WO2024060609A1 - Procédé et appareil d'interaction d'informations, dispositif électronique et support de stockage lisible par ordinateur - Google Patents

Procédé et appareil d'interaction d'informations, dispositif électronique et support de stockage lisible par ordinateur Download PDF

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Publication number
WO2024060609A1
WO2024060609A1 PCT/CN2023/089925 CN2023089925W WO2024060609A1 WO 2024060609 A1 WO2024060609 A1 WO 2024060609A1 CN 2023089925 W CN2023089925 W CN 2023089925W WO 2024060609 A1 WO2024060609 A1 WO 2024060609A1
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WIPO (PCT)
Prior art keywords
stop line
vehicle
lane
current
traffic light
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PCT/CN2023/089925
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English (en)
Chinese (zh)
Inventor
康瀚隆
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北京京东乾石科技有限公司
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Publication of WO2024060609A1 publication Critical patent/WO2024060609A1/fr

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/095—Traffic lights
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
    • E01F9/50—Road surface markings; Kerbs or road edgings, specially adapted for alerting road users
    • E01F9/576—Traffic lines
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map

Definitions

  • the present disclosure relates to the field of intelligent driving technology, and specifically relates to an information interaction method, device, equipment, medium and program product.
  • the vehicle terminal and the road terminal perform information exchange to guide the vehicle's autonomous driving.
  • the current traffic light information interaction method is limited by the location of the vehicle.
  • non-conventional lane interaction scenarios such as vehicles at intersections or crosswalks
  • interaction scenarios such as vehicles at multi-lane junctions
  • road construction and other reasons the vehicle
  • the traditional vehicle current position interaction method is difficult to solve related scene interaction problems, and there may be problems such as abnormal interactive information or matching errors.
  • the present disclosure provides an information interaction method, device, equipment, medium and program product.
  • an information interaction method comprising:
  • the current stop line is determined based on the current position of the vehicle and the vehicle navigation path, where the current stop line is: among the stop lines along the vehicle navigation path, the stop line associated with the current position of the vehicle;
  • the information that the vehicle-side vector map can display includes each traffic light at the current intersection. Separately bound stop lines;
  • Each expected interaction position is sent to the road-side device so that the road-side device returns multiple traffic light states associated with each expected interaction position to the vehicle-side device.
  • each traffic light is bound to at least one stop line.
  • determining at least one effective stop line includes:
  • determining at least one effective stop line from at least one binding stop line includes:
  • At least one real stop line is obtained by removing the virtual stop line from at least one bound stop line;
  • calculating at least one expected interaction position associated with at least one valid stop line includes:
  • the expected interaction position in each target entry lane is calculated separately.
  • determining at least one target entry lane from at least one valid entry lane according to a preset priority rule includes:
  • At least one valid entry lane is sorted to obtain a sorted lane set
  • a preset number of lanes are determined as at least one target entry lane from the sorted lane set.
  • the preset priority rules are set according to the lane preset level, the number of driving directions in this lane, and the number of driving directions in adjacent lanes.
  • separately calculating the expected interaction position in each target entry lane includes:
  • the expected interaction position is calculated based on multiple boundary points of the target stop line and multiple lane center points of the target entering the lane.
  • calculating the expected interaction position according to multiple boundary points of the target stop line and multiple lane center points of the target entry lane includes:
  • the above method further includes determining whether to use the information interaction results associated with the multiple traffic light states to guide vehicle traffic based on the consistency comparison results of the multiple traffic light states.
  • Another aspect of the present disclosure provides an information interaction device, including a first determination module, a second determination module, a calculation module and a sending module.
  • the first determination module is used to determine the current stop line based on the current position of the vehicle and the vehicle navigation path, where the current stop line is: among the stop lines along the vehicle navigation path, the stop line associated with the current position of the vehicle;
  • the second determination module is used to determine at least one valid stop line based on the current stop line and the vehicle-side vector map, where at least one valid stop line is associated with the current stop line through the target traffic light.
  • the information that the vehicle-side vector map can display includes Stop lines bound to each traffic light at the current intersection;
  • a calculation module for calculating at least one desired interaction position associated with at least one valid stop line
  • a sending module configured to send each desired interaction position to the road-side device, so that the road-side device returns multiple traffic light states associated with each desired interaction position to the vehicle-side device.
  • each traffic light is bound to at least one stop line
  • the second determination module includes a first reading sub-module, a second reading sub-module, and a first determining sub-module.
  • the first reading sub-module is used to read the traffic lights bound to the current stop line from the vehicle-side vector map as the target traffic lights;
  • the second reading submodule is used to read at least one stop line bound to the target traffic light from the vehicle-side vector map as a bound stop line;
  • the first determination sub-module is used to determine at least one valid stop line from at least one bound stop line.
  • the first determination sub-module includes a removal unit and a first determination unit.
  • the removing unit is used to obtain at least one real stop line after removing the virtual stop line from at least one bound stop line;
  • the first determination unit is used to select a real stop line with a lane driving direction greater than or equal to 1 from at least one real stop line as at least one valid stop line.
  • the calculation module includes a second determination sub-module, a third determination sub-module, and a calculation sub-module.
