CN114889650B - Method for driving vehicle and unmanned vehicle - Google Patents

Abstract

The embodiment of the invention discloses a method for driving a vehicle, which comprises the steps of judging whether a lane change requirement exists in an unmanned vehicle or not; if yes, acquiring a target lane corresponding to the lane change requirement; judging whether the length of the first incorporable road section is greater than or equal to a first preset threshold value; if yes, controlling the unmanned vehicle to merge in the first incorporable road section; if not, judging whether the length of the second incorporable road section is greater than or equal to a first preset threshold value; if yes, controlling the unmanned vehicle to merge in the second incorporable road section; if not, judging whether the length of the third incorporable road section is greater than or equal to a second preset threshold value; if so, controlling the unmanned vehicle to merge on the third merger section, and realizing that the unmanned vehicle merges on the section closest to the trigger target of the lane change demand and with the length larger than the first preset threshold value into the target lane, thereby not only realizing that the unmanned vehicle merges successfully, but also ensuring the running time of the unmanned vehicle.

Description

A method for driving a vehicle and an unmanned vehicle

Technical Field

The embodiments of the present invention relate to the technical field of unmanned vehicle, and in particular to a method for driving a vehicle and an unmanned vehicle.

Background Art

Unmanned vehicles are a type of smart car, also known as wheeled mobile robots. They rely mainly on the intelligent driver's instrument based on the computer system in the car to achieve the purpose of unmanned driving. That is, unmanned vehicles are vehicles that can start, drive and stop without the driver. Its intelligent driver's instrument includes high-precision maps, positioning and perception. The emergence of unmanned vehicles will undoubtedly bring unprecedented travel experience to people.

However, the inventors of the present invention discovered during the process of implementing the present invention that, when current driverless vehicles are traveling in a driving lane and need to change lanes to a target lane, they usually change lanes at a mergeable section closest to the triggering target that triggers the lane change requirement. However, when the length of the nearest mergeable section is too short, the driverless vehicle may easily fail to merge.

Summary of the invention

In view of the above problems, an embodiment of the present invention provides a method for driving a vehicle and an unmanned vehicle, which overcome the above problems or at least partially solve the above problems.

According to one aspect of an embodiment of the present invention, a method for driving a vehicle is provided, the method comprising: judging whether the unmanned vehicle has a lane change requirement according to a preset driving route of the unmanned vehicle; if so, obtaining a target lane corresponding to the lane change requirement; when the target lane has a first non-merging section, a first merging section, a second non-merging section, a second merging section, a third non-merging section and a third merging section in sequence from a triggering target of the lane change requirement, the first non-merging section, the first merging section, the second non-merging section, the second merging section If a first mergeable road section, a third non-mergeable road section and a third mergeable road section are all located in front of the unmanned vehicle, and a length of at least one of the first mergeable road section, the second mergeable road section and the third mergeable road section is greater than a first preset threshold, it is determined whether the length of the first mergeable road section is greater than or equal to the first preset threshold; if the length of the first mergeable road section is greater than or equal to the first preset threshold, the unmanned vehicle is controlled to merge into the target lane at the first mergeable road section; if the length of the first mergeable road section is less than the first preset threshold, it is determined whether the length of the second mergeable road section is greater than or equal to the first preset threshold. whether the length of the second mergable section is greater than or equal to a first preset threshold; if the length of the second mergable section is greater than or equal to the first preset threshold, controlling the unmanned vehicle to merge into the target lane at the second mergable section; if the length of the second mergable section is less than the first preset threshold, determining whether the length of the third mergable section is greater than or equal to the second preset threshold; if the length of the third mergable section is greater than or equal to the first preset threshold, controlling the unmanned vehicle to merge into the target lane at the third mergable section; the step of controlling the unmanned vehicle to merge into the target lane at the first mergable section further comprises: comparing the length of the first mergable section with a second preset threshold, wherein the second preset threshold is greater than the first preset threshold; if the length of the first mergable section is less than the second preset threshold, controlling the unmanned vehicle to merge into the target lane at a reduced speed at the first mergable section; if the length of the first mergable section is greater than or equal to the second preset threshold, controlling the unmanned vehicle to merge into the target lane at a normal speed at the first mergable section.

