CN114764980B - Vehicle turning route planning method and device - Google Patents

Abstract

The application relates to a vehicle turning route planning method and device, comprising the following steps: determining an entry point, an exit point and an entry direction of the entry point from a first direction and a second direction into a road junction area respectively; predicting whether collision occurs when different vehicles simultaneously enter the road junction area from the first direction and the second direction and turn according to at least the entry point and the entry direction; and under the condition that the prediction result is that collision is generated, determining an entry direction point in the road intersection area according to the entry point, the exit point and the entry direction, and determining a turning route according to the entry direction point.

Description

Vehicle turning route planning method and device

Technical Field

The present application relates to the field of unmanned driving, and in particular to a vehicle turning route planning method and device.

Background technique

The rise and development of driverless technology has provided a new approach to solving urban road congestion and reducing traffic safety risks. In a complex and dynamic urban road environment, different traffic participants will inevitably have conflicts in time or space due to the influence of travel purpose and traffic flow. In driverless driving, this conflict is more obvious in turning scenes at traffic intersections. Therefore, it is particularly important to plan a turning route that can avoid conflicts.

Turn route planning is one of the key steps in making high-precision maps. In related technologies, the methods for planning turn routes are usually manual annotation and semi-automatic annotation. The manual annotation method is usually that cartographers draw manually based on point cloud maps. Manually drawing routes is not only time-consuming and laborious, but also cannot guarantee the smoothness and aesthetics of the routes. The semi-automatic annotation method usually automatically generates smooth curves for turn routes, but the generation process does not take into account the conflict scenarios in the turn routes, and manual review and manual adjustment are required later.

Therefore, there is an urgent need in the relevant technology for a method of automatically generating and conflict-avoiding planned turning routes.

Summary of the invention

In view of this, a vehicle turning route planning method and device are proposed.

In a first aspect, an embodiment of the present application provides a vehicle turning route planning method, the method comprising:

Determine respectively an entry point and an exit point for entering a road intersection area from a first direction and a second direction, and an entry direction of the entry point;

At least based on the entry point and the entry direction, predict whether a conflict will occur when different vehicles enter the road intersection area from the first direction and the second direction at the same time and turn;

When the prediction result is that a conflict occurs, an entry direction point is determined in the road intersection area according to the entry point, the exit point and the entry direction, and a turning route is determined according to the entry direction point.

The vehicle turning route planning method provided in the embodiment of the present application can predict whether a conflict will occur when different vehicles enter the road intersection area from the first direction and the second direction at the same time and turn, based at least on the entry point and the entry direction. When the prediction result is that a conflict occurs, the entry direction point is determined, and the turning route is determined based on the entry direction point. It can be seen that the technical solution of the embodiment of the present application can not only realize the automatic prediction of whether a conflict will occur during the vehicle turning process, but also automatically generate a new entry direction point. The entry direction point is used as a key point for determining the turning route, and can optimize the turning route so that the generated turning route does not conflict with other turning routes. The vehicle turning route planning method provided in the embodiment of the present application can not only replace the method of manually marking the turning route in the high-precision map in the related technology, reduce the turning route generation cost, and improve the turning route generation efficiency, but also provide a reliable technical solution for the on-site route planning of unmanned vehicles.

According to the first aspect, in a first possible implementation manner, predicting whether a conflict occurs when different vehicles enter the road intersection area from the first direction and the second direction at the same time and turn based on at least the entry point and the entry direction includes:

In the case where left-turn lanes in the first direction and the second direction are provided in the road intersection area, the endpoints of the right lane lines of the left-turn lanes in the first direction and the second direction and their entry directions are respectively used as entry points and their entry directions;

According to the positional relationship between the entry points in the first direction and the second direction and the extension lines of the entry points along the entry directions, it is predicted whether a conflict will occur when different vehicles enter the road intersection area from the first direction and the second direction at the same time and turn.

The embodiment of the present application provides a method for predicting whether a conflict occurs when there are left-turn lanes in the first direction and the second direction. By using the information that is easier to obtain in the left-turn lane, it can be quickly determined whether a conflict occurs.

According to the first aspect, in a second possible implementation manner, predicting whether a conflict occurs when different vehicles simultaneously enter the road intersection area from the first direction and the second direction and turn, includes:

Determine a ray starting from the entry point in the first direction and extending along the entry direction;

If the approach point in the second direction is located on the left side of the ray, a conflict is predicted.

In the embodiment of the present application, by using the data of the entry point in the first direction, the entry direction, and the entry point in the second direction, it is possible to quickly determine whether a conflict occurs.

According to the first aspect, in a third possible implementation manner, predicting whether a conflict occurs when different vehicles simultaneously enter the road intersection area from the first direction and the second direction and turn, includes:

Determine a first ray starting from the entry point in the first direction and extending along the entry direction, and a second ray starting from the entry point in the second direction and extending along the entry direction;

In the event that it is determined that the first ray intersects the second ray, a conflict is predicted.

The embodiment of the present application provides another method for predicting whether a conflict will occur in a situation where there is a left-turn waiting lane. Similarly, this method can complete the conflict prediction using less and easily accessible data.

According to the first aspect, in a fourth possible implementation manner, predicting whether a conflict occurs when different vehicles enter the road intersection area from the first direction and the second direction at the same time and turn, at least based on the entry point and the entry direction, includes:

Determine pre-fitted turning lane lines in the first direction and the second direction respectively, wherein the pre-fitted turning lane lines are determined according to the entry point, the exit point and the middle point, wherein the entry point includes the endpoint of the rightmost or leftmost lane line, and the middle point includes the intersection of a ray extending from the entry point along the entry direction and a ray extending from the exit point in the opposite direction of the exit direction;

When the pre-fitted turning lane lines in the first direction and the second direction intersect, a conflict is predicted.

The embodiments of the present application provide a general method for predicting turning conflicts, which is particularly suitable for predicting conflicts between left turns, conflicts between right turns, and conflicts between left turns and right turns when there is no left-turn waiting lane.

According to the first aspect, in a fifth possible implementation manner, determining an entry direction point in the road intersection area according to the entry point, the exit point, and the entry direction, and determining a turning route according to the entry direction point includes:

Select at least one entry direction point from a line segment connecting the entry points in the first direction and the second direction;

A left-turn curve is determined according to the entry point, the exit point, and the at least one entry direction point in the first direction, or a left-turn curve is determined according to the first entry point, the exit point, the at least one entry direction point, and the intersection, and a left-turn curve on the other side of the left-turn route is determined according to the left-turn curve.

An embodiment of the present application provides a method for planning a left-turn route when there is a left-turn lane and a conflict is predicted. In this method, any point on the line segment connecting the entry points of the first direction and the second direction can be used as an entry direction point, and the left-turn curve is determined based on the entry direction point. It can be seen that this method can quickly and effectively plan a left-turn curve that avoids conflicts.

According to the first aspect, in a sixth possible implementation manner, determining an entry direction point in the road intersection area according to the entry point, the exit point, and the entry direction, and determining a turning route according to the entry direction point includes:

Select at least one entry direction point from a triangle formed by the entry points in the first direction and the second direction and the intersection point of the first ray and the second ray;

A left-turn curve is determined according to the entry point of the first direction, the exit point, and the at least one entry direction point, or according to the entry point of the first direction, the exit point, the intersection of the third ray and the fourth ray, and the at least one entry direction point, and a left-turn curve on the other side of the left-turn route is determined according to the left-turn curve.

An embodiment of the present application provides a method for planning a left-turn route when there is a left-turn lane and a conflict is predicted. In this method, at least one point in a triangle formed by the entry points of the first direction and the second direction and the intersection of the first ray and the second ray can be used as an entry direction point, and the left-turn curve is determined based on the entry direction point. It can be seen that this method can quickly and effectively plan a left-turn curve that avoids conflicts.

According to the first aspect, in a seventh possible implementation manner, determining the left-turn curve according to the entry point, the exit point, and the at least one entry direction point in the first direction includes:

Determine a third ray starting from the exit point and extending in the opposite direction of the exit direction, wherein the exit point includes an endpoint of the rightmost lane line in the exit direction;

Determine a fourth ray starting from the entry point in the first direction and extending toward the entry point in the second direction;

determining an intersection point between the third ray and the fourth ray;

A left-turn curve is determined according to the entry point of the first direction, the exit point, the intersection point of the third ray and the fourth ray, and the at least one entry direction point.

An embodiment of the present application provides a method for planning a left turn route when there is a left-turn lane and a conflict is predicted. In this method, further, the intersection of the third ray and the fourth ray can be used as one of the points for determining the left turn curve, thereby improving the accuracy of the left turn curve.

According to the first aspect, in an eighth possible implementation manner, determining an entry direction point in the road intersection area according to the entry point, the exit point, and the entry direction, and determining a turning route according to the entry direction point includes:

Select at least one entry direction point from an area formed by the intersection of the pre-fitted turning lane lines in the first direction and the second direction;

A turning curve is determined according to the entry point in the first direction, the exit point and the at least one entry direction point, and a turning curve on the other side of the turning route is determined according to the turning curve.

The embodiment of the present application is directed to a method for planning a turning route when the turning lane lines in the first direction and the second direction intersect.

In a second aspect, an embodiment of the present application provides a high-precision map annotation method, including:

Determine the turning route by using the vehicle turning route planning method provided by the first aspect and any possible implementation manner of the first aspect;

The turning route is marked on the high-precision map.