  • the second determination sub-module is used to determine at least one valid entry lane respectively associated with at least one valid stop line;
  • the third determination sub-module is used to determine at least one target entry lane from at least one valid entry lane according to the preset priority rules
  • the calculation submodule is used to calculate the expected interaction position of each target entering the lane.
  • the third determining submodule includes a sorting unit and a second determining unit.
  • the sorting unit is used to sort at least one valid entry lane according to a preset priority rule to obtain a sorted lane set;
  • the second determination unit is configured to determine a preset number of lanes from the sorted lane set as at least one target entry lane in order of priority.
  • the preset priority rules are set according to the preset lane level, the number of driving directions of the current lane, and the number of driving directions of adjacent lanes.
  • the calculation sub-module includes a third determination unit and a calculation unit.
  • the third determination unit is used to determine the target stop line associated with the target entering the lane;
  • the calculation unit is used to calculate the expected interaction position based on multiple boundary points of the target stop line and multiple lane center points of the target entering the lane.
  • the calculation unit includes an offset subunit, a construction subunit, and a determination subunit.
  • the offset subunit is used to offset multiple boundary points by a predetermined distance along a predetermined direction to obtain multiple offset points;
  • the above device further includes:
  • the decision-making module is used to determine whether to use the information interaction results associated with the multiple traffic light states to guide vehicle traffic based on the consistency comparison results of multiple traffic light states.
  • Another aspect of the present disclosure provides an electronic device, including: one or more processors; a memory for storing one or more programs, wherein when the one or more programs are processed by the one or more When the processor executes, one or more processors are caused to execute the above information interaction method.
  • Another aspect of the present disclosure also provides a computer-readable storage medium on which executable instructions are stored, which when executed by a processor causes the processor to perform the above information interaction method.
  • Another aspect of the present disclosure also provides a computer program product, including a computer program that implements the above information interaction method when executed by a processor.
  • the above method of the embodiment of the present disclosure can accurately determine the current stop line of the vehicle under the established navigation path by combining it with the vehicle navigation path.
  • each traffic light in the vehicle-side vector map can be bound to one or more different stop lines, and both the effective stop line and the current stop line are associated with the target traffic light, by combining the current stop line and the vehicle-side vector map
  • the determined effective stop line may include, but is not limited to, the current stop line.
  • the expected interaction position obtained based on the effective stop line may include, but is not limited to, the current position of the vehicle.
  • multiple expected interaction positions (not limited to the current position) corresponding to Traffic light status can be used to guide vehicles in a variety of complex situations.
  • the existing technology which only obtains the traffic light status based on the current position of the vehicle, it is difficult to perform correct information interaction in unexpected complex scenes due to the limited vehicle position
  • it can solve the problem of information interaction in unexpected complex scenes, and can be based on The desired driving path of the vehicle obtains accurate traffic light status, which improves the accuracy of information interaction.
  • Figure 1 schematically shows an application scenario diagram of information interaction methods, devices, equipment, media and program products according to embodiments of the present disclosure
  • Figure 2 schematically shows a flow chart of an information interaction method according to an embodiment of the present disclosure
  • Figure 3 schematically shows a flow chart of a method for determining at least one effective stop line according to an embodiment of the present disclosure
  • Figure 4 schematically shows a flow chart of an information interaction method according to another embodiment of the present disclosure
  • Figure 5 schematically shows a structural block diagram of an information interaction device according to an embodiment of the present disclosure
  • FIG6 schematically shows a structural block diagram of a second determination module according to an embodiment of the present disclosure
  • FIG. 7 schematically shows a block diagram of an electronic device suitable for implementing an information interaction method according to an embodiment of the present disclosure.
  • the vehicle terminal and the road terminal perform information exchange to guide the vehicle's autonomous driving.
  • the interaction method in the related technology is that the vehicle-side device sends the current position of the vehicle to the road-side device.
  • the road-side device matches the lane corresponding to the position based on the pre-established intersection map and the sent vehicle position, and queries the lane.
  • the corresponding traffic light information results are forwarded to the vehicle end to realize traffic light information interaction.
  • the current traffic light information interaction method is limited by the vehicle position, although in some regular scenarios, such as the vehicle position is exactly in the lane, it is easier to interact, in some special scenarios, such as the vehicle is in the intersection Or interaction scenarios in unconventional lanes such as crosswalks; or interaction scenarios such as vehicles at the junction of multiple lanes; or interaction scenarios such as there are mapping differences between the vehicle-end map and the road-side map, such as vehicles driving at the boundaries of map lanes; or due to road construction and other reasons
  • the traditional vehicle current position interaction method is difficult to solve related scene interaction problems, and there may be problems such as abnormal interactive information or matching errors.
  • embodiments of the present disclosure provide an information interaction method, including:
  • the current stop line is determined based on the current position of the vehicle and the vehicle navigation path, where the current stop line is: among the stop lines along the vehicle navigation path, the stop line associated with the current position of the vehicle;
  • At least one valid stop line is associated with the current stop line through the target traffic light.
  • the vehicle-side vector map can display information including The stop lines bound to each traffic light at the current intersection;
  • Each desired interaction position is sent to the road end device, so that the road end device returns a plurality of traffic light states associated with each desired interaction position to the vehicle end device.
  • the above method of the embodiment of the present disclosure can accurately determine the current stop line of the vehicle under the established navigation path by combining it with the vehicle navigation path.