In an optional manner, the step of controlling the unmanned vehicle to merge into the target lane at the second mergeable section further includes: comparing the length of the second mergeable section with the second preset threshold; if the length of the second mergeable section is less than the second preset threshold, controlling the unmanned vehicle to merge into the target lane at a slower speed at the second mergeable section; if the length of the second mergeable section is greater than or equal to the second preset threshold, controlling the unmanned vehicle to merge into the target lane at a normal speed at the second mergeable section.

According to one aspect of an embodiment of the present invention, a device for driving a vehicle is provided, the device comprising: a first judgment module, for judging whether the unmanned vehicle has a lane change demand according to a preset driving route of the unmanned vehicle; an acquisition module, for acquiring a target lane corresponding to the lane change demand if the unmanned vehicle has a lane change demand; a second judgment module, for determining, when the target lane has a first non-merging section, a first merging section, a second non-merging section, a second merging section, a third non-merging section and a third merging section in sequence from a triggering target of the lane change demand, the first non-merging section, the first merging section and the second merging section a first control module, configured to control the unmanned vehicle to merge into the target lane at the first mergable section if the length of the first mergable section is greater than or equal to the first preset threshold; a third judgment module, configured to control the unmanned vehicle to merge into the target lane at the first mergable section if the length of the first mergable section is greater than or equal to the first preset threshold; and a third judgment module, configured to control the unmanned vehicle to merge into the target lane at the first mergable section if the length of the first mergable section is less than the first preset threshold. , then determine whether the length of the second mergeable section is greater than or equal to a first preset threshold; a second control module is used to control the unmanned vehicle to merge into the target lane in the second mergeable section if the length of the second mergeable section is greater than or equal to the first preset threshold; a fourth determination module is used to determine whether the length of the third mergeable section is greater than or equal to the second preset threshold if the length of the second mergeable section is less than the first preset threshold; a third control module is used to control the unmanned vehicle to merge into the target lane in the third mergeable section if the length of the third mergeable section is greater than or equal to the first preset threshold. marked lane; the first control module includes: a first comparison unit, used to compare the length of the first mergeable section with a second preset threshold, wherein the second preset threshold is greater than the first preset threshold; a first control unit, used to control the unmanned vehicle to slow down and merge into the target lane at the first mergeable section if the length of the first mergeable section is less than the second preset threshold; a second control unit, used to control the unmanned vehicle to speed up and merge into the target lane at the first mergeable section if the length of the first mergeable section is greater than or equal to the second preset threshold.

In an optional manner, the second control module includes: a second comparison unit, used to compare the length of the second mergeable section with the second preset threshold; a third control unit, used to control the unmanned vehicle to slow down and merge into the target lane in the second mergeable section if the length of the second mergeable section is less than the second preset threshold; a fourth control unit, used to control the unmanned vehicle to run at a normal speed and merge into the target lane in the second mergeable section if the length of the second mergeable section is greater than or equal to the second preset threshold.

According to one aspect of an embodiment of the present invention, an unmanned vehicle is provided, which includes: at least one processor, and a memory, wherein the memory is communicatively connected to the at least one processor, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method as described above.

The beneficial effect of the embodiment of the present invention is that, different from the existing method of driving a vehicle, the method of driving a vehicle in the embodiment of the present invention can enable the unmanned vehicle to merge into the target lane at the section of road that is closest to the trigger target of the lane change requirement and whose length is greater than the first preset threshold, thereby enabling the unmanned vehicle to successfully merge before the trigger target of the lane change requirement and ensuring the driving time of the unmanned vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS

One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

FIG1 is a schematic flow chart of a method for driving a vehicle provided by an embodiment of the present invention;

FIG2 is a flow chart of an implementation method for determining whether an unmanned vehicle has a lane change requirement provided by an embodiment of the present invention;

3 is a schematic flow chart of a method for controlling an unmanned vehicle to merge into a target lane on a first mergable road section provided by an embodiment of the present invention;

FIG4 is a schematic flow chart of another method for driving a vehicle provided by an embodiment of the present invention;

FIG5 is a schematic flow chart of another method for driving a vehicle provided by an embodiment of the present invention;

6 is a schematic flow chart of a method for controlling an unmanned vehicle to merge into a target lane on a second mergable road section provided by an embodiment of the present invention;

FIG. 7 is a flow chart of another method for driving a vehicle provided by an embodiment of the present invention.