The embodiment of the present application can apply the turning route planning method to high-precision map annotation, which can replace the manual annotation method, improve the annotation efficiency, and reduce the annotation cost.

In a third aspect, an embodiment of the present application provides a vehicle driving control method, comprising:

Determine the turning route by using the vehicle turning route planning method provided by the first aspect and any possible implementation manner of the first aspect;

The vehicle is controlled to travel according to the turning route.

The embodiment of the present application can apply the turning route planning method to on-site route planning of unmanned vehicles, and can quickly and accurately provide unmanned vehicles with turning routes that avoid conflicts.

In a fourth aspect, an embodiment of the present application provides a vehicle turning route planning device, comprising:

An information determination module, used to respectively determine an entry point and an exit point for entering a road intersection area from a first direction and a second direction, and an entry direction of the entry point;

a conflict prediction module, used for predicting whether a conflict will occur when different vehicles enter the road intersection area from the first direction and the second direction at the same time and turn, based at least on the entry point and the entry direction;

The route determination module is used to determine an entry direction point in the road intersection area according to the entry point, the exit point and the entry direction when the prediction result is a conflict, and determine a turning route according to the entry direction point.

According to the fourth aspect, in a first possible implementation manner, the conflict prediction module is specifically used to:

In the case where left-turn lanes in the first direction and the second direction are provided in the road intersection area, the endpoints of the right lane lines of the left-turn lanes in the first direction and the second direction and their entry directions are respectively used as entry points and their entry directions;

According to the positional relationship between the entry points in the first direction and the second direction and the extension lines of the entry points along the entry directions, it is predicted whether a conflict will occur when different vehicles enter the road intersection area from the first direction and the second direction at the same time and turn.

According to the fourth aspect, in a second possible implementation manner, the conflict prediction module is further used to:

Determine a ray starting from the entry point in the first direction and extending along the entry direction;

If the approach point in the second direction is located on the left side of the ray, a conflict is predicted.

According to the fourth aspect, in a third possible implementation manner, the conflict prediction module is further used to:

Determine a first ray starting from the entry point in the first direction and extending along the entry direction, and a second ray starting from the entry point in the second direction and extending along the entry direction;

In the event that it is determined that the first ray intersects the second ray, a conflict is predicted.

According to the fourth aspect, in a fourth possible implementation manner, the conflict prediction module is specifically configured to:

Determine pre-fitted turning lane lines in the first direction and the second direction respectively, wherein the pre-fitted turning lane lines are determined according to the entry point, the exit point and the middle point, wherein the entry point includes the endpoint of the rightmost or leftmost lane line, and the middle point includes the intersection of a ray extending from the entry point along the entry direction and a ray extending from the exit point in the opposite direction of the exit direction;

When the pre-fitted turning lane lines in the first direction and the second direction intersect, a conflict is predicted.

According to the fourth aspect, in a fifth possible implementation manner, the route determination module is specifically configured to:

Select at least one entry direction point from a line segment connecting the entry points in the first direction and the second direction;

A left-turn curve is determined according to the entry point, the exit point, and the at least one entry direction point in the first direction, or a left-turn curve is determined according to the first entry point, the exit point, the at least one entry direction point, and the intersection, and a left-turn curve on the other side of the left-turn route is determined according to the left-turn curve.

According to the fourth aspect, in a sixth possible implementation manner, the route determination module is specifically configured to:

Select at least one entry direction point from a triangle formed by the entry points in the first direction and the second direction and the intersection point of the first ray and the second ray;

A left-turn curve is determined according to the entry point of the first direction, the exit point, and the at least one entry direction point, or according to the entry point of the first direction, the exit point, the intersection of the third ray and the fourth ray, and the at least one entry direction point, and a left-turn curve on the other side of the left-turn route is determined according to the left-turn curve.

According to the fourth aspect, in a seventh possible implementation manner, the route determination module is further used to:

Determine a third ray starting from the exit point and extending in the opposite direction of the exit direction, wherein the exit point includes an endpoint of the rightmost lane line in the exit direction;

Determine a fourth ray starting from the entry point in the first direction and extending toward the entry point in the second direction;

determining an intersection point between the third ray and the fourth ray;

A left-turn curve is determined according to the entry point of the first direction, the exit point, the intersection point of the third ray and the fourth ray, and the at least one entry direction point.

According to the fourth aspect, in an eighth possible implementation manner, the route determination module is specifically configured to:

Select at least one entry direction point from an area formed by the intersection of the pre-fitted turning lane lines in the first direction and the second direction;

A turning curve is determined according to the entry point in the first direction, the exit point and the at least one entry direction point, and a turning curve on the other side of the turning route is determined according to the turning curve.

In a fifth aspect, an embodiment of the present application provides a high-precision map annotation device, including the vehicle turning route planning device and the annotation module provided by the fourth aspect and any possible implementation of the fourth aspect, wherein:

The marking module is used to mark the turning route in the high-precision map.

In a sixth aspect, an embodiment of the present application provides a vehicle driving control device, comprising the vehicle turning route planning device and the vehicle control module provided by the fourth aspect and any possible implementation of the fourth aspect, wherein:

The vehicle control module is used to control the vehicle to travel along the turning route.

In the seventh aspect, an embodiment of the present application provides a vehicle for driving along a turning route marked according to the high-precision map marking method provided by the second aspect, or driving along a turning route determined according to the vehicle driving control method provided by the third aspect.

In the eighth aspect, an embodiment of the present application provides a vehicle turning route planning device, characterized in that it includes: a processor; a memory for storing processor executable instructions; wherein the processor is configured to implement one or more of the above-mentioned first/second/third aspects or multiple possible implementation methods of the first/second/third aspects when executing the instructions.

In the ninth aspect, an embodiment of the present application provides a non-volatile computer-readable storage medium on which computer program instructions are stored, characterized in that when the computer program instructions are executed by a processor, one or more methods of implementing the above-mentioned first/second/third aspects or multiple possible implementation methods of the first/second/third aspects are implemented.

In the tenth aspect, an embodiment of the present application provides a computer program product, including a computer-readable code, or a non-volatile computer-readable storage medium carrying a computer-readable code. When the computer-readable code is executed in an electronic device, the processor in the electronic device executes one or more methods of the above-mentioned first/second/third aspects or multiple possible implementation methods of the first/second/third aspects.

In the eleventh aspect, an embodiment of the present application provides a chip, which includes at least one processor, and the processor is used to run a computer program or computer instruction stored in a memory to execute a method in any possible implementation of the above aspects.

Optionally, the chip may further include a memory for storing computer programs or computer instructions. Optionally, the chip may further include a communication interface for communicating with other modules outside the chip.

Optionally, one or more chips may constitute a chip system.

These and other aspects of the present application will become more apparent from the following description of the embodiment(s).

BRIEF DESCRIPTION OF THE DRAWINGS

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

FIG1 is a schematic diagram of the structure of a lane line planning system provided in an embodiment of the present application.

FIG. 2 is a schematic diagram of the architecture of another lane planning system provided in an embodiment of the present application.

FIG3 is a functional block diagram of an intelligent vehicle 003 provided in an embodiment of the present application.

FIG4 shows a flow chart of a method for vehicle turning route planning according to an embodiment of the present application.

FIG. 5 shows a scene example diagram according to an embodiment of the present application.

FIG. 6 shows a scene example diagram according to an embodiment of the present application.

FIG. 7 shows a scene example diagram according to an embodiment of the present application.

FIG8 shows a scene example diagram according to an embodiment of the present application.

FIG. 9 shows a scene example diagram according to an embodiment of the present application.

FIG. 10 shows a scene example diagram according to an embodiment of the present application.

FIG. 11 shows a scene example diagram according to an embodiment of the present application.

FIG. 12 shows a scene example diagram according to an embodiment of the present application.

FIG. 13 shows a scene example diagram according to an embodiment of the present application.

FIG. 14 shows a scene example diagram according to an embodiment of the present application.

FIG15 is a schematic diagram showing the module structure of a vehicle turning route planning device according to an embodiment of the present application.

FIG16 shows a schematic diagram of the module structure of a vehicle turning route planning device according to an embodiment of the present application.

Detailed ways

Various exemplary embodiments, features and aspects of the present application will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

In addition, in order to better illustrate the present application, numerous specific details are provided in the following specific embodiments. It should be understood by those skilled in the art that the present application can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present application.

In order to facilitate understanding of the embodiments of the present application, the structure of one of the lane line planning systems based on the embodiments of the present application is described below. Please refer to Figure 1, which is a schematic diagram of the structure of a lane line planning system provided by the embodiments of the present application, the system includes a collection device 001 and a route planning device 002, wherein the collection device 001 and the route planning device 002 can communicate through a network to send the collected raw data for planning lane lines to the route planning device 002, and the route planning device 002 completes the planning of lane lines.

The acquisition device 001 may be an electronic device with data acquisition and data transmission and reception capabilities. For example, the acquisition device 001 may be a collection vehicle equipped with one or more sensors such as a laser radar, a camera, a global navigation satellite system (GNSS), an inertial measurement unit (IMU), etc. The collection vehicle can collect the intersection information of the turning lane line to be marked in the high-precision map, that is, before drawing the high-precision map, the information required for drawing the high-precision map can be collected by the collection vehicle traveling on various roads. Among them, the laser radar is mainly used to collect point cloud data. Because the laser radar can accurately reflect the location information, the width of the road surface, the height of the traffic light and some other information can be obtained through the laser radar; the camera is mainly used to collect road signs, lane lines and other information; the GNSS is mainly used to record the coordinates of the current collection point; the IMU is mainly used to record the angle and acceleration information of the collection vehicle, and is used to correct the position and angle of the collection vehicle.