  • each traffic light in the vehicle-side vector map can be bound to one or more different stop lines, and both the effective stop line and the current stop line are associated with the target traffic light, by combining the current stop line and the vehicle-side vector map
  • the determined effective stop line may include, but is not limited to, the current stop line.
  • the expected interaction position obtained based on the effective stop line may include, but is not limited to, the current position of the vehicle.
  • multiple expected interaction positions (not limited to the current position) corresponding to Traffic light status can be used to guide vehicles in a variety of complex situations.
  • the existing technology which only obtains the traffic light status based on the current position of the vehicle, it is difficult to perform correct information interaction in unexpected complex scenes due to the limited vehicle position
  • it can solve the problem of information interaction in unexpected complex scenes, and can be based on The desired driving path of the vehicle obtains accurate traffic light status, which improves the accuracy of information interaction.
  • Figure 1 schematically shows an application scenario diagram of information interaction methods, devices, equipment, media and program products according to embodiments of the present disclosure.
  • the application scenario 100 may include an unmanned vehicle 101, ground traffic signs 102, and traffic lights 103.
  • the driverless vehicle 101 is associated with a vehicle-side device and a road-side device, and the vehicle-side device and the roadside device conduct information interaction and perception through the network to guide the passage of the driverless vehicle 101.
  • Networks can include various connection types, such as wired, wireless communication links, or fiber optic cables, among others.
  • Ground traffic indication signs 102 may include stop lines, zebra crossings, lane lines, directional arrows, and the like. Ground traffic signs 102 and traffic lights 103 at intersections can be used as references to indicate vehicle passage.
  • the vehicle-side device can execute the method of the embodiment of the present disclosure.
  • the current stop line is determined from the ground traffic indicator 102 based on the current position of the unmanned vehicle 101 and the vehicle navigation path. , and based on the current stop line and car end
  • the vector map determines at least one valid stop line from the ground traffic indicator 102 and calculates at least one expected interaction position respectively associated with the at least one valid stop line. Then, the vehicle-side device sends multiple expected interaction positions to the road-side device.
  • the road-side device matches the lane corresponding to the position based on the pre-established intersection map and the sent expected interaction position, and queries the lane corresponding to the lane. After obtaining the information result of the traffic light 103, the status of the traffic light 103 is forwarded to the vehicle-side device to realize traffic light information interaction. After receiving the status information of multiple traffic lights 103, the vehicle-side device of the unmanned vehicle 101 makes a vehicle passing decision to guide the vehicle to pass the current intersection.
  • Figure 2 schematically shows a flow chart of an information interaction method according to an embodiment of the present disclosure.
  • the information interaction method in this embodiment includes operations S210 to S240.
  • the current stop line is determined according to the current position of the vehicle and the vehicle navigation path, where the current stop line is: among the stop lines passed by the vehicle navigation path, the stop line associated with the current position of the vehicle;
  • At least one valid stop line is determined based on the current stop line and the vehicle-side vector map, where at least one valid stop line is associated with the current stop line through the target traffic light, and the information that the vehicle-side vector map can display includes information related to the current intersection. Stop lines bound to each traffic light;
  • each desired interaction position is sent to the road-side device, so that the road-side device returns a plurality of traffic light states associated with each desired interaction position to the vehicle-side device.
  • the above-mentioned information interaction method of the embodiments of the present disclosure is applied in the scenario of driverless driving.
  • the above-mentioned method can be executed by the vehicle-side device.
  • the driverless vehicle travels to the current intersection, it needs to pass the vehicle-side device and the road-side device. Perform information perception and information interaction to guide vehicles to pass intersections smoothly.
  • the above-mentioned information interaction method of the embodiment of the present disclosure can not only be used in regular traffic situations, such as the situation where the vehicle is exactly in a predetermined lane, but can also be used in other special traffic situations, such as when the vehicle is inside an intersection or a crosswalk without any prior information.
  • the current stop line needs to be determined based on the current position of the vehicle and the vehicle navigation path, mainly taking into account the above-mentioned various special traffic situations.
  • the vehicle position is exactly in the established lane.
  • the current stop line can be determined based only on the current position of the vehicle (the current stop line is the stop line corresponding to the lane where the vehicle is currently located).
  • the current stop line cannot be determined based only on the current location of the vehicle.
  • the current stop line refers to the stop line that the vehicle should currently pay attention to under the established navigation path.
  • the current stop line can be determined in combination with the vehicle navigation path.
  • the stop line closely related to the current position of the vehicle is the current stop line. For example, if the vehicle is located at the junction of the left-turn lane and the through lane, it cannot be determined based on the vehicle position alone whether the current vehicle should focus on the stop line corresponding to the left-turn lane or the stop line corresponding to the through lane. If combined with the vehicle navigation path, it can be known that the vehicle intends to turn left at the current intersection, it can be determined that the current vehicle should pay attention to the stop line corresponding to the left-turn lane.
  • a vehicle-side vector map (high-precision map) can be used to obtain road traffic information.
  • the information that can be displayed by the vehicle-side vector map includes information bound to each traffic light at the current intersection. Stop line.
  • the current stop line has been determined. In some situations, for example, all roads at the current intersection can be passed normally. In this case, the current stop line can be determined from the vehicle-side vector map according to the current stop line.