FIG8 is a flow chart of a method for controlling an unmanned vehicle to merge into a target lane on a third mergable road section provided by an embodiment of the present invention.

FIG9 is a schematic diagram of a device for driving a vehicle provided by an embodiment of the present invention;

FIG. 10 is a schematic diagram of the hardware structure of an unmanned vehicle provided in an embodiment of the present invention.

DETAILED DESCRIPTION

In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

It should be noted that when an element is described as being "fixed to" another element, it may be directly on the other element, or one or more elements may be located therebetween. When an element is described as being "connected to" another element, it may be directly connected to the other element, or one or more elements may be located therebetween. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this specification are for illustrative purposes only.

In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

Embodiment 1

Please refer to FIG. 1 , which is a schematic flow chart of a method for driving a vehicle provided by an embodiment of the present invention. The method includes the following steps:

Step S101, based on the preset driving route of the unmanned vehicle, determine whether the unmanned vehicle has a lane change requirement, and if so, execute step S102.

Among them, if the unmanned vehicle does not have the need to change lanes, it is only necessary to control the unmanned vehicle to travel in the current driving lane, and after a preset time, execute step S101, that is, after the preset time, continue to determine whether the unmanned vehicle has the need to change lanes.

When a user uses an unmanned vehicle, a preset driving route from the starting point to the destination will be generated. The preset driving route can be a driving route recommended by the unmanned vehicle based on the vehicle usage time, starting point, destination and the user's vehicle usage habits, or a driving route selected by the user based on the starting point and destination.

For example, the preset driving route includes going straight on Road A, going straight to the B turning intersection, then turning right to enter Road C, going straight, going straight to the D turning intersection, then turning left to enter Road E...

Generally, the driverless vehicle needs to change lanes at a traffic light or at a turning intersection.

For example, an unmanned vehicle is driving straight on the straight lane of Road A. When it needs to turn at the turning intersection B, it needs to merge into the turning lane, and there is a need to change lanes at this time.

In some embodiments, the step of determining whether the driverless vehicle has a lane change requirement can be referred to FIG. 2 , where step S101 includes the following steps:

Step S1011, obtaining the lane in which the driverless vehicle is currently traveling.

The driving lane may be a straight lane, a turning lane for turning left, and a right-turn lane for turning right.

Step S1012, obtaining the nearest first turning intersection where a turn is required from the preset driving route of the unmanned vehicle.

In some embodiments, a traffic light is provided at the first turning intersection, and the traffic light is a traffic light that allows turning.

Step S1013: Acquire a first turning lane corresponding to the first turning intersection.

The first turning lane corresponding to the first turning intersection corresponds to the driving route of "turning". For a single row of turning lanes, for example, for a right turn, the turning lane is the lane farthest from the lane dividing line. For example, for a left turn, the turning lane is the lane closest to the lane dividing line.

It should be noted that, for double-row turning lanes or multiple-row turning lanes, all turning lanes need to be acquired.

Step S1014, determining whether the first turning lane is the same as the driving lane, if not, executing step S1015, otherwise executing step S1016.

For example, if the driving lane of the unmanned vehicle is a straight lane, and the first turning lane is different from the driving lane, step S1015 is executed to determine whether the unmanned vehicle has a lane change requirement.

For example, the driving lane of the unmanned vehicle is a turning lane for turning left, and the first turning lane is a turning lane for turning right, and the first turning lane is different from the driving lane, and step S1015 is executed to determine whether the unmanned vehicle has a lane change demand.

For example, if the driving lane of the unmanned vehicle is a turning lane for turning right, and the first turning lane is a turning lane for turning right, then the first turning lane is the same as the driving lane, and step S1016 is executed.

Step S1015: determining that the unmanned vehicle has a lane change requirement, wherein the first turning lane is a target lane corresponding to the lane change requirement.

Step S1016, obtaining a second turning intersection that is closest to the first turning intersection and requires turning from the preset driving route of the unmanned vehicle.