Alternatively, the acquisition device 001 can also be a roadside unit installed at an intersection. The roadside unit can obtain intersection information within the coverage area and monitor multiple intelligent vehicles within the coverage area. The roadside unit can collect intersection information of lane lines to be planned in automatic driving, that is, the roadside unit can monitor the dynamics in the intersection at any time, and can send intersection information to intelligent vehicles that need to pass through the intersection. It should be noted that the intersection information can be obtained by one roadside unit, or by multiple roadside units working together to obtain intersection information, so as to obtain information on all roads connected to the intersection. Among them, the roadside unit can be composed of a high-gain directional beam-controlled read-write antenna and a radio frequency controller. The high-gain directional beam-controlled read-write antenna is a microwave transceiver module responsible for sending/receiving, modulating/demodulating, encoding/decoding, encrypting/decrypting signals and data; the radio frequency controller is a module that controls the transmission and reception of data and processes the transmission and reception of information to the upper computer.

The acquisition device 001 can acquire the intersection information of the turning lane line to be marked in the high-precision map, such as the road-level data at the intersection (that is, the data of each road connected to the intersection), the lane-level data at the intersection (that is, the data of each lane connected to the intersection), and the information of obstacles in the intersection. The road level can also be called non-high-precision vector road network data, which is used to describe the specific road from the road level accuracy. Road-level data is the road network data collected according to the road granularity, that is, a lane containing multiple lanes will only have one vector data in units of road segments (link). Vector data includes a series of position coordinate points, usually a series of position coordinate points on the center line of the road; road-level data also includes road grade, traffic capacity, number of lanes, road category, driving mode, road bandwidth, etc. Lane-level data can be called high-precision vector road network data, which is used to describe the specific road from the lane line accuracy. Specifically, lane-level data is road network data collected according to the lane line granularity, which can include but is not limited to lane edge line information (including vector data at the location of the lane edge line) and lane dividing line information (including vector data at the location of the lane dividing line) of any road. The obstacle may be an object that hinders driving in the intersection. The information of the obstacle may be vector data of the location of the obstacle. The obstacle includes but is not limited to at least one of the following: curbs, trees, street lights, etc.

The route planning device 002 may be an electronic device with data processing capability and data receiving and sending capability, and may be a physical device such as a host, a rack server, a blade server, etc., or a virtual device such as a virtual machine, a container, etc. The route planning device 002 may respectively determine the entry point, the exit point, and the entry direction of the entry point for entering the road intersection area from the first direction and the second direction; at least based on the entry point and the entry direction, predict whether a conflict will occur when different vehicles enter the road intersection area from the first direction and the second direction at the same time and turn; if the prediction result is that a conflict occurs, determine the entry direction point in the road intersection area based on the entry point, the exit point, and the entry direction, and determine the turning route based on the entry direction point.

It should be noted that when the collection device 001 is a collection vehicle, the collected intersection information can be the intersection information of the turning lane line to be marked in the high-precision map, and the route planning device 002 can be a device for generating a high-precision map. After the route planning device 002 generates a high-precision map, the high-precision map can be sent to the intelligent vehicle 003, and the intelligent vehicle 003 can complete the driving according to the high-precision map.

When the collection device 001 is a roadside unit installed at an intersection, the collected intersection information can be information about the intersection where the turning lane line is to be planned in the autonomous driving, please refer to Figure 2, which is a schematic diagram of the architecture of another lane line planning system provided by an embodiment of the present application. As can be seen from Figure 2, the route planning device 002 can be an intelligent vehicle 003 traveling at an intersection. When the intelligent vehicle 003 receives the intersection information sent by the roadside unit, it can plan a lane line that does not cause conflict based on the intersection information.

It should be noted that the turning lane marking may include a left-turn lane marking or a right-turn lane marking, and the embodiment of the present application does not impose any limitation thereto.

It should be noted that Bezier curves can be used to draw lane lines, and spline curves can also be used to draw lane lines. The embodiment of the present application does not impose any restrictions on the tools for drawing lane lines.

Based on the above lane line planning system architecture, an embodiment of the present application provides an intelligent vehicle 003 applied in the above lane line planning system architecture. Please refer to Figure 3, which is a functional block diagram of an intelligent vehicle 003 provided in an embodiment of the present application. In one embodiment, the intelligent vehicle 003 can be configured to be in a fully or partially autonomous driving mode. For example, the intelligent vehicle 003 can control itself while being in an autonomous driving mode, and can determine the current state of the vehicle and its surrounding environment through human operation, determine the possible behavior of at least one other vehicle in the surrounding environment, and determine the confidence level corresponding to the possibility of the other vehicle performing the possible behavior, and control the intelligent vehicle 003 based on the determined information. When the intelligent vehicle 003 is in the autonomous driving mode, the intelligent vehicle 003 can be set to operate without human interaction.

The smart vehicle 003 may include various subsystems, such as a travel system 202, a sensor system 204, a control system 206, one or more peripheral devices 208, and a power supply 210, a computer system 212, and a user interface 216. Optionally, the smart vehicle 003 may include more or fewer subsystems, and each subsystem may include multiple elements. In addition, each subsystem and element of the smart vehicle 003 may be interconnected by wire or wirelessly.

The travel system 202 may include components that provide powered movement for the intelligent vehicle 003. In one embodiment, the travel system 202 may include an engine 218, an energy source 219, a transmission 220, and wheels/tires 221. The engine 218 may be an internal combustion engine, an electric motor, an air compression engine, or a combination of other types of engines, such as a hybrid engine consisting of a gas-oil engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine 218 converts the energy source 219 into mechanical energy.

Examples of energy source 219 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. Energy source 219 can also provide energy for other systems of smart vehicle 003.

The transmission 220 can transmit mechanical power from the engine 218 to the wheels 221. The transmission 220 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission 220 may also include other devices, such as a clutch. Among them, the drive shaft may include one or more shafts that can be coupled to one or more wheels 221.

The sensor system 204 may include several sensors that sense information about the environment around the smart vehicle 003. For example, the sensor system 204 may include a global positioning system 222 (the positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU) 224, a radar 226, a laser rangefinder 228, and a camera 230. The sensor system 204 may also include sensors of the internal systems of the monitored smart vehicle 003 (e.g., an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors may be used to detect objects and their corresponding characteristics (position, shape, direction, speed, etc.). Such detection and recognition are key functions for the safe operation of the autonomous smart vehicle 003.

Positioning system 222 can be used to estimate the geographic location of smart vehicle 003. IMU 224 is used to sense the position and orientation changes of smart vehicle 003 based on inertial acceleration. In one embodiment, IMU 224 can be a combination of an accelerometer and a gyroscope. For example, IMU 224 can be used to measure the curvature of smart vehicle 003.

Radar 226 can use radio signals to sense objects in the surrounding environment of smart vehicle 003. In some embodiments, in addition to sensing objects, radar 226 can also be used to sense the speed and/or heading of the object.

The laser rangefinder 228 can use lasers to sense objects in the environment in which the smart vehicle 003 is located. In some embodiments, the laser rangefinder 228 can include one or more laser sources, a laser scanner, and one or more detectors, among other system components.

The camera 230 may be used to capture multiple images of the surrounding environment of the smart vehicle 003. The camera 230 may be a still camera or a video camera.

The control system 206 controls the operation of the intelligent vehicle 003 and its components. The control system 206 may include various elements, including a steering system 232 , a throttle 234 , a brake unit 236 , a sensor fusion algorithm 238 , a computer vision system 240 , a path control system 242 , and an obstacle avoidance system 244 .

The steering system 232 is operable to adjust the forward direction of the intelligent vehicle 003. For example, in one embodiment, it can be a steering wheel system.

The throttle 234 is used to control the operating speed of the engine 218 and thus control the speed of the intelligent vehicle 003 .

The brake unit 236 is used to control the deceleration of the smart vehicle 003. The brake unit 236 can use friction to slow down the wheel 221. In other embodiments, the brake unit 236 can convert the kinetic energy of the wheel 221 into electric current. The brake unit 236 can also take other forms to slow down the rotation speed of the wheel 221 to control the speed of the smart vehicle 003.

Computer vision system 240 can be operated to process and analyze the images captured by camera 230 in order to identify objects and/or features in the surrounding environment of intelligent vehicle 003. The objects and/or features may include traffic signals, road boundaries and obstacles. Computer vision system 240 can use object recognition algorithms, Structure from Motion (SFM) algorithms, video tracking and other computer vision technologies. In some embodiments, computer vision system 240 can be used to map the environment, track objects, estimate the speed of objects, etc.

The route control system 242 is used to determine the driving route of the smart vehicle 003. In some embodiments, the route control system 242 can combine data from the sensor 238, the GPS 222, and one or more predetermined maps to determine the driving route for the smart vehicle 003.

The obstacle avoidance system 244 is used to identify, evaluate, and avoid or otherwise negotiate potential obstacles in the environment of the smart vehicle 003 .