  • the status of the traffic light can be obtained directly from the signal machine to guide the passage of vehicles.
  • the lane of the established navigation path is inaccessible. In this case, it is necessary to change the route and follow other feasible paths along the current accessible path. lane to pass the intersection.
  • the embodiment of the present disclosure first determines at least one valid stop line based on the current stop line and the vehicle-side vector map through the above-mentioned operations S220, operation S230, and operation S240, and further calculates at least one expected interaction position associated with at least one valid stop line. Then, the vehicle-side device sends the multiple expected interaction positions to the road-side device, so that the road-side device returns multiple traffic light states associated with each expected interaction position to guide the vehicle to pass through the current intersection.
  • the binding relationship between traffic lights and stop lines can be displayed in the vehicle-side vector map, where the binding relationship between traffic lights and stop lines can be in a many-to-many state, and each traffic light can Bind one or more different stop lines, and each stop line can also be bound to one or more different traffic signals. lamp.
  • At least one valid stop line is determined based on the current stop line and the vehicle-side vector map. For example, it may be first determined from the vehicle-side vector map and the current stop line.
  • the traffic light associated with the stop line is used as the target traffic light, and then at least one stop line bound to the target traffic light is searched in reverse from the vehicle-side vector map as an effective stop line. It can be seen that the effective stop line passes through the target traffic light and Current stop line association.
  • calculating at least one expected interaction position respectively associated with at least one valid stop line may be a position within a preset distance range near each valid stop line as the expected interaction position. , for example, it may be to first determine the entry lane corresponding to the effective stop line, and then use the position near the effective stop line in the entry lane area as the desired interaction position.
  • both the effective stop line and the current stop line are associated with the target traffic light. Because each traffic light can be bound to one or more different stop lines, therefore, the effective stop line The line may be the same group of stop lines as the current stop line, or the effective stop line may be a different stop line from the current stop line, or the effective stop line may include but is not limited to the current stop line. Therefore, the expected interaction position obtained based on the effective stop line may be the same position as the current position of the vehicle, or may be a different position than the current position of the vehicle, or may be multiple expected interaction positions including but Not limited to the current location of the vehicle.
  • the multiple expected interaction positions may be not limited to the current position of the vehicle
  • the multiple expected interaction positions are obtained based on the above method of the embodiments of the present disclosure, and the traffic light states corresponding to the multiple expected interaction positions (not limited to the current position) can be further obtained, which can be used to guide vehicle traffic in various complex situations, not limited to conventional situations.
  • the current location of the unmanned vehicle is at the junction of the left-turn lane and the through lane.
  • the vehicle navigation path it can be seen that the vehicle intends to turn left at the current intersection, but the left-turn road is impassable due to temporary construction, and it needs to be diverted and go straight.
  • the current stop line that the vehicle should pay attention to is the left turn lane stop line.
  • the effective stop line It can include the stop line of the straight lane and the stop line of the left turn lane (the effective stop line can also be the stop line of the straight lane only).
  • the expected interaction position that can be obtained based on the stop line of the through lane can be a position near the stop line of the through lane. Based on the expected interaction position and the road-end device interaction, the status of the through traffic light can be known to smoothly guide the vehicle to go straight. Pass the intersection.
  • the road-side device after receiving multiple expected interaction positions sent by the vehicle-side device, can match the lane corresponding to the position based on the sent expected interaction position according to the pre-established intersection map, and after querying the traffic light information result corresponding to the lane, forward the state of the traffic light to the vehicle-side device to realize traffic light information interaction.
  • the vehicle-side device After receiving the status information of multiple traffic lights, the vehicle-side device makes a vehicle passage decision to guide the vehicle to pass the current intersection.
  • the above method of the embodiment of the present disclosure can accurately determine the current stop line of the vehicle under the established navigation path by combining it with the vehicle navigation path.
  • each traffic light in the vehicle-side vector map can be bound to one or more different stop lines, and both the effective stop line and the current stop line are associated with the target traffic light, by combining the current stop line and the vehicle-side vector map
  • the determined effective stop line may include, but is not limited to, the current stop line.
  • the expected interaction position obtained based on the effective stop line may include, but is not limited to, the current position of the vehicle.
  • multiple expected interaction positions (not limited to the current position) corresponding to Traffic light status can be used to guide vehicles in a variety of complex situations.
  • the existing technology which only obtains the traffic light status based on the current position of the vehicle, it is difficult to perform correct information interaction in unexpected complex scenes due to the limited vehicle position
  • it can solve the problem of information interaction in unexpected complex scenes, and can be based on The desired driving path of the vehicle obtains accurate traffic light status, which improves the accuracy of information interaction.
  • FIG3 schematically shows a flow chart of a method for determining at least one effective stop line according to an embodiment of the present disclosure.
  • the method of determining at least one effective stop line based on the current stop line and the vehicle-end vector map in this embodiment includes operations S321 to S323.
  • the traffic light bound to the current stop line is read from the vehicle-side vector map as the target traffic light
  • At least one stop line bound to the target traffic light is read from the vehicle-side vector map as a bound stop line
  • At least one valid stop line is determined from at least one bound stop line.