Step S1017: Acquire a second turning lane corresponding to the second turning intersection.

Step S1018, determining whether the second turning lane is the same as the driving lane, if not, executing step S1019.

Step S1019: determining that the unmanned vehicle has a lane change requirement, wherein the second turning lane is a target lane corresponding to the lane change requirement.

If the second turning lane is the same as the driving lane, it is determined that the unmanned vehicle has no lane change requirement.

Step S102: obtaining a target lane corresponding to the lane change requirement.

According to the above steps S1011 to S1019, when the first turning lane is different from the driving lane, the target lane is the first turning lane, and the triggering target of the lane change requirement is the first turning lane; when the first turning lane is the same as the driving lane and the second turning lane is different from the driving lane, the target lane is the second turning lane, and the triggering target of the lane change requirement is the second turning lane.

Step S103: when the target lane has a first non-merge section, a first mergeable section, a second non-merge section, a second mergeable section, a third non-merge section and a third mergeable section in sequence from the triggering target of the lane change demand, the first non-merge section, the first mergeable section, the second non-merge section, the second mergeable section, the third non-merge section and the third mergeable section are all located in front of the unmanned vehicle, and at least one of the first mergeable section, the second mergeable section and the third mergeable section has a length greater than a first preset threshold, then determine whether the length of the first mergeable section is greater than or equal to the first preset threshold, if the length of the first mergeable section is greater than or equal to the first preset threshold, execute step S104, otherwise execute step S105.

The first non-merging road section, the second non-merging road section and the third non-merging road section include a congested road section and a solid road section respectively.

The first mergeable road section, the second mergeable road section and the third mergeable road section are not congested road sections and are not solid line sections.

Among them, a feasible measurement method for the length of the first mergeable road section is: the unmanned vehicle is equipped with an on-board radar, the on-board radar continuously transmits signals and receives echo signals of objects, and the distance between the object and the on-board radar can be measured according to the transmitted signals and the echo signals of the object. The on-board radar measures a first distance between the unmanned vehicle and the first non-mergeable road section, and measures a second distance between the unmanned vehicle and the second non-mergeable road section. The length of the first mergeable road section is obtained by subtracting the second distance from the first distance.

The first preset threshold is the lane-merging safety distance. For a normally traveling vehicle, the lane-merging safety distance can generally be set to 50 meters.

The driving safety of the unmanned vehicle can be guaranteed by merging the unmanned vehicle into the first non-merging section only when the length of the first non-merging section is greater than or equal to the merging safety distance.

Step S104, controlling the unmanned vehicle to merge into the target lane on the first mergeable road section.

In some embodiments, referring to FIG. 3 , step S104 includes the following steps:

Step S1041, compare the length of the first mergeable road section with a second preset threshold, wherein the second preset threshold is greater than the first preset threshold. If the length of the first mergeable road section is less than the second preset threshold, execute step S1042, otherwise execute step S1043.

In some embodiments, the second preset threshold is the merging safety distance plus the braking distance. Generally, the merging safety distance can be set to 50 meters, and the braking distance can be set to 35 meters, and the second preset threshold can be set to 85 meters.

Of course, the merging safety distance or braking distance may also be set to other values.

Step S1042, controlling the unmanned vehicle to slow down and merge into the target lane on the first mergeable road section.

It should be noted that when the length of the first mergeable road section is less than the second preset threshold, the unmanned vehicle is controlled to slow down and merge into the target lane on the first mergeable road section. This can further ensure the driving safety of the unmanned vehicle when the unmanned vehicle merges.

Step S1043, controlling the unmanned vehicle to merge into the target lane at the first mergeable road section at a normal speed.

It should be noted that when the length of the first mergeable road section is greater than or equal to a second preset threshold, the unmanned vehicle is controlled to travel at a normal speed and merge into the target lane on the first mergeable road section. When the unmanned vehicle merges, it does not affect the driving speed of the unmanned vehicle and does not affect the time it takes for the unmanned vehicle to reach the destination.

Step S105, determining whether the length of the second mergeable road section is greater than or equal to a first preset threshold value, if the length of the second mergeable road section is greater than or equal to the first preset threshold value, executing step S106, otherwise executing step S107.