Of course, in one example, the control system 206 may include additional or alternative components other than those shown and described, or may also reduce some of the components shown above.

The smart vehicle 003 interacts with external sensors, other vehicles, other computer systems or users through the peripheral device 208. The peripheral device 208 may include a wireless communication system 246, an onboard computer 248, a microphone 250 and/or a speaker 252.

In some embodiments, the peripheral device 208 provides a means for the user of the smart vehicle 003 to interact with the user interface 216. For example, the onboard computer 248 can provide information to the user of the smart vehicle 003. The user interface 216 can also operate the onboard computer 248 to receive the user's input. The onboard computer 248 can be operated through a touch screen. In other cases, the peripheral device 208 can provide a means for the smart vehicle 003 to communicate with other devices located in the vehicle. For example, the microphone 250 can receive audio (e.g., voice commands or other audio input) from the user of the smart vehicle 003. Similarly, the speaker 252 can output audio to the user of the smart vehicle 003.

The wireless communication system 246 can communicate wirelessly with one or more devices directly or via a communication network. For example, the wireless communication system 246 can use 3G cellular communication, such as CDMA, EVDO, GSM/GPRS, or 4G cellular communication, such as LTE. Or 5G cellular communication. The wireless communication system 246 can communicate with a wireless local area network (WLAN) using WiFi. In some embodiments, the wireless communication system 246 can communicate directly with the device using an infrared link, Bluetooth, or ZigBee. Other wireless protocols, such as various vehicle communication systems, for example, the wireless communication system 246 may include one or more dedicated short range communications (DSRC) devices, which may include public and/or private data communications between vehicles and/or roadside stations.

The power source 210 can provide power to various components of the smart vehicle 003. In one embodiment, the power source 210 can be a rechargeable lithium-ion or lead-acid battery. One or more battery packs of such batteries can be configured as a power source to provide power to various components of the smart vehicle 003. In some embodiments, the power source 210 and the energy source 219 can be implemented together, such as in some all-electric vehicles.

Some or all functions of the smart vehicle 003 are controlled by a computer system 212. The computer system 212 may include at least one processor 213 that executes instructions 215 stored in a non-transitory computer-readable medium such as a data storage device 214. The computer system 212 may also be a plurality of computing devices that control individual components or subsystems of the smart vehicle 003 in a distributed manner.

Processor 213 can be any conventional processor, such as commercially available CPU.Alternately, the processor can be a special-purpose device such as ASIC or other hardware-based processor.Although Fig. 3 functionally illustrates processor, memory and other elements of computer 120 in the same block, it should be understood by those skilled in the art that the processor, computer or memory can actually include multiple processors, computers or memories that may or may not be stored in the same physical shell.For example, the memory can be a hard disk drive or other storage media that is located in the shell that is different from computer 120.Therefore, reference to processor or computer will be understood to include reference to the set of processor or computer or memory that may or may not operate in parallel.Be different from using a single processor to perform the steps described herein, some components such as steering assembly and deceleration assembly can each have its own processor, and the processor only performs the calculation related to the function specific to the component.

In various aspects described herein, the processor may be located remote from the vehicle and in wireless communication with the vehicle. In other aspects, some of the processes described herein are performed on a processor disposed within the vehicle and others are performed by a remote processor, including taking the necessary steps to perform a single maneuver.

In some embodiments, data storage device 214 may include instructions 215 (e.g., program logic) that may be executed by processor 213 to perform various functions of smart vehicle 003, including those described above. Data storage device 224 may also include additional instructions, including instructions to send data to, receive data from, interact with, and/or control one or more of propulsion system 202, sensor system 204, control system 206, and peripheral device 208.

In addition to instructions 215, memory 214 may also store data such as road maps, route information, the vehicle's location, direction, speed, and other such vehicle data, as well as other information. This information may be used by smart vehicle 003 and computer system 212 during operation of smart vehicle 003 in autonomous, semi-autonomous, and/or manual modes.

The user interface 216 is used to provide information to or receive information from a user of the smart vehicle 003. Optionally, the user interface 216 may include one or more input/output devices within the set of peripheral devices 208, such as a wireless communication system 246, a vehicle computer 248, a microphone 250, and a speaker 252.

The computer system 212 can control the functions of the intelligent vehicle 003 based on inputs received from various subsystems (e.g., wireless communication system 246, travel system 202, sensor system 204, and control system 206) and from the user interface 216. For example, the computer system 212 can use the input from the wireless communication system 246 to plan the lane line at the intersection that needs to be passed in the automatic driving, and the lane line can avoid hitting the obstacles at the intersection. In some embodiments, the computer system 212 is operable to provide control for many aspects of the intelligent vehicle 003 and its subsystems.

Optionally, the computer system 212 can also receive information from other computer systems, or transfer information to other computer systems. For example, the computer system 212 can transfer the sensor data collected from the sensor system 204 of the intelligent vehicle 003 to another remote computer system, and hand it over to another computer system for processing, such as another computer system to perform data fusion on the data collected by each sensor in the sensor system 204, and then return the fused data or analysis results to the computer system 212. Optionally, the data from the computer system 212 can be transmitted to the computer system on the cloud side via the network for further processing. The network and the intermediate nodes can include various configurations and protocols, including the Internet, the World Wide Web, the intranet, a virtual private network, a wide area network, a local area network, a private network using one or more companies' proprietary communication protocols, Ethernet, WiFi and HTTP, and various combinations of the foregoing. This communication can be by any device capable of transmitting data to and from other computers, such as a modem and a wireless interface.

As described above, in some possible embodiments, the remote computer system interacting with the computer system 212 in the intelligent vehicle 003 may include a server with multiple computers, such as a load balancing server group, which exchanges information with different nodes of the network for the purpose of receiving, processing and transmitting data from the computer system 212. The server may have a processor, a memory, instructions and data, etc. For example, in some embodiments of the present application, the data of the server may include providing weather-related information. For example, the server may receive, monitor, store, update, and transmit various weather-related information. The information may include precipitation, cloud, and/or temperature information in the form of reports, radar information, forecasts, etc. The data of the server may also include high-precision map data, traffic information of the road ahead (such as real-time traffic congestion and traffic accidents, etc.), and the server may send the high-precision map data and traffic information to the computer system 212, so as to assist the intelligent vehicle 003003 to better perform automatic driving and ensure driving safety.

Optionally, one or more of the above components may be installed or associated separately from the smart vehicle 003. For example, the data storage device 214 may be partially or completely separate from the smart vehicle 003. The above components may be communicatively coupled together in a wired and/or wireless manner.

Optionally, the above components are only an example. In practical applications, the components in the above modules may be added or deleted according to actual needs. FIG. 3 should not be understood as a limitation on the embodiments of the present application.

An autonomous vehicle traveling on a road, such as the smart vehicle 003 above, can identify objects in its surrounding environment to determine adjustments to the current speed. The objects can be other vehicles, traffic control devices, or other types of objects. In some examples, each identified object can be considered independently, and based on the respective characteristics of the object, such as its current speed, acceleration, spacing from the vehicle, etc., can be used to determine the speed to be adjusted by the autonomous vehicle.

Optionally, the autonomous driving car intelligent vehicle 003 or the computing device associated with the autonomous driving intelligent vehicle 003 (such as the computer system 212, computer vision system 240, memory 214 of Figure 3) can predict the behavior of the identified object based on the characteristics of the identified object and the state of the surrounding environment (e.g., traffic, rain, ice on the road, etc.). Optionally, each identified object depends on the behavior of each other, so all the identified objects can also be considered together to predict the behavior of a single identified object. The intelligent vehicle 003 can adjust its speed based on the predicted behavior of the identified object. In other words, the autonomous driving car can determine what stable state the vehicle will need to be adjusted to (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the object. In this process, other factors can also be considered to determine the speed of the intelligent vehicle 003, such as the lateral position of the intelligent vehicle 003 in the road on which it is traveling, the curvature of the road, the proximity of static and dynamic objects, etc.

In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device may also provide instructions to modify the steering angle of the smart vehicle 003 so that the autonomous vehicle follows a given trajectory and/or maintains a safe lateral and longitudinal distance from objects near the autonomous vehicle (e.g., cars in adjacent lanes on the road).

The above-mentioned intelligent vehicle 003 can be a car, a truck, a motorcycle, a bus, a ship, an airplane, a helicopter, a lawn mower, an entertainment vehicle, an amusement park vehicle, construction equipment, a tram, a golf cart, a train, and a cart, etc., and the embodiments of the present application do not make any special limitations.

It can be understood that the functional diagram of the smart vehicle 003 in Figure 3 is only an exemplary implementation in the embodiment of the present application. The smart vehicle 003 in the embodiment of the present application includes but is not limited to the above structure.

The vehicle turning route planning method described in the present application is described in detail below in conjunction with the accompanying drawings. Figure 4 is a method flow chart of an embodiment of the vehicle turning route planning method provided by the present application. Although the present application provides the method operation steps as shown in the following embodiments or drawings, more or fewer operation steps may be included in the method based on routine or no creative labor. In the steps where there is no necessary causal relationship logically, the execution order of these steps is not limited to the execution order provided in the embodiments of the present application. When the method is executed in the actual vehicle turning route planning process or the device, it can be executed in the method sequence shown in the embodiments or drawings or in parallel (for example, in a parallel processor or multi-threaded processing environment).