  • the above method may be: first, based on the binding relationship between traffic lights and stop lines displayed in the vehicle-side vector map (each stop line can be bound to one or more different traffic lights), from the vehicle-side vector map Determine one or more different groups of traffic lights associated with the current stop line as target traffic lights. Then reversely search for at least one stop line bound to the target traffic signal from the vehicle-side vector map (each traffic signal A light can be bound to one or more different stop lines) as bound stop lines.
  • determining at least one effective stop line from the at least one binding stop line may be to select a real stop line from the binding stop line as the effective stop line, which specifically may include: removing the virtual stop line from the at least one binding stop line.
  • at least one real stop line is obtained; from at least one real stop line, a real stop line with a lane driving direction greater than or equal to 1 is selected as at least one valid stop line.
  • At least one effective stop line is associated with the current stop line through one or more sets of target traffic lights, because the effective stop line is a stop line bound to the target traffic lights that is reversely searched from the vehicle-side vector map.
  • valid stop lines include but are not limited to the current stop line. Therefore, the expected interaction position obtained based on the effective stop line can include but is not limited to the current position of the vehicle. Subsequently, the traffic light status corresponding to multiple expected interaction positions (not limited to the current position) can be obtained, which can be applied in a variety of complex situations. Direct the passage of vehicles.
  • the above method further includes: based on the consistency comparison results of the multiple traffic light states, Determine whether to use the information interaction results associated with multiple traffic light states to guide vehicle traffic.
  • At least one valid stop line is associated with the same set of target traffic lights, or with a plurality of different sets of target traffic lights.
  • multiple valid stop lines are all associated with the same group of target traffic lights, or the first part of the multiple valid stop lines is associated with the first group of target traffic lights, and the second part of the multiple valid stop lines is effectively stopped.
  • the line is associated with the second group of target traffic lights, and the third effective stop line among the plurality of effective stop lines is associated with the third group of target traffic lights...
  • determining whether to use the information interaction results associated with multiple traffic light states to guide vehicle traffic can be: the vehicle-side device determines whether to use the same group of traffic lights based on the multiple traffic light states. Whether the traffic light status corresponding to the same group of target expected interaction positions associated with the target traffic lights is consistent.
  • the interaction results can be used as the basis for decision-making on vehicle-side intersection passage, and the traffic light status associated with any of the above target expected interaction positions is used. Guide vehicle traffic.
  • the comparison results are inconsistent, the reliability of the above-mentioned interactive results is low. For example, there may be a problem with the vehicle-side map or the road-side map. For safety reasons, the interaction results are not used as the basis for decision-making at the vehicle-side intersection.
  • the reliability of autonomous driving interaction information is improved and the safety of autonomous driving vehicles is ensured.
  • the road-side device performs information processing based on the expected interaction positions sent by the vehicle-side device. If computing resources permit, processing can be performed on a larger number of expected interaction positions. If computing resources do not permit, the number of expected interaction positions needs to be appropriately reduced.
  • calculating at least one expected interaction position associated with at least one valid stop line can be, if computing resources allow, calculating the expected interaction position associated with each valid stop line separately, and obtaining all the expected interaction positions.
  • Multiple expected interaction positions associated with effective stop lines serve as the basic data for interaction between the vehicle end and the road end.
  • calculating at least one expected interaction position associated with at least one valid stop line may be, if computing resources do not allow, calculating the expected interaction positions associated with some of the valid stop lines, as the vehicle terminal and the road.
  • Basic data for interaction between terminals Specifically, calculating at least one expected interaction position associated with at least one valid stop line may be:
  • At least one valid entry lane associated with at least one valid stop line is determined, and each valid entry lane is the successor lane of the lane where each valid stop line is located.
  • At least one target entry lane is determined from at least one valid entry lane. Specifically: according to the preset priority rules, at least one valid entry lane is sorted to obtain a sorted lane set; according to the priority order, a preset number of lanes are determined from the sorted lane set as at least one target entry lane.
  • the expected interaction position in each target entry lane is calculated separately. That is, the expected interaction position corresponding to the stop line of each target entering the lane is calculated, for example, the position near the effective stop line in the target entering lane area is used as the expected interaction position.
  • the preset priority rule is set according to the lane preset level, the number of driving directions of the current lane, and the number of driving directions of adjacent lanes.
  • the higher the lane preset level the higher the vehicle's lane preset level.
  • the number of lane driving directions refers to the number of driving directions after passing the stop line of the lane.
  • Lanes are prioritized by combining lane levels and the number of lane driving directions. Lanes with higher priorities have higher information accuracy, simpler traffic rules, and higher information interaction efficiency.
  • a specific method for calculating an expected interaction position in each target entry lane may include:
  • the above method can be:
  • multiple boundary points of the target stop line are offset by a predetermined distance in a predetermined direction to obtain multiple offset points; among them, each stop line has four boundary points, and the four boundary points are four of the plane where the stop line is located. corner. After offsetting the four boundary points of each stop line by a certain distance (preset value) toward the direction of entering the lane, four offset points are obtained.
  • offset bounding box that is, on the entering lane direction side of each target stop line, the four offset points are connected in sequence with lines, and a bounding box is drawn with the four offset points as corner points. Offset bounding box.
  • the position of the lane center point located within the offset bounding box is used as the desired interaction position.