When the length of the first mergeable road section is less than the first preset threshold, in order to ensure the safety of the unmanned vehicle merging into the lane and the driving safety of the unmanned vehicle, it is possible to detect whether the second mergeable road section is suitable for merging into the lane. Specifically, it is possible to determine whether the length of the second mergeable road section is greater than or equal to the first preset threshold. If the length of the second mergeable road section is greater than or equal to the first preset threshold, step S106 can be executed to control the unmanned vehicle to merge into the target lane at the second mergeable road section. If the length of the second mergeable road section is less than the first preset threshold, it is possible to detect whether the third mergeable road section is suitable for merging into the lane. Specifically, step S107 can be executed.

In some embodiments, when the target lane has a first non-merge section, a first merging section, a second non-merge section, a second merging section, a third non-merge section and a third merging section in sequence from the triggering target of the lane change requirement, and the first non-merge section, the first merging section, the second non-merge section, the second merging section, the third non-merge section and the third merging section are all located in front of the unmanned vehicle, then there may be a traffic light that does not allow turning in front of the second non-merge section, or there may be a traffic accident in front of the second non-merge section, or the second non-merge section is a solid line section.

When there is a traffic accident in front of the second non-mergeable section, it is necessary to avoid merging into the target lane in the second mergeable section to avoid delaying driving. Before step S105, it can be determined whether there is a traffic accident in front of the second non-mergeable section. If so, it is not possible to merge into the target lane in the second mergeable section, nor is it possible to merge into the target lane in the third mergeable section.

When the second non-merge section is a solid line section, the target lane can be merged into the second mergeable section. Before step S105, it can be determined whether the second non-merge section is a solid line section. If so, step S105 is executed.

When there is a traffic light that does not allow turning in front of the second non-mergeable road section, the target lane can be merged into the second mergeable road section. Please refer to FIG. 4. Before step S105, the method may further include the following steps:

Step S201, detecting whether there is a first traffic light between the first mergeable road section and the second non-mergeable road section. If there is a first traffic light between the first mergeable road section and the second non-mergeable road section, executing step S202.

In some embodiments, if there is no first traffic light between the first mergeable road section and the second non-mergeable road section, it is determined whether the second non-mergeable road section is a solid road section, whether there is a traffic accident in front of the second non-mergeable road section, etc.

Step S202, determining whether the first mergeable road section is located in a turning lane, if the first mergeable road section is located in a turning lane, executing step S203.

Step S203, determining whether the first traffic light allows vehicles to turn; if the first traffic light does not allow vehicles to turn, executing step S105.

When there is a first traffic light between the first mergeable section and the second non-mergeable section, the first mergeable section is located in a turning lane, and the first traffic light does not allow vehicles to turn, then the unmanned vehicle's movement complies with traffic regulations if it merges into the target lane through the second mergeable section and the unmanned vehicle passes through the second non-mergeable section, the first mergeable section and the first non-merge section in sequence, and turns at the trigger target.

In some embodiments, when the target lane has a first non-merging section, a first merging section, a second non-merging section, a second merging section, a third non-merging section and a third merging section in sequence from the triggering target of the lane change requirement, and the first non-merging section, the first merging section, the second non-merging section, the second merging section, the third non-merging section and the third merging section are all located in front of the unmanned vehicle, and when the length of the first merging section is less than a first preset threshold, it is possible to detect whether the second merging section is suitable for merging, that is, to execute step S105, or, referring to FIG. 5, the following steps are executed before executing step S105:

Step S301, detect whether the unmanned vehicle has an optional route from the target point. If the unmanned vehicle does not have an optional route from the target point, execute step S105; if the unmanned vehicle has an optional route from the target point, execute step S302.

For example, the preset driving route is to go straight on road b at turning intersection a, and go straight to the target point turning intersection c after triggering the target turn. The optional route can be to go straight on road d at turning intersection a, and go straight to the target point turning intersection c after passing turning intersection e.

The target point is a certain position point in front of the trigger target. For example, the target point may be a turning intersection in front of the trigger target where a turn is required.