Specifically, an embodiment of a vehicle turning route planning method provided by the present application is shown in FIG4 , and the method may include:

S101: Determine an entry point and an exit point for entering a road intersection area from a first direction and a second direction, and an entry direction of the entry point, respectively.

In an embodiment of the present application, the road intersection area may include an area where multiple roads intersect. After a vehicle enters the road intersection area, it can go straight or turn according to the instructions of the traffic lights to avoid conflicts between vehicles. Figures 5 and 6 show a schematic diagram of the road surface of the road intersection area 501. As shown in the figure, the road intersection area 501 is respectively connected to multiple roads, and each road also includes multiple lane lines. In an embodiment of the present application, the first direction and the second direction may include the travel directions of two roads entering the road intersection area 501. The first direction and the second direction may include, for example, two relative directions, such as the first direction and the second direction shown in Figure 5 are relative directions, and may also include two adjacent directions, such as the first direction and the second direction shown in Figures 9 and 10 are adjacent directions. This application is not limited here.

In the embodiment of the present application, the entry point, the exit point and the entry direction of the entry point entering the road intersection area 501 from the first direction and the second direction can be determined respectively. The vehicle turns in the road intersection area 501 including left turns and right turns, wherein the left turn situation can also be divided into the situation where there is a left turn waiting lane and the situation where there is no left turn waiting lane.

In one embodiment of the present application, in the case of a left-turn waiting lane, the endpoint of the right lane line of the left-turn waiting lane and its entry direction can be used as the entry point and its entry direction. Among them, the entry direction of the endpoint of the right lane line can include the tangent direction of the endpoint along the right lane line. As shown in Figure 5, the first direction and the second direction are relative directions, and the first direction and the second direction are both provided with a left-turn waiting lane 503 in the road intersection area 501. In the case of planning the turning route in the first direction and the second direction, if the lane line closest to the other party does not conflict, the generated turning route will not conflict. Based on this, in one embodiment of the present application, in the case of a left-turn waiting lane 503 in the first direction and the second direction in the road intersection area 501, the endpoint of the right lane line of the left-turn waiting lane 503 in the first direction and the second direction and its entry direction can be used as the entry point and its entry direction respectively. As shown in FIG5 , in the first direction, point B and the approach direction of point B can be used as the approach point and approach direction, and in the second direction, point C and the approach direction of point C can be used as the approach point and approach direction. In another embodiment of the present application, in the case where there is no left-turn waiting lane, the endpoint of the rightmost lane of the left-turn lane can be used as the approach point, and the corresponding approach direction is the lane's passing direction. As shown in FIG6 , in the case where there is no left-turn waiting lane, point B can be used as the approach point of the first direction, and the corresponding exit point is the first direction.

In the embodiment of the present application, the exit point is the end point of the turning lane line. Similarly, based on the premise that if the lane line closest to the other party does not conflict, the generated turning route will not conflict, in the case of a left turn, the end point of the rightmost lane line in the exit direction can be used as the exit point. As shown in FIG5 , point E can be used as the exit point for turning left from the first direction and exiting the road intersection area 501. Of course, in other embodiments, any point in the boundary area between the road intersection area 501 and the exit lane can also be used as the exit point, and the present application does not limit this.

S103: Predicting, at least based on the entry point and the entry direction, whether a conflict will occur when different vehicles enter the road intersection area from the first direction and the second direction at the same time and turn.

In the embodiment of the present application, in the process of determining the turning route, it is possible to first predict whether a conflict will occur when the vehicle enters the road intersection area 501 from the first direction and the second direction at the same time and turns, which plays an important role in determining a non-conflicting turning route. The following describes the prediction of whether a conflict will occur in different turning scenarios through multiple embodiments.

In one embodiment of the present application, predicting whether a conflict occurs when different vehicles enter the road intersection area 501 from the first direction and the second direction at the same time and turn based on at least the entry point and the entry direction may include:

S201: When left-turn lanes in the first direction and the second direction are provided in the road intersection area, endpoints of right lane lines of the left-turn lanes in the first direction and the second direction and their entry directions are respectively used as entry points and their entry directions.

S203: Predict whether a conflict will occur when different vehicles enter the road intersection area from the first direction and the second direction at the same time and turn, based on the positional relationship between the entry points in the first direction and the second direction and the extension lines of the entry points along the entry directions.

The embodiment of the present application provides a method for predicting whether a conflict occurs when the left-turn lane 503 in the first direction and the second direction is set in the road intersection area 501. Specifically, whether a conflict occurs can be predicted based on the positional relationship between the entry point in the first direction and the second direction and the extension line of the entry point along the entry direction. The above embodiment is explained below by a specific example. Figure 7 is a simplified schematic diagram of Figure 5, wherein the gray area in Figure 7 is the road intersection area 501. Point B in Figure 7 is the entry point in the first direction, and the tangent line of point B along the left-turn lane line in Figure 7 is the entry direction of point B, and the extension line of point B along the entry direction is the first ray 701 in Figure 7. Point C in Figure 7 is the entry point in the second direction. Similarly, the tangent line of point C along the left-turn lane line is the entry direction of point C, and the extension line of point C along the entry direction is the second ray 703 in Figure 7. That is to say, in the embodiment of the present application, it is possible to predict whether a conflict will occur in the left-turn lanes in the first direction and the second direction based on the positional relationship between point B, the first ray 701 starting from point B, point C, and the second ray 703 starting from point C.

In the embodiment of the present application, when there is a left-turn waiting lane, the entry point and its entry direction are relatively easy to obtain data, and whether a conflict will occur can be predicted based on simple data, with high prediction efficiency.

In one embodiment of the present application, the predicting whether a conflict occurs when different vehicles simultaneously enter the road intersection area from the first direction and the second direction and turn may include:

S301: Determine a ray starting from the entry point in the first direction and extending along the entry direction.

S303: When the entry point in the second direction is located on the left side of the ray, it is predicted that a conflict occurs.

The above embodiment is illustrated below with reference to FIG. 7 . As shown in FIG. 7 , point C is the entry point from the second direction. It can be found that point C is on the left side of the first ray 701 . Therefore, it can be predicted that a conflict will occur when different vehicles enter the road intersection area 501 from the first direction and the second direction at the same time and turn.

In one embodiment of the present application, the predicting whether a conflict occurs when different vehicles simultaneously enter the road intersection area from the first direction and the second direction and turn may include:

S401: Determine a first ray starting from the entry point in the first direction and extending along the entry direction, and a second ray starting from the entry point in the second direction and extending along the entry direction;

S403: When it is determined that the first ray intersects with the second ray, a conflict is predicted.

The above embodiment is described below with reference to FIG. 7 . As shown in FIG. 7 , the first ray 701 is a light-colored dotted arrow starting from point B, and the second ray 703 is a light-colored dotted arrow starting from point C. As shown in FIG. 7 , the first ray 701 and the second ray 703 intersect at point H. Then, it can be predicted that a conflict will occur when different vehicles enter the road intersection area 501 from the first direction and the second direction at the same time and turn.

It can be seen that the road condition in Figure 7 satisfies the above two conditions for judging conflicts at the same time. It should be noted that in the technical solution of the present application, when there is a left-turn waiting lane, if the conditions for judging conflicts in any of the above embodiments are met, it can be predicted that conflicts will occur when different vehicles enter the road intersection area from the first direction and the second direction at the same time and turn.

In another embodiment of the present application, predicting whether a conflict occurs when different vehicles enter the road intersection area 501 from the first direction and the second direction at the same time and turn based on at least the entry point and the entry direction includes:

S501: respectively determining pre-fitted turning lane lines in the first direction and the second direction, wherein the pre-fitted turning lane lines are determined according to the entry point, the exit point and the middle point, wherein the entry point includes the endpoint of the rightmost or leftmost lane line, and the middle point includes the intersection of a ray extending from the entry point along the entry direction and a ray extending from the exit point in the opposite direction of the exit direction;

S503: When the pre-fitted turning lane lines in the first direction and the second direction intersect, a conflict is predicted.

The embodiment of the present application provides a general method for predicting conflicts, which is particularly suitable for application scenarios such as when there is no left-turn waiting lane in the first direction and the second direction, and when judging whether there is a conflict between left turns and left turns, or between left turns and right turns, or between right turns and right turns. In the embodiment of the present application, the pre-fitted turning lane lines in the first direction and the second direction can be determined respectively according to the entry point, the exit point and the intermediate point. In one embodiment, the intermediate point can include the intersection of a ray extending from the entry point along the entry direction and a ray extending from the exit point in the opposite direction along the exit direction. In other embodiments, the number of the intermediate points is not limited, and can also include any point in the road intersection area 501, which is not limited in the present application. In the embodiment of the present application, the pre-fitted turning lane lines can be generated by drawing methods such as Bezier curves and spline curves, which are not limited in the present application. FIG8 shows the pre-fitted turning lane line 801 and the pre-fitted turning lane line 803 generated from the first direction and the second direction in the absence of a left-turn waiting lane. As shown in FIG8, the pre-fitted turning lane line 801 and the pre-fitted turning lane line 803 in the first direction and the second direction intersect, thereby predicting a conflict. FIG9 shows the pre-fitted turning lane line 901 and the pre-fitted turning lane line 903 generated in the scenario of turning left in the first direction and turning right in the second direction. As shown in FIG9, the pre-fitted left-turn lane line in the first direction and the pre-fitted right-turn lane line 901 and the pre-fitted turning lane line 903 in the second direction intersect, thereby predicting a conflict. FIG10 shows the pre-fitted turning lane line 1001 and the pre-fitted turning lane line 1003 generated from turning right in the first direction and turning right in the second direction. As shown in FIG10, the pre-fitted turning lane line 1001 and the pre-fitted turning lane line 1003 in the first direction and the second direction intersect, thereby predicting a conflict.