  • the lane center point is a set of multiple points that make up the lane center line, and the multiple lane center points are arranged at preset intervals.
  • the position of the lane center point located within the offset bounding box is taken as the desired interaction position.
  • Fig. 4 schematically shows a flow chart of an information interaction method according to another embodiment of the present disclosure.
  • the information interaction method according to the embodiment of the present disclosure is exemplarily described below.
  • the information interaction method may include the following steps:
  • Step 1 Based on the current position of the vehicle, the vehicle navigation task, and the vehicle-side vector map, obtain the traffic light set T in the vehicle-side map that the vehicle needs to focus on currently.
  • it may include: first, determining the current stop line based on the current position of the vehicle and the vehicle navigation path in the navigation task, that is, among the stop lines along the vehicle navigation path, the stop line that is closely related to the current position of the vehicle is determined as the current stop line; then, The traffic lights bound to the current stop line are read from the vehicle-side vector map as the traffic light set T in the vehicle-side map that the vehicle terminal currently needs to pay attention to (ie, the target traffic lights defined in the previous embodiment).
  • Step 2 Then, through the traffic light group set T, reversely search the stop line bound to the target traffic light set T from the vehicle-side vector map as the bound stop line set S T , and obtain the valid one based on the scene information S V Stop line set S V .
  • S T Bind(T) (1)
  • the meaning shown in the above formula (1) is: at least one stop line bound to the target traffic light is read from the vehicle-side vector map as the bound stop line set S T ;
  • the meaning shown in the above formula (2) is: the screening method of the effective stop line set S V , that is, from the real stop lines in the bound stop line set S T , the lane direction corresponding to the stop line must be greater than or equal to 1. stop line, as the effective stop line set S V .
  • Step 3 Determine the effective entry lane set L s according to the effective stop line set S V .
  • L S fromLane(S V ) (3)
  • the effective entry lane set L s is the predecessor lane of the lane where the effective stop line set S V is located.
  • the meaning shown in the above formula (4) is: adjust the priority of the effective entry lane set L s , and sort the priority according to the lane preset level, the number of driving directions of this lane, and the number of adjacent lane driving directions: Lane preset level The higher the value, the fewer the number of driving directions of the current lane and the smaller number of adjacent lanes of driving directions, and the higher the lane ranking.
  • Step 5 Calculate the expected interaction position of each target entry lane in the target entry lane set L P respectively. That is, the expected interaction location corresponding to the stop line of each target entering the lane is calculated.
  • the meaning shown in the above formula (5) is the specific calculation method of the expected interaction location, that is: first, the four boundary points borderPoint(s) of the stop line of each lane in the target entry lane set L_P are offset by ⁇ Point along the direction of the entry lane. , obtain four offset points, and use the offset points to construct an offset bounding box; then, in the lane center point set centerPoint(l), the position of the lane center point located within the offset bounding box is used as the desired interaction location. Generally, the point closest to the stop line is taken as the interaction point.
  • Step 6 Send the above multiple expected interaction locations to the roadside device, so that the roadside device determines the corresponding interaction result according to the priority of the stop line and returns it, that is, returns multiple traffic light states associated with each expected interaction location.
  • loc l ⁇ l ⁇ L P
  • the meaning shown in the above formula (6) is: according to the priority of the stop line, calculate the multiple traffic light states associated with each desired interaction location location (l) (ie, the interaction result loc l ).
  • Step 7 Finally, the verification of the interaction result is completed. According to the consistency comparison results of multiple traffic light states, it can be determined whether to use the interaction result as the decision basis for the vehicle-side intersection.
  • the specific execution method can refer to the relevant description of the above embodiment, which will not be repeated here.
  • the present disclosure also provides an information interaction device.
  • the device will be described in detail below with reference to FIG. 5 .
  • FIG5 schematically shows a structural block diagram of an information interaction device according to an embodiment of the present disclosure.
  • the information interaction device 500 of this embodiment includes a first determination module 510 , a second determination module 520 , a calculation module 530 and a sending module 540 .
  • the first determination module 510 is used to determine the current stop line according to the current position of the vehicle and the vehicle navigation path, where the current stop line is: among the stop lines passed by the vehicle navigation path, the stop line associated with the current position of the vehicle;
  • the first determination module 510 may be configured to perform the operation S210 described above, which will not be described again here.
  • the second determination module 520 is used to determine at least one valid stop line based on the current stop line and the vehicle-side vector map, where at least one valid stop line is associated with the current stop line through the target traffic light, and the vehicle-side vector map can display information Including stop lines respectively bound to each traffic light at the current intersection; in one embodiment, the second determination module 520 may be used to perform the operation S220 described above, which will not be described again.
  • a calculation module 530 configured to calculate at least one desired interaction position associated with at least one valid stop line;
  • the computing module 530 may be used to perform the operation S230 described above, which will not be described again here.
  • the sending module 540 is configured to send each desired interaction position to the road-side device, so that the road-side device returns multiple traffic light states associated with each desired interaction position to the vehicle-side device.
  • the computing module 540 may be used to perform the operation S240 described above, which will not be described again here.
  • the stop line that should be paid attention to currently under the path solves the problem that key interactive information cannot be obtained in time under special traffic conditions.
