60 kilometers per hour, and the specific speed can be limited according to the demand, which is not limited in this application. And the specific value of the predetermined ratio is not specifically limited in this application.

In a specific embodiment of the present application, the intersection traffic decision-making method further includes, the distance between vehicles whose planned passable distance is greater than the third predetermined ratio and the intersection stop line, and the comfort braking distance is greater than the fourth predetermined ratio Under the condition of the distance between the vehicle and the intersection stop line, a passing decision is issued to the vehicle, wherein the third predetermined ratio is less than 1, and the fourth predetermined ratio is greater than 1. This specific embodiment can enable the self-driving vehicle to pass through the intersection comfortably under the premise of ensuring the safety of the self-driving vehicle in a specific scenario.

Specifically, within the variable threshold range, when making a decision based on safety, the planned traversable distance is slightly smaller than the distance between the vehicle and the stop line at the intersection, that is, the judgment condition is not met, but when making a decision based on comfort, the first The comfortable braking distance is much greater than the distance from the vehicle to the intersection stop line, and it is also judged that the decision result can be executed, that is, passing the intersection. For example, the third predetermined ratio is that the planned traffic is less than 10% of the distance from the vehicle to the stop line at the intersection, and the fourth predetermined ratio is that the comfort braking distance at medium and low speeds is greater than 50% of the distance from the vehicle to the stop line at the intersection.

In a specific embodiment of the present application, the intersection traffic decision-making method also includes calculating the second comfortable braking distance of the vehicle under high-speed operating conditions according to the current acceleration of the vehicle and the current speed of the vehicle; if the second comfortable braking distance is greater than the distance between the intersection stop lines, and the planned traversable distance is greater than the distance between the vehicle and the intersection stop lines, a traffic decision is issued to the vehicle. This specific embodiment can enable the self-driving vehicle to pass through the intersection comfortably under the premise of ensuring the safety of the self-driving vehicle in a scene where the vehicle is driving at high speed.

In a specific embodiment of the present application, the intersection decision-making method further includes, under the condition that the vehicle passes through the intersection stop line and enters the intersection, according to the state of the intersection indicator light, the current state of motion of the vehicle, and the distance traveled by the vehicle in the intersection, and/or the number of longitudinal following targets of the vehicle to determine the traffic decision of the vehicle in the intersection area. This specific embodiment enables the vehicle to make better, safer, and more suitable decisions for the congested intersection when driving into the congested intersection.

In a specific example of the present application, when the result of the vehicle's intersection decision-making is a passing decision, it is judged whether the vehicle can obtain the state of the traffic light and whether the state of the traffic light is a predetermined state of the light; if so, it is judged that the vehicle Whether the speed of the vehicle meets the low-speed condition, whether the travel distance of the vehicle running at low speed within the predetermined time is less than the preset length threshold, or whether the number of longitudinal following targets of the vehicle is greater than the preset number threshold; if so, it is judged that the vehicle is in the intersection Whether the driving distance is greater than the preset driving distance; if so, a parking decision is issued to the vehicle.

Specifically, when the vehicle enters the intersection when it is flashing green and the intersection is congested after entering (that is, the vehicle has passed the stop line), the vehicle is congested in the intersection. When the color of the traffic light in the lateral direction changes to green, other vehicles in the lateral direction start to drive, and the self-vehicle may interfere with the running of the lateral vehicle. In order to solve the above problems, the operation of low-speed intersection protection logic is performed on the self-vehicle. The following conditions need to be met for low-speed intersection protection logic:

1. After the vehicle enters the intersection, the color of the signal light in the direction of the vehicle is red or yellow, or although the color of the signal light in the direction of the vehicle is flashing green, the intersection is a long intersection, and the vehicle's camera can see clearly traffic light.

2. Satisfied that the speed of the vehicle is <0.3m/s, the speed of the vehicle is <1.0m/s and the sum of the planned traversable distance and the crossing distance within 3 seconds is <10 meters, or the speed of the vehicle is <1.0m/s and the longitudinal follow Any of the number of targets > 4.

3. Satisfied that the distance of the self-vehicle passing through the intersection < 25% of the length of the intersection, where, when 25% of the length of the intersection < 7m, take 7m as the length of the intersection, where the length of the intersection refers to the distance between the two stop lines at the intersection, the length of the intersection 25% of the safety distance is to ensure that the vehicle stops in the intersection without affecting the safety distance of the lateral traffic.