When the third non-merging road section is the road section starting from the unmanned vehicle, and the target point is a turning intersection in front of the triggering target where a turn is required, then obviously, there is no optional route, and only step S105 can be executed at this time.

When there is a turning intersection between the third non-merging road section and the unmanned vehicle and there is no lane change requirement between the unmanned vehicle and the turning intersection, the unmanned vehicle has an optional route to the target point, and step S302 is executed at this time.

Step S302, predicting a first driving time for the unmanned vehicle to reach the target point via the preset driving route, and predicting a second driving time for the unmanned vehicle to reach the target point via the optional route.

The first driving time and the second driving time may refer to historical data of the vehicle at the current moment.

Step S303, determining whether the first driving time is less than or equal to the second driving time; if the first driving time is less than or equal to the second driving time, executing step S105.

When the first driving time is less than or equal to the second driving time, that is, the time it takes for the unmanned vehicle to reach the target point via the preset driving route is less than or equal to the time it takes for the unmanned vehicle to reach the target point via the optional route, the preset driving route is still chosen.

When the first driving time is greater than the second driving time, an optional route may be chosen to ensure the driving time of the driverless vehicle.

Step S106, controlling the unmanned vehicle to merge into the target lane on the second mergeable road section.

When the length of the first mergeable road segment is less than the first preset threshold and the length of the second mergeable road segment is greater than or equal to the first preset threshold, step S106 is executed. In some embodiments, referring to FIG. 6 , step S106 includes the following steps:

Step S1061: compare the length of the second mergeable road segment with the second preset threshold.

Step S1062: If the length of the second mergeable road section is less than the second preset threshold, the unmanned vehicle is controlled to slow down and merge into the target lane on the second mergeable road section.

Step S1063: If the length of the second mergeable road section is greater than or equal to the second preset threshold, the unmanned vehicle is controlled to merge into the target lane at a normal speed on the second mergeable road section.

The implementation process and beneficial effects of steps S1061 to S1063 may refer to steps S1041 to S1043, and will not be repeated here.

Step S107, determining whether the length of the third mergeable road section is greater than or equal to a second preset threshold; if the length of the third mergeable road section is greater than or equal to the first preset threshold, executing step S108.

When the length of the first mergeable road section is less than the first preset threshold and the length of the second mergeable road section is less than the first preset threshold, it is detected whether the third mergeable road section is suitable for the unmanned vehicle to merge into the target lane, that is, step S107 is executed.

In some embodiments, when the target lane has a first non-merge section, a first merging section, a second non-merge section, a second merging section, a third non-merge section and a third merging section in sequence from the triggering target of the lane change requirement, and the first non-merge section, the first merging section, the second non-merge section, the second merging section, the third non-merge section and the third merging section are all located in front of the unmanned vehicle, there may be a traffic light that does not allow turning in front of the third non-merge section, or there may be a traffic accident in front of the third non-merge section, or the third non-merge section is a solid line section.

When there is a traffic accident in front of the third non-merge section, it is necessary to avoid merging into the target lane on the third mergeable section to avoid delaying driving. Before step S105, it can be determined whether there is a traffic accident in front of the third non-merge section. If so, it is impossible to merge into the target lane on the third mergeable section.

When the third non-merge section is a solid line section, the target lane can be merged into the third mergeable section. Before step S107, it can be determined whether the third non-merge section is a solid line section. If so, step S107 is executed.

When there is a traffic light that does not allow turning in front of the third non-mergeable road section, the target lane can be merged into the third mergeable road section. Please refer to FIG. 7. Before step S107, the method may further include the following steps:

Step S401, detecting whether there is a second traffic light between the second mergeable road section and the third non-mergeable road section, if there is a second traffic light between the second mergeable road section and the third non-mergeable road section, executing step S402.

In some embodiments, if there is no second traffic light between the second mergeable road section and the third non-mergeable road section, it is determined whether the third non-mergeable road section is a solid line section, whether there is a traffic accident in front of the third non-mergeable road section, etc.

Step S402, determining whether the second traffic light allows vehicles to turn. If the second traffic light does not allow vehicles to turn, executing step S107.