  • the current stop line is combined with the second determination module 520
  • the effective stop line determined by the vehicle-side vector map may include but is not limited to the current stop line.
  • the expected interaction position further obtained based on the effective stop line may include but is not limited to the current position of the vehicle. Subsequently, multiple expected interactions may be obtained through the calculation module 530
  • the traffic light status corresponding to the location can be used to guide vehicle traffic in a variety of complex situations. Compared with the existing technology (which only obtains the traffic light status based on the current position of the vehicle, it is difficult to perform correct information interaction in unexpected complex scenes due to the limited vehicle position), it can solve the problem of information interaction in unexpected complex scenes, and can be based on The desired driving path of the vehicle obtains accurate traffic light status, which improves the accuracy of information interaction.
  • Figure 6 schematically shows a structural block diagram of the second determination module according to an embodiment of the present disclosure.
  • the second determination module 600 of this embodiment includes a first reading sub-module 621 , a second reading sub-module 622 , and a first determining sub-module 623 .
  • the first reading submodule 621 is used to read the traffic light bound to the current stop line from the vehicle-side vector map as the target traffic light; in one embodiment, the first reading submodule 621 can be used to perform the operation S321 described above, which will not be repeated here.
  • the second reading submodule 622 is used to read at least one stop line bound to the target traffic light from the vehicle-side vector map as a bound stop line; in one embodiment, the second reading submodule 622 can be used to perform the operation S322 described above, which will not be repeated here.
  • the first determination sub-module 623 is used to determine at least one valid stop line from at least one binding stop line.
  • the first determination sub-module 623 may be used to perform the operation S323 described above, which will not be described again here.
  • the first determination sub-module includes a removal unit and a first determination unit.
  • the removal unit is used to remove the virtual stop line from at least one bound stop line to obtain at least one real stop line;
  • the first determination unit is used to select the real stop line with a lane driving direction greater than or equal to 1 from at least one real stop line. Stop line, as at least one valid stop line.
  • the calculation module includes a second determination sub-module, a third determination sub-module, and a calculation sub-module.
  • the second determination sub-module is used to determine at least one valid entry lane that is respectively associated with at least one valid stop line; the third determination sub-module is used to determine from at least one valid entry lane according to the preset priority rules. At least one target enters the lane; the calculation submodule is used to calculate the expected interaction position in each target entering the lane.
  • the third determining submodule includes a sorting unit and a second determining unit.
  • the sorting unit is used to sort at least one valid entry lane according to the preset priority rules to obtain a sorted lane set; the second determination unit is used to determine a preset number of the sorted lane set from the sorted lane set in accordance with the priority order.
  • the lane enters the lane as at least one target.
  • the preset priority rules are set according to the preset lane level, the number of driving directions of the current lane, and the number of driving directions of adjacent lanes.
  • the calculation sub-module includes a third determination unit and a calculation unit.
  • the third determination unit is used to determine the target stop line associated with the target entering the lane; the calculation unit is used to calculate the expected interaction position based on multiple boundary points of the target stop line and multiple lane center points of the target entering the lane.
  • the calculation unit includes an offset subunit, a construction subunit, and a determination subunit.
  • the offset subunit is used to offset multiple boundary points by a predetermined distance in a predetermined direction to obtain multiple offset points; the construction subunit is used to construct an offset bounding box using multiple offset points; the determination subunit Unit that uses the location of the lane center point within the offset bounding box as the desired interaction location.
  • the above device further includes a decision-making module for determining whether to use the information interaction results associated with the multiple traffic light states to guide vehicle traffic based on the consistency comparison results of the multiple traffic light states.
  • any multiple modules among the first determination module 510, the second determination module 520, the calculation module 530 and the sending module 540 can be combined and implemented in one module, or any one of the modules can be split. into multiple modules. Alternatively, at least part of the functionality of one or more of these modules may be combined with At least part of the functionality of other modules is combined and implemented in one module.
  • At least one of the first determination module 510, the second determination module 520, the calculation module 530 and the sending module 540 may be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), Implemented by hardware or firmware such as a programmable logic array (PLA), system on a chip, system on a substrate, system on a package, application specific integrated circuit (ASIC), or any other reasonable means of integrating or packaging circuits, Or it can be implemented in any one of the three implementation methods of software, hardware and firmware, or in an appropriate combination of any of them.
  • at least one of the first determination module 510, the second determination module 520, the calculation module 530 and the sending module 540 can be at least partially implemented as a computer program module, and when the computer program module is run, corresponding functions can be performed. .
  • FIG. 7 schematically shows a block diagram of an electronic device suitable for implementing an information interaction method according to an embodiment of the present disclosure.
  • an electronic device 700 includes a processor 701 that can be loaded into a random access memory (RAM) 703 according to a program stored in a read-only memory (ROM) 702 or from a storage part 708 program to perform various appropriate actions and processes.
  • processor 701 may include, for example, a general-purpose microprocessor (eg, CPU), an instruction set processor and/or associated chipset, and/or a special-purpose microprocessor (eg, application specific integrated circuit (ASIC)), or the like.
  • Processor 701 may also include onboard memory for caching purposes.
  • the processor 701 may include a single processing unit or multiple processing units for performing different actions of the method flow according to the embodiment of the present disclosure.
  • the processor 701, ROM 702 and RAM 703 are connected to each other through a bus 704.