S105: When the prediction result indicates that a conflict occurs, an entry direction point is determined in the road intersection area according to the entry point, the exit point, and the entry direction, and a turning route is determined according to the entry direction point.

In the embodiment of the present application, when the prediction result is that a conflict occurs, an entry direction point can be set in the road intersection area 501 according to the entry point and the exit point, that is, the entry direction. The entry direction point is used as a key point for adjusting the turning route, which can avoid conflicts between the generated turning routes.

In one embodiment of the present application, determining the entry direction point in the road intersection area according to the entry point, the exit point and the entry direction, and determining the turning route according to the entry direction point may include:

S601: Select at least one entry direction point from a line segment connecting the entry points in the first direction and the second direction;

S603: Determine a left-turn curve according to the entry point in the first direction, the exit point, and the at least one entry direction point, and determine a left-turn curve on the other side of the left-turn route according to the left-turn curve.

The above-mentioned embodiment method is described below by FIG. 7. At least one entry direction point is selected from the line segment connecting the entry points B and C in two directions, and the entry direction point G is selected in FIG. 7. In the embodiment of the present application, the left-turn curve can be determined according to the entry point B in the first direction, the exit point E and the entry direction point G. In some embodiments, B, E, and G can be connected by drawing methods such as Bezier curves and spline curves to generate the left-turn curve. The present application does not limit the curve drawing method. After the left-turn curve on the side of point B is generated, the left-turn curve on the side of point A in the left-turn route can be determined according to the left-turn curve. In one embodiment of the present application, a ray parallel to BC can be determined, and a point I is taken on the ray so that the length of AI is equal to the length of BG. Similarly, a ray extending in the opposite direction of the exit direction with the exit point F on the other side as the starting point is determined, and the ray intersects with the ray AI at point M. Based on this, the same curve drawing method can be used to connect A, I, and F to generate the left-turn curve on the other side. Of course, A, I, M, and F can also be connected to generate the left-turn curve on the other side.

In another embodiment of the present application, determining the left-turn curve according to the entry point, the exit point, and the at least one entry direction point in the first direction may include:

S701: Determine a third ray starting from an exit point and extending in the opposite direction of the exit direction, wherein the exit point includes an endpoint of the rightmost lane line in the exit direction;

S703: Determine a fourth ray starting from the entry point in the first direction and extending toward the entry point in the second direction;

S705: Determine an intersection point between the third ray and the fourth ray;

S707: Determine a left-turn curve according to the entry point in the first direction, the exit point, the intersection point of the third ray and the fourth ray, and the at least one entry direction point.

The above embodiment is described below with reference to FIG. 7. In the case of a left-turn waiting lane, first determine a third ray 705 starting from the exit point E and extending in the opposite direction of the exit direction. Determine a fourth ray 707 starting from the entry point B in the first direction and extending toward the entry point C in the second direction. Determine the intersection point L of the third ray 705 and the fourth ray 707. In one embodiment of the present application, a left-turn curve can be determined based on the entry point B in the first direction, the exit point E, the entry direction point G, and the intersection point L. On the basis of the previous embodiment, adding the intersection point L to determine the left-turn curve can further improve the accuracy of the left-turn curve.

The method for generating a left-turn route provided in the embodiment of the present application is not only applicable to the conflict situation where the second entry point is on the left side of the ray that starts from the entry point in the first direction and extends along its entry direction, but also to the conflict situation where the first ray intersects with the second ray.

In another embodiment of the present application, determining an entry direction point in the road intersection area according to the entry point, the exit point and the entry direction, and determining a turning route according to the entry direction point includes:

S801: Select at least one entry direction point from a triangle formed by the entry points in the first direction and the second direction and the intersection points of the first ray and the second ray;

S803: Determine a left-turn curve according to the entry point in the first direction, the exit point, and the at least one entry direction point, or according to the entry point in the first direction, the exit point, the intersection of the third ray and the fourth ray, and the at least one entry direction point, and determine a left-turn curve on the other side of the left-turn route according to the left-turn curve.

The embodiment of the present application is applicable to the case where there is a left-turning route to be turned, and the ray extending along the entry direction of the entry point in the first direction intersects with the ray extending along the extension direction of the entry point in the second direction. As shown in FIG7, in the embodiment of the present application, at least one entry direction point can be selected from the triangle BCH formed by the entry point B in the first direction, the entry point C in the second direction, and the intersection H of the first ray 701 and the second ray 703. In the embodiment of the present application, the left-turn curve can be determined according to the entry point B in the first direction, the exit point E, and the at least one entry direction point. Similarly, in another embodiment of the present application, the left-turn curve can be determined according to the entry point B in the first direction, the exit point E, the at least one entry direction point G, and the intersection L. The determination method of L can refer to the description of S701-S705, which will not be repeated here. Similarly, after the left-turn curve on the B point side is generated, the left-turn curve on the A point side can be generated according to the left-turn curve on the B point side. In the process of determining the left-turn curve on the side of point A, the vector between point B and the at least one entry direction point can be determined, and then, at point A, the vector is used to determine at least one entry direction point corresponding to point A, and then the left-turn curve on the side of point A is generated using the same curve drawing method.

In one embodiment of the present application, determining the entry direction point in the road intersection area according to the entry point, the exit point and the entry direction, and determining the turning route according to the entry direction point may include:

S901: Select at least one entry direction point from an area formed by the intersection of the pre-fitted turning lane lines in the first direction and the second direction.

S903: Determine a turning curve according to the entry point in the first direction, the exit point, and the at least one entry direction point, and determine a turning curve on the other side of the turning route according to the turning curve.

The embodiment of the present application is applicable to the scenario of pre-fitting turning lanes. In the process of planning the turning curve in this scenario, at least one entry direction point can be selected in the area formed by the intersection of the pre-fitting turning lane lines in the first direction and the second direction. As shown in Figure 8, the pre-fitting turning lane lines in the first direction and the second direction intersect at points A and B. According to the technical solution provided by the above embodiment, for example, at least one point can be selected on the lower arc 807 of AB as the entry direction point of the first direction, and point C is selected in Figure 8. In addition, at least one point can be selected on the upper arc 805 of AB as the entry direction point of the second direction, and point D is selected in Figure 8. After determining the entry direction point, the left turn curves in the first direction and the second direction as shown in Figure 11 can be planned according to the entry point, the exit point and the entry direction points C and D. In the same way, the left turn curve in the first direction and the right turn curve in the second direction as shown in Figure 12 can be planned, and the right turn curve in the first direction and the right turn curve in the second direction as shown in Figure 13 can also be planned. It should be noted that the number and position of the entry direction points are not limited to the above examples. For example, the entry direction points of the first direction and the second direction may be determined to be the same point, and the two generated turning lane lines are tangent, which does not constitute a conflict.

In an embodiment of the present application, when the prediction results include different vehicles entering the road intersection area 501 from the first direction and the second direction at the same time and turning without conflict, a turning route can also be planned. In an embodiment of the present application, when the prediction of the pre-fitted turning lane lines of the first direction and the second direction does not cause a conflict, the pre-fitted turning lane lines of the first direction and the second direction can be used as the final turning lane lines of the first direction and the second direction, respectively. Similarly, the turning lane lines can be marked in the high-precision map later, or the vehicle can be controlled to travel according to the turning lane lines.

In another embodiment of the present application, when left-turn lanes are provided in the first direction and the second direction, when it is predicted that no conflict will occur based on the positional relationship between the entry point in the first direction and the second direction and the extension line of the entry point along the entry direction, the turning route can be determined based on the entry point, the exit point and the entry direction.

The above embodiment is explained below by a specific example. FIG. 14 is a simplified schematic diagram of FIG. 5. When it is determined that there is no conflict, in the process of determining the turning lane line in the first direction, as shown in FIG. 14, a third ray 705 starting from the exit point E and extending in the opposite direction of the exit direction and a fifth ray 1401 starting from the entry point B and extending in the entry direction can be determined. The intersection point P of the third ray 705 and the fifth ray 1401 is determined, and the left turn lane line in the first direction is determined according to the entry point B, the exit point E, and the intersection point P. It should be noted that Bezier curves can be used to draw lane lines, and spline curves can also be used to draw lane lines. The embodiment of the present application does not impose any restrictions on the tool for drawing lane lines.

The vehicle turning route planning method provided in the embodiment of the present application can predict whether a conflict will occur when different vehicles enter the road intersection area from the first direction and the second direction at the same time and turn, based at least on the entry point and the entry direction. When the prediction result is that a conflict occurs, the entry direction point is determined, and the turning route is determined based on the entry direction point. It can be seen that the technical solution of the embodiment of the present application can not only realize the automatic prediction of whether a conflict will occur during the vehicle turning process, but also automatically generate a new entry direction point. The entry direction point is used as a key point for determining the turning route, and can optimize the turning route so that the generated turning route does not conflict with other turning routes. The vehicle turning route planning method provided in the embodiment of the present application can not only replace the method of manually marking the turning route in the high-precision map in the related technology, reduce the turning route generation cost, and improve the turning route generation efficiency, but also provide a reliable technical solution for the on-site route planning of unmanned vehicles.