When there is a second traffic light between the second mergeable section and the third non-mergeable section, and the second traffic light does not allow vehicles to turn, the unmanned vehicle's movement complies with traffic regulations if the unmanned vehicle merges into the target lane through the third mergeable section and passes through the third mergeable section, the third non-mergeable section, the second mergeable section, the second non-mergeable section, the first mergeable section and the first non-mergeable section in sequence, and turns at the trigger target.

Step S108, controlling the unmanned vehicle to merge into the target lane at the third mergeable road section.

When the length of the first mergeable road section is less than the first preset threshold, the length of the second mergeable road section is less than the first preset threshold, and the length of the third mergeable road section is greater than or equal to the first preset threshold, the unmanned vehicle can be controlled to merge into the target lane at the third mergeable road section, that is, step S108 is executed to ensure the driving safety of the unmanned vehicle. In some embodiments, referring to FIG. 8 , step S108 includes the following steps:

Step S1081: compare the length of the third mergeable road segment with the second preset threshold.

Step S1082: If the length of the third mergeable road section is less than the second preset threshold, the unmanned vehicle is controlled to slow down and merge into the target lane on the third mergeable road section.

Step S1083: If the length of the third mergeable road section is greater than or equal to the second preset threshold, the unmanned vehicle is controlled to merge into the target lane at a normal speed on the third mergeable road section.

The implementation process and beneficial effects of steps S1081 to S1083 can be referred to steps S1041 to S1043, and will not be repeated here.

It should be noted that no matter which section of the first mergeable section, the second mergeable section and the third mergeable section the unmanned vehicle merges into the target lane at, the driving safety of the unmanned vehicle can be fully guaranteed by comparing its length with the second preset threshold and further controlling the speed of the unmanned vehicle.

In an embodiment of the present invention, it is determined whether the unmanned vehicle has a lane change demand based on a preset driving route of the unmanned vehicle; if so, a target lane corresponding to the lane change demand is obtained; when the target lane has a first non-merging section, a first merging section, a second non-merging section, a second merging section, a third non-merging section and a third merging section in sequence from the triggering target of the lane change demand, the first non-merging section, the first merging section, the second non-merging section, the second merging section, the third non-merging section and the third merging section are all located in front of the unmanned vehicle, and at least one of the first merging section, the second merging section and the third merging section has a length greater than a first preset threshold, it is determined whether the length of the first merging section is greater than or equal to the first preset threshold; if the length of the first merging section is greater than or equal to the first preset threshold, the unmanned vehicle is controlled to enter the lane at the The first mergeable section merges into the target lane; if the length of the first mergeable section is less than the first preset threshold, it is determined whether the length of the second mergeable section is greater than or equal to the first preset threshold; if the length of the second mergeable section is greater than or equal to the first preset threshold, the unmanned vehicle is controlled to merge into the target lane at the second mergeable section; if the length of the second mergeable section is less than the first preset threshold, it is determined whether the length of the third mergeable section is greater than or equal to the second preset threshold; if the length of the third mergeable section is greater than or equal to the first preset threshold, the unmanned vehicle is controlled to merge into the target lane at the third mergeable section, so that the unmanned vehicle can merge into the target lane at the section closest to the trigger target of the lane change requirement and whose length is greater than the first preset threshold, thereby achieving the unmanned vehicle's successful lane merging before the trigger target of the lane change requirement and ensuring the driving time of the unmanned vehicle.