  • the processor 701 performs various operations according to the method flow of the embodiment of the present disclosure by executing programs in the ROM 702 and/or RAM 703. It should be noted that the program may also be stored in one or more memories other than ROM 702 and RAM 703.
  • the processor 701 may also perform various operations according to the method flow of embodiments of the present disclosure by executing programs stored in the one or more memories.
  • the electronic device 700 may further include an input/output (I/O) interface 705 that is also connected to the bus 704 .
  • Electronic device 700 may also include one or more of the following components connected to I/O interface 705: an input portion 706 including a keyboard, mouse, etc.; including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and an output section 707 of speakers and the like; a storage section 708 including a hard disk and the like; and a communication section 709 including a network interface card such as a LAN card, a modem and the like.
  • the communication section 709 performs communication processing via a network such as the Internet.
  • Driver 710 is also connected to the I/O connector as needed Mouth 705.
  • Removable media 711 such as magnetic disks, optical disks, magneto-optical disks, semiconductor memories, etc., are installed on the drive 710 as needed, so that a computer program read therefrom is installed into the storage portion 708 as needed.
  • the present disclosure also provides a computer-readable storage medium.
  • the computer-readable storage medium may be included in the device/device/system described in the above embodiments; it may also exist independently without being assembled into the device/system. in the device/system.
  • the above computer-readable storage medium carries one or more programs. When the above one or more programs are executed, the method according to the embodiment of the present disclosure is implemented.
  • the computer-readable storage medium may be a non-volatile computer-readable storage medium, which may include, but is not limited to, portable computer disks, hard disks, random access memory (RAM), and read-only memory (ROM). , erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device.
  • the computer-readable storage medium may include one or more memories other than ROM 702 and/or RAM 703 and/or ROM 702 and RAM 703 described above.
  • Embodiments of the present disclosure also include a computer program product including a computer program containing program code for performing the method illustrated in the flowchart.
  • the program code is used to enable the computer system to implement the information interaction method provided by the embodiments of the present disclosure.
  • the computer program may rely on tangible storage media such as optical storage devices and magnetic storage devices.
  • the computer program can also be transmitted and distributed in the form of a signal on a network medium, and downloaded and installed through the communication part 709, and/or installed from the removable medium 711.
  • the program code contained in the computer program can be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.
  • the computer program can be downloaded and installed from the network through the communication part 709, and/or installed from the removable medium 711.
  • the computer program is executed by the processor 701
  • the above functions defined in the system of the embodiment of the present disclosure are performed.
  • the system, device, means, module, unit, etc. described above can be implemented by a computer program module.
  • the program code for executing the computer program provided by the embodiments of the present disclosure may be written in any combination of one or more programming languages. Specifically, high-level procedural and/or object-oriented programming may be utilized. programming language, and/or assembly/machine language to implement these computational procedures. Programming languages include, but are not limited to, programming languages such as Java, C++, python, "C" language or similar programming languages.
  • the program code may execute entirely on the user's computing device, partly on the user's device, partly on a remote computing device, or entirely on the remote computing device or server.
  • the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device, such as provided by an Internet service. (business comes via Internet connection).
  • LAN local area network
  • WAN wide area network
  • Internet service business comes via Internet connection
  • each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more logic functions that implement the specified executable instructions.
  • the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown one after another may actually execute substantially in parallel, or they may sometimes execute in the reverse order, depending on the functionality involved.
  • each block in the block diagram or flowchart illustration, and combinations of blocks in the block diagram or flowchart illustration can be implemented by special purpose hardware-based systems that perform the specified functions or operations, or may be implemented by special purpose hardware-based systems that perform the specified functions or operations. Achieved by a combination of specialized hardware and computer instructions.

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Abstract

La présente invention concerne un procédé et un appareil d'interaction d'informations, un dispositif électronique et un support de stockage lisible par ordinateur, qui peuvent être appliqués au domaine technique de la conduite intelligente. Le procédé d'interaction d'informations comprend : en fonction de la position actuelle d'un véhicule et d'un trajet de navigation du véhicule, la détermination d'une ligne d'arrêt actuelle (S210) ; en fonction de la ligne d'arrêt actuelle et d'une carte de vecteurs d'extrémité de véhicule, la détermination d'au moins une ligne d'arrêt efficace, l'au moins une ligne d'arrêt efficace étant associée à la ligne d'arrêt actuelle au moyen d'un feu de signalisation cible, et des informations qui peuvent être affichées sur la carte de vecteurs d'extrémité de véhicule comprenant des lignes d'arrêt liées respectivement à des feux de signalisation de trafic au niveau de l'intersection actuelle (S220) ; le calcul d'au moins une position d'interaction attendue respectivement associée à l'au moins une ligne d'arrêt efficace (S230) ; et l'envoi à un dispositif d'extrémité de route de chaque position d'interaction attendue, de telle sorte que le dispositif d'extrémité de route retourne au dispositif d'extrémité de véhicule une pluralité d'états de feux de signalisation associés à chaque position d'interaction attendue (S240).
PCT/CN2023/089925 2022-09-23 2023-04-21 Procédé et appareil d'interaction d'informations, dispositif électronique et support de stockage lisible par ordinateur WO2024060609A1 (fr)

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