On the other hand, the present application also provides a high-precision map annotation method, including:

Determine the turning route using the vehicle turning route planning method described in any of the above embodiments;

The turning route is marked on the high-precision map.

The embodiment of the present application can apply the turning route planning method to high-precision map annotation, which can replace the manual annotation method, improve the annotation efficiency, and reduce the annotation cost.

On the other hand, the present application also provides a vehicle driving control method, comprising:

Determine the turning route using the vehicle turning route planning method described in any of the above embodiments;

The vehicle is controlled to travel according to the turning route.

The embodiment of the present application can apply the turning route planning method to on-site route planning of unmanned vehicles, and can quickly and accurately provide unmanned vehicles with turning routes that avoid conflicts.

On the other hand, the present application further provides a vehicle turning route planning device, as shown in FIG15 , the device 1500 includes:

An information determination module 1501 is used to determine an entry point and an exit point of a road intersection area from a first direction and a second direction, and an entry direction of the entry point;

A conflict prediction module 1503, configured to predict, at least based on the entry point and the entry direction, whether a conflict will occur when different vehicles enter the road intersection area from the first direction and the second direction at the same time and turn;

The route determination module 1505 is used to determine an entry direction point in the road intersection area according to the entry point, the exit point and the entry direction when the prediction result is that a conflict occurs, and determine a turning route according to the entry direction point.

Optionally, in one embodiment of the present application, the conflict prediction module is specifically used to:

In the case where left-turn lanes in the first direction and the second direction are provided in the road intersection area, the endpoints of the right lane lines of the left-turn lanes in the first direction and the second direction and their entry directions are respectively used as entry points and their entry directions;

According to the positional relationship between the entry points in the first direction and the second direction and the extension lines of the entry points along the entry directions, it is predicted whether a conflict will occur when different vehicles enter the road intersection area from the first direction and the second direction at the same time and turn.

Optionally, in one embodiment of the present application, the conflict prediction module is further used to: include:

Determine a ray starting from the entry point in the first direction and extending along the entry direction;

If the approach point in the second direction is located on the left side of the ray, a conflict is predicted.

Optionally, in one embodiment of the present application, the conflict prediction module is further used to: include:

Determine a first ray starting from the entry point in the first direction and extending along the entry direction, and a second ray starting from the entry point in the second direction and extending along the entry direction;

In the event that it is determined that the first ray intersects the second ray, a conflict is predicted.

Optionally, in one embodiment of the present application, the conflict prediction module is specifically used to:

Determine pre-fitted turning lane lines in the first direction and the second direction respectively, wherein the pre-fitted turning lane lines are determined according to the entry point, the exit point and the middle point, wherein the entry point includes the endpoint of the rightmost or leftmost lane line, and the middle point includes the intersection of a ray extending from the entry point along the entry direction and a ray extending from the exit point in the opposite direction of the exit direction;

When the pre-fitted turning lane lines in the first direction and the second direction intersect, a conflict is predicted.

Optionally, in one embodiment of the present application, the route determination module is specifically configured to include:

Select at least one entry direction point from a line segment connecting the entry points in the first direction and the second direction;

A left-turn curve is determined according to the entry point in the first direction, the exit point, and the at least one entry direction point, and a left-turn curve on the other side of the left-turn route is determined according to the left-turn curve.

Optionally, in one embodiment of the present application, the route determination module is specifically configured to include:

Select at least one entry direction point from a triangle formed by the entry points in the first direction and the second direction and the intersection point of the first ray and the second ray;

A left-turn curve is determined according to the entry point in the first direction, the exit point, and the at least one entry direction point, and a left-turn curve on the other side of the left-turn route is determined according to the left-turn curve.

Optionally, in one embodiment of the present application, the route determination module is further used to:

Determine a third ray starting from the exit point and extending in the opposite direction of the exit direction, wherein the exit point includes an endpoint of the rightmost lane line in the exit direction;

Determine a fourth ray starting from the entry point in the first direction and extending toward the entry point in the second direction;

determining an intersection point between the third ray and the fourth ray;

A left-turn curve is determined according to the entry point of the first direction, the exit point, the intersection point of the third ray and the fourth ray, and the at least one entry direction point.

Optionally, in one embodiment of the present application, the root route determination module is specifically used to:

Select at least one entry direction point from an area formed by the intersection of the pre-fitted turning lane lines in the first direction and the second direction;

A turning curve is determined according to the entry point in the first direction, the exit point and the at least one entry direction point, and a turning curve on the other side of the turning route is determined according to the turning curve.

On the other hand, the present application further provides a high-precision map annotation device, comprising the vehicle turning route planning device and the annotation module described in any of the above embodiments, wherein:

The marking module is used to mark the turning route in the high-precision map.

On the other hand, the present application further provides a vehicle driving control device, comprising the vehicle turning route planning device and the vehicle control module described in any of the above embodiments, wherein:

The vehicle control module is used to control the vehicle to travel along the turning route.

On the other hand, the present application also provides a vehicle for driving according to a high-precision map annotated by the high-precision map annotation method described in the above embodiment, or driving according to a turning route determined by the vehicle driving control method described in the above embodiment.

An embodiment of the present application provides a vehicle turning route planning device, as shown in FIG16 , the device includes: a processor and a memory for storing processor executable instructions; wherein the processor is configured to implement the above method when executing the instructions.

An embodiment of the present application provides a non-volatile computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the above method is implemented.

An embodiment of the present application provides a computer program product, including a computer-readable code, or a non-volatile computer-readable storage medium carrying the computer-readable code. When the computer-readable code runs in a processor of an electronic device, the processor in the electronic device executes the above method.

A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disc (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing.

The computer-readable program instructions or codes described herein can be downloaded from a computer-readable storage medium to each computing/processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and/or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and/or edge servers. The network adapter card or network interface in each computing/processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing/processing device.

The computer program instructions for performing the operation of the present application can be assembly instructions, instruction set architecture (Instruction Set Architecture, ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages-such as Smalltalk, C++, etc., and conventional procedural programming languages-such as "C" language or similar programming languages. Computer-readable program instructions can be executed completely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer, partially on the remote computer, or completely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network-including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, using an Internet service provider to connect through the Internet). In some embodiments, by utilizing the state information of computer-readable program instructions to personalize an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA) or a programmable logic array (PLA), the electronic circuit can execute the computer-readable program instructions to implement various aspects of the present application.

Various aspects of the present application are described herein with reference to the flowcharts and/or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each box in the flowchart and/or block diagram and the combination of each box in the flowchart and/or block diagram can be implemented by computer-readable program instructions.

These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions/actions specified in one or more boxes in the flowchart and/or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and/or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions/actions specified in one or more boxes in the flowchart and/or block diagram.

Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions/actions specified in one or more boxes in the flowchart and/or block diagram.

The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the device, system, method and computer program product according to multiple embodiments of the present application. In this regard, each square frame in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of the module, program segment or instruction includes one or more executable instructions for realizing the logical function of the specification. In some alternative implementations, the functions marked in the square frame can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square frames can actually be executed substantially in parallel, and they can also be executed in the opposite order sometimes, depending on the functions involved.

It should also be noted that each box in the block diagram and/or flowchart, and the combination of boxes in the block diagram and/or flowchart, can be implemented by hardware (such as a circuit or ASIC (Application Specific Integrated Circuit)) that performs the corresponding function or action, or can be implemented by a combination of hardware and software, such as firmware.

Although the present invention is described herein in conjunction with various embodiments, in the process of implementing the claimed invention, those skilled in the art may understand and implement other variations of the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple situations. A single processor or other unit may implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (29)

1. A vehicle turn route planning method, comprising:

determining an entry point, an exit point and an entry direction of the entry point from a first direction and a second direction into a road junction area respectively;

predicting whether collision occurs when different vehicles simultaneously enter the road junction area from the first direction and the second direction and turn according to at least the entry point and the entry direction;

under the condition that the prediction result is that collision is generated, determining an entry direction point in the road intersection area according to the entry point, the exit point and the entry direction, and determining a turning route according to the entry direction point; the entering direction point is used for adjusting the turning route so as to avoid collision among generated turning routes; the turning route passes through the entry direction point.

2. The method of claim 1, wherein predicting whether a collision occurs in a case where different vehicles simultaneously enter the road junction area from the first direction and the second direction and turn based on at least the entry point and the entry direction comprises:

under the condition that a left-turning lane in the first direction and the second direction is arranged in the road intersection area, respectively taking an end point of a right lane line of the left-turning lane in the first direction and the second direction and a driving-in direction thereof as a driving-in point and a driving-in direction thereof;

According to the positional relationship between the entry point in the first direction and the second direction and the extension line of the entry point in the entry direction thereof, it is predicted whether or not a collision occurs in the case where different vehicles simultaneously enter the road junction area from the first direction and the second direction and turn.

3. The method of claim 2, wherein predicting whether a collision occurs if a different vehicle is driving into the roadway intersection area and turning from the first direction and the second direction simultaneously comprises:

determining a ray which takes an entry point in the first direction as a starting point and extends along the entry direction;

in the case where the entry point in the second direction is located on the left side of the ray, a collision is predicted.