4. The decision of the vehicle is the traffic decision.

After the above conditions are met, the low-speed intersection protection logic is enabled, that is, the decision to stop the vehicle is given when the vehicle enters the intersection, and under normal circumstances, the decision given by the vehicle after entering the intersection is a pass decision, and the stop decision is only given within the stop line of the intersection .

Fig. 3 shows a specific implementation of an intersection traffic decision-making device according to the present application.

In the specific embodiment shown in Fig. 3, the crossing traffic decision-making device mainly includes: a passable time length acquisition module 301, which is used to set the time length according to the flashing state of the traffic light to subtract The congestion time in the intersection area is subtracted from the elapsed time of the traffic light in the blinking state to calculate the time that the vehicle can pass;

The planned traversable distance acquisition module 302 is used to extract the path corresponding to the traversable time length from the planned trajectory of the vehicle, and use the length of the path as the planned traversable distance of the vehicle within the traversable time length;

A decision-making module 303, configured to determine the intersection passing decision of the vehicle according to the relationship between the planned traversable distance and the distance between the vehicle and the stop line at the intersection.

The intersection traffic decision-making device provided in this application can be used to implement the intersection traffic decision-making method described in any of the above-mentioned embodiments, and its implementation principle and technical effect are similar, and will not be repeated here.

In another specific implementation manner of the present application, a computer-readable storage medium stores computer instructions, and the computer instructions are operated to execute the intersection decision-making method described in the above-mentioned embodiments.

In a specific embodiment of the present application, each functional module in an intersection traffic decision method of the present application may be directly in hardware, in a software module executed by a processor, or in a combination of both.

A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium.

The processor can be a central processing unit (English: Central Processing Unit, referred to as: CPU), and can also be other general-purpose processors, digital signal processors (English: Digital Signal Processor, referred to as: DSP), application-specific integrated circuits (English: Application Specific Integrated Circuit, referred to as: ASIC), field programmable gate array (English: Field Programmable Gate Array, referred to as: FPGA) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components or any combination thereof. A general-purpose processor can be a microprocessor, but in the alternative, the processor can be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, eg, a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. In the alternative, the storage medium may be integral with the processor. The processor and storage medium can reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and storage medium may reside as discrete components in the user terminal.

In another specific implementation manner of the present application, a computer device includes the intersection decision-making method described in any embodiment. Optionally, the device is used to implement the intersection traffic decision-making method in the embodiments of Fig. 1 and Fig. 2 of this application specification.

In another specific implementation manner of the present application, a vehicle, wherein the vehicle includes the intersection decision-making method in any embodiment. Optionally, the vehicle includes a processor and a memory, and the processor and the memory are coupled, and the vehicle is used to implement the intersection traffic decision-making method in the embodiments of Fig. 1 and Fig. 2 of this application specification.

In the several embodiments provided in this application, it should be understood that the disclosed devices and methods may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

The above is only an embodiment of the application, and does not limit the patent scope of the application. Any equivalent structural transformation made by using the specification and drawings of the application, or directly or indirectly used in other related technical fields, shall be the same as The theory is included in the patent protection scope of the present application.

Claims

A traffic decision method at an intersection, characterized in that it comprises:

Under the condition that the traffic light of the vehicle to pass the intersection is flickering, according to the setting duration of the flickering state of the traffic light, the congestion time in the intersection area, and the elapsed time of the traffic light in the flickering state, the possible time of the vehicle is obtained. travel time;

Extracting the path corresponding to the traversable time length from the planned trajectory of the vehicle, and using the length of the path as the planned traversable distance of the vehicle within the traversable time length;

According to the size relationship between the planned traversable distance and the distance between the vehicle and the intersection stop line, determine the intersection passing decision of the vehicle.
The intersection traffic decision-making method according to claim 1, characterized in that,

The congestion time in the intersection area is calculated according to the number of target vehicles in the traveling direction of the vehicle in the intersection area and the preset congestion time of a single target vehicle.
The intersection traffic decision-making method according to claim 1 or 2, characterized in that, comprising:

Calculate the comfort braking distance of the vehicle according to the preset vehicle comfort parameters;

According to the size relationship between the planned traversable distance and the distance between the vehicle and the intersection stop line, and the size relationship between the comfort braking distance and the distance between the vehicle and the intersection stop line , to determine the intersection traffic decision of the vehicle.
The intersection traffic decision-making method according to claim 3, is characterized in that, comprises:

The calculating the comfort braking distance of the vehicle according to the preset vehicle comfort parameters includes: according to the preset maximum acceleration of the vehicle, the corresponding maximum acceleration rate of the vehicle, the current acceleration of the vehicle, the The current speed of the vehicle and the braking time of the vehicle are calculated to obtain the first comfortable braking distance of the vehicle under the condition of running at a medium-low speed; the calculation is based on the current acceleration of the vehicle and the current speed of the vehicle Obtain the second comfortable braking distance of the vehicle under the condition of high-speed driving;

Under the condition of the vehicle running at a low speed, according to the size relationship between the planned traversable distance and the distance between the vehicle and the stop line at the intersection, and the first comfort braking distance and the distance between the vehicle and the intersection stop line, Describe the relationship between the distance between stop lines at intersections, and determine the intersection decision of vehicles;

When the vehicle is running at high speed, according to the size relationship between the planned traversable distance and the distance between the vehicle and the stop line at the intersection, as well as the second comfort braking distance and the distance between the vehicle and the The relationship between the distances between the stop lines at the intersection determines the intersection decision of the vehicle.
The intersection traffic decision-making method according to claim 3, is characterized in that, comprises:

Under the condition that the comfortable braking distance is greater than the distance between the vehicle and the stop line at the intersection, and the planned traversable distance is greater than the distance between the vehicle and the stop line at the intersection, make a vehicle common decision.
The intersection traffic decision-making method according to claim 3, is characterized in that, comprises:

When the planned traversable distance is greater than a first predetermined proportion of the distance between the vehicle and the intersection stop line, and the comfort braking distance is greater than a second predetermined proportion of the distance between the vehicle and the intersection stop line Under the condition of the distance between , a passing decision is issued to the vehicle, wherein the first predetermined ratio is greater than 1, and the second predetermined ratio is smaller than 1.
The intersection traffic decision-making method according to claim 3, is characterized in that, comprises:

The distance between the vehicle and the intersection stop line when the planned traversable distance is greater than a third predetermined ratio, and the comfort braking distance is greater than a fourth predetermined ratio between the vehicle and the intersection stop line Under the condition of the distance between , a passing decision is issued to the vehicle, wherein the third predetermined ratio is less than 1, and the fourth predetermined ratio is greater than 1.
The intersection traffic decision-making method according to claim 1, characterized in that, comprising:

Under the condition that the vehicle passes through the intersection stop line and enters the intersection, according to the state of the intersection indicator light, the current motion state of the vehicle, the travel distance of the vehicle in the intersection and/or the vehicle's Follow the target quantity longitudinally, and determine the passing decision of the vehicle in the intersection area.
The intersection traffic decision-making method according to claim 1, characterized in that, according to the setting duration of the flashing state of the traffic lights, the congestion time in the intersection area, and the elapsed time of the traffic lights in the flashing state, the described traffic lights are obtained. The available time of the vehicle, including:

According to the setting duration of the flashing state of the traffic light, the congestion time in the intersection area is subtracted, and the elapsed time of the traffic light in the flashing state is subtracted to obtain the trafficable time of the vehicle.
A crossing traffic decision-making device is characterized in that it includes:

The passable time acquisition module is used to set the duration, the congestion time in the intersection area, and the consumed time of the pass light in the flash state according to the flashing state of the pass light under the condition that the pass light of the vehicle to pass the intersection is flickering. time, calculate the traversable duration of the vehicle;

A planned traversable distance acquisition module, configured to extract a path corresponding to the traversable duration from the planned trajectory of the vehicle, and use the length of the path as the planned traversable distance of the vehicle within the traversable duration ;

A decision-making module, configured to determine the intersection passing decision of the vehicle according to the size relationship between the planned traversable distance and the distance between the vehicle and the intersection stop line.
The crossing traffic decision-making device according to claim 10, further comprising:

A low-speed crossing traffic protection module, which is used to, under the condition that the vehicle passes through the intersection stop line and enters the intersection, The passing distance of the vehicle and/or the number of longitudinal following targets of the vehicle determine the passing decision of the vehicle in the intersection area.
A computer-readable storage medium, the computer-readable storage medium stores computer instructions, characterized in that, when the computer instructions are executed, the computer executes the intersection traffic decision described in any one of claims 1-9 method.
A kind of computer equipment, it comprises processor and memory, described memory is stored with computer instruction, it is characterized in that, when described computer instruction is executed by described processor, realize as described in any one of claim 1-9 intersection common decision-making method.
A vehicle, characterized in that the vehicle comprises the crossing passage decision-making device according to claim 10.