4. The method of claim 2, wherein predicting whether a collision occurs if a different vehicle is driving into the roadway intersection area and turning from the first direction and the second direction simultaneously comprises:

determining a first ray extending in the entry direction of the first ray with the entry point in the first direction as a starting point, and a second ray extending in the entry direction of the second ray with the entry point in the second direction as a starting point;

In the event that it is determined that the first ray intersects the second ray, a conflict is predicted.

5. The method of claim 1, wherein predicting whether a collision occurs in a case where different vehicles simultaneously enter the road junction area from the first direction and the second direction and turn based on at least the entry point and the entry direction comprises:

determining a pre-fit turning lane line of the first direction and the second direction respectively, wherein the pre-fit turning lane line is determined according to the entry point, the exit point and an intermediate point, the entry point comprises an endpoint of a rightmost or leftmost lane line, and the intermediate point comprises an intersection point of a ray of the entry point extending along the entry direction and a ray of the exit point extending reversely along the exit direction;

in the case where the pre-fitted turning lane lines of the first direction and the second direction intersect, a collision is predicted.

6. The method according to claim 3 or 4, wherein the determining an entry direction point in the road junction area according to the entry point, the exit point, and the entry direction, and determining a turning route according to the entry direction point, comprises:

Selecting at least one entry direction point from a line segment connecting the entry points in the first direction and the second direction;

and determining a left turn curve according to the entry point, the exit point and the at least one entry direction point in the first direction, and determining a left turn curve on the other side of the left turn route according to the left turn curve.

7. The method of claim 4, wherein the determining an entry direction point within the road junction area based on the entry point, the exit point, and the entry direction, and determining a turn route based on the entry direction point, comprises:

selecting at least one entry direction point from a triangle formed by the entry points of the first direction and the second direction and the intersection point of the first ray and the second ray;

and determining a left turn curve according to the entry point, the exit point and the at least one entry direction point in the first direction, and determining a left turn curve on the other side of the left turn route according to the left turn curve.

8. The method of claim 6, wherein the determining a left turn curve from the entry point, the exit point, and the at least one entry direction point of the first direction comprises:

Determining a third ray which takes an exit point as a starting point and extends along the opposite direction of the exit direction, wherein the exit point comprises an end point of a lane line at the rightmost side in the exit direction;

determining a fourth ray which takes the entry point in the first direction as a starting point and extends towards the entry point in the second direction;

determining an intersection point of the third ray and the fourth ray;

and determining a left turning curve according to the entry point, the exit point, the intersection point of the third ray and the fourth ray and the at least one entry direction point of the first direction.

9. The method of claim 7, wherein the determining a left turn curve from the entry point, the exit point, and the at least one entry direction point of the first direction comprises:

determining a third ray which takes an exit point as a starting point and extends along the opposite direction of the exit direction, wherein the exit point comprises an end point of a lane line at the rightmost side in the exit direction;

determining a fourth ray which takes the entry point in the first direction as a starting point and extends towards the entry point in the second direction;

determining an intersection point of the third ray and the fourth ray;

and determining a left turning curve according to the entry point, the exit point, the intersection point of the third ray and the fourth ray and the at least one entry direction point of the first direction.

10. The method of claim 5, wherein the determining an entry direction point within the road junction area based on the entry point, the exit point, and the entry direction, and determining a turn route based on the entry direction point, comprises:

selecting at least one entering direction point from a region formed by intersecting the pre-fit turning lane lines in the first direction and the second direction;

and determining a turning curve according to the entry point, the exit point and the at least one entry direction point in the first direction, and determining a turning curve on the other side of the turning route according to the turning curve.

11. The high-precision map labeling method is characterized by comprising the following steps of:

determining the turning route using the vehicle turning route planning method according to any one of claims 1-10;

the turning route is marked in a high-precision map.

12. A vehicle travel control method characterized by comprising:

determining the turning route using the vehicle turning route planning method according to any one of claims 1-10;

and controlling the vehicle to run according to the turning route.

13. A vehicle turn route planning device, characterized by comprising:

The information determining module is used for determining an entry point and an exit point which enter the road intersection area from the first direction and the second direction and the entry direction of the entry point respectively;

the conflict prediction module is used for predicting whether a conflict occurs when different vehicles simultaneously enter the road intersection area from the first direction and the second direction and turn according to at least the entry point and the entry direction;

the route determining module is used for determining an entry direction point in the road intersection area according to the entry point, the exit point and the entry direction and determining a turning route according to the entry direction point under the condition that the prediction result is that the collision is generated; the entering direction point is used for adjusting the turning route so as to avoid collision among generated turning routes; the turning route passes through the entry direction point.

14. The apparatus of claim 13, wherein the collision prediction module is specifically configured to:

under the condition that a left-turning lane in the first direction and the second direction is arranged in the road intersection area, respectively taking an end point of a right lane line of the left-turning lane in the first direction and the second direction and a driving-in direction thereof as a driving-in point and a driving-in direction thereof;

According to the positional relationship between the entry point in the first direction and the second direction and the extension line of the entry point in the entry direction thereof, it is predicted whether or not a collision occurs in the case where different vehicles simultaneously enter the road junction area from the first direction and the second direction and turn.

15. The apparatus of claim 14, wherein the collision prediction module is further configured to: :

determining a ray which takes an entry point in the first direction as a starting point and extends along the entry direction;

in the case where the entry point in the second direction is located on the left side of the ray, a collision is predicted.

16. The apparatus of claim 14, wherein the collision prediction module is further configured to: :

determining a first ray extending in the entry direction of the first ray with the entry point in the first direction as a starting point, and a second ray extending in the entry direction of the second ray with the entry point in the second direction as a starting point;

in the event that it is determined that the first ray intersects the second ray, a conflict is predicted.

17. The apparatus of claim 13, wherein the collision prediction module is specifically configured to:

Determining a pre-fit turning lane line of the first direction and the second direction respectively, wherein the pre-fit turning lane line is determined according to the entry point, the exit point and an intermediate point, the entry point comprises an endpoint of a rightmost or leftmost lane line, and the intermediate point comprises an intersection point of a ray of the entry point extending along the entry direction and a ray of the exit point extending reversely along the exit direction;

in the case where the pre-fitted turning lane lines of the first direction and the second direction intersect, a collision is predicted.

18. The apparatus according to claim 15 or 16, wherein the route determination module is specifically configured to:

selecting at least one entry direction point from a line segment connecting the entry points in the first direction and the second direction;

and determining a left turn curve according to the entry point, the exit point and the at least one entry direction point in the first direction, and determining a left turn curve on the other side of the left turn route according to the left turn curve.

19. The apparatus according to claim 16, wherein the route determination module is specifically configured to:

selecting at least one entry direction point from a triangle formed by the entry points of the first direction and the second direction and the intersection point of the first ray and the second ray;

And determining a left turn curve according to the entry point, the exit point and the at least one entry direction point in the first direction, and determining a left turn curve on the other side of the left turn route according to the left turn curve.

20. The apparatus of claim 18, wherein the route determination module is further configured to:

determining a third ray which takes an exit point as a starting point and extends along the opposite direction of the exit direction, wherein the exit point comprises an end point of a lane line at the rightmost side in the exit direction;

determining a fourth ray which takes the entry point in the first direction as a starting point and extends towards the entry point in the second direction;

determining an intersection point of the third ray and the fourth ray;

and determining a left turning curve according to the entry point, the exit point, the intersection point of the third ray and the fourth ray and the at least one entry direction point of the first direction.

21. The apparatus of claim 19, wherein the route determination module is further configured to:

determining a third ray which takes an exit point as a starting point and extends along the opposite direction of the exit direction, wherein the exit point comprises an end point of a lane line at the rightmost side in the exit direction;

determining a fourth ray which takes the entry point in the first direction as a starting point and extends towards the entry point in the second direction;

Determining an intersection point of the third ray and the fourth ray;

and determining a left turning curve according to the entry point, the exit point, the intersection point of the third ray and the fourth ray and the at least one entry direction point of the first direction.

22. The apparatus of claim 17, wherein the route determination module is specifically configured to:

selecting at least one entering direction point from a region formed by intersecting the pre-fit turning lane lines in the first direction and the second direction;

and determining a turning curve according to the entry point, the exit point and the at least one entry direction point in the first direction, and determining a turning curve on the other side of the turning route according to the turning curve.

23. A high-precision map labeling device, which is characterized by comprising the vehicle turning route planning device and the labeling module according to any one of claims 13-22, wherein,

and the marking module is used for marking the turning route in the high-precision map.

24. A vehicle travel control apparatus comprising the vehicle turning route planning apparatus according to any one of claims 13 to 22 and a vehicle control module, wherein,

And the vehicle control module is used for controlling the vehicle to run according to the turning route.

25. A vehicle for traveling on a turning route marked by the high-definition map marking method according to claim 11 or traveling on a turning route determined by the vehicle traveling control method according to claim 12.

26. A vehicle turn route planning device, characterized by comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to implement the method of any of claims 1-12 when executing the instructions.

27. A non-transitory computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the method of any of claims 1-12.

28. A computer program product comprising computer readable code, or a non-transitory computer readable storage medium carrying computer readable code, which when run in a processor of an electronic device, performs the method of any one of the preceding claims 1-12.

29. A chip comprising at least one processor for executing a computer program or computer instructions stored in a memory to perform the method of any one of claims 1-12.