Embodiment 2

Please refer to Figure 9, which is a schematic diagram of a device for driving a vehicle provided in an embodiment of the present invention. The device 400 includes: a first judgment module 401, an acquisition module 402, a second judgment module 403, a first control module 404, a third judgment module 405, a second control module 406, a fourth judgment module 407 and a third control module 408. Among them, the first judgment module 401 is used to judge whether the unmanned vehicle has a lane change demand according to the preset driving route of the unmanned vehicle; the acquisition module 402 is used to obtain the target lane corresponding to the lane change demand if the unmanned vehicle has a lane change demand; the second judgment module 403 is used to judge whether the length of the first merging section is greater than or equal to the first preset threshold when the target lane has a first non-merging section, a first merging section, a second non-merging section, a second merging section, a third non-merging section and a third merging section in sequence from the triggering target of the lane change demand, and the first non-merging section, the first merging section, the second non-merging section, the second merging section, the third non-merging section and the third merging section are all located in front of the unmanned vehicle, and the length of at least one of the first merging section, the second merging section and the third merging section is greater than a first preset threshold; the first control module 404, used to control the unmanned vehicle to merge into the target lane at the first mergeable section if the length of the first mergeable section is greater than or equal to the first preset threshold; a third judgment module 405, used to determine whether the length of the second mergeable section is greater than or equal to the first preset threshold if the length of the first mergeable section is less than the first preset threshold; a second control module 406, used to control the unmanned vehicle to merge into the target lane at the second mergeable section if the length of the second mergeable section is greater than or equal to the first preset threshold; a fourth judgment module 407, used to determine whether the length of the third mergeable section is greater than or equal to the second preset threshold if the length of the second mergeable section is less than the first preset threshold; a third control module 408, used to control the unmanned vehicle to merge into the target lane at the third mergeable section if the length of the third mergeable section is greater than or equal to the first preset threshold.

In some embodiments, the first control module 404 includes: a first comparison unit 4041, a first control unit 4042, and a second control unit 4043. The first comparison unit 4041 is used to compare the length of the first mergeable section with a second preset threshold, wherein the second preset threshold is greater than the first preset threshold; the first control unit 4042 is used to control the unmanned vehicle to slow down and merge into the target lane at the first mergeable section if the length of the first mergeable section is less than the second preset threshold; the second control unit 4043 is used to control the unmanned vehicle to merge into the target lane at a normal speed at the first mergeable section if the length of the first mergeable section is greater than or equal to the second preset threshold.

In some embodiments, the second control module 406 includes: a second comparison unit 4061, a third control unit 4062, and a fourth control unit 4063. The second comparison unit 4061 is used to compare the length of the second mergeable section with the second preset threshold; the third control unit 4062 is used to control the unmanned vehicle to slow down and merge into the target lane on the second mergeable section if the length of the second mergeable section is less than the second preset threshold; the fourth control unit 4063 is used to control the unmanned vehicle to merge into the target lane on the second mergeable section at a normal speed if the length of the second mergeable section is greater than or equal to the second preset threshold.

In some embodiments, the third control module 408 includes: a third comparison unit 4081, a fifth control unit 4082, and a sixth control unit 4083. The third comparison unit 4081 is used to compare the length of the third mergeable section with the second preset threshold; the fifth control unit 4082 is used to control the unmanned vehicle to slow down and merge into the target lane at the third mergeable section if the length of the third mergeable section is less than the second preset threshold; the sixth control unit 4083 is used to control the unmanned vehicle to merge into the target lane at a normal speed at the third mergeable section if the length of the third mergeable section is greater than or equal to the second preset threshold.

In some embodiments, before entering the third judgment module 405, the device further includes: a first detection module 409, a fifth judgment module 410 and a sixth judgment module 411. The first detection module 409 is used to detect whether there is a first traffic light between the first mergeable road section and the second non-mergeable road section; the fifth judgment module 410 is used to determine whether the first mergeable road section is located in a turning lane if there is a first traffic light between the first mergeable road section and the second non-mergeable road section; the sixth judgment module 411 is used to determine whether the first traffic light allows vehicles to turn if the first mergeable road section is located in a turning lane, and if the first traffic light does not allow vehicles to turn, enter the third judgment module 405.

In some embodiments, before entering the fourth judgment module 407, the device further includes: a second detection module 412 and a seventh judgment module 413. The second detection module 412 is used to detect whether there is a second traffic light between the second mergeable road section and the third non-mergeable road section; the seventh judgment module 413 is used to determine whether the vehicle is allowed to turn at the second traffic light if there is a second traffic light between the second mergeable road section and the third non-mergeable road section, and enter the fourth judgment module 407 if the vehicle is not allowed to turn at the second traffic light.

In some embodiments, there is a target point in front of the trigger target, and before entering the third judgment module 405, the device further includes: a second detection module 414, a prediction module 415 and an eighth judgment module 416. Among them, the second detection module 414 is used to detect whether the unmanned vehicle has an optional route from the target point, and if the unmanned vehicle does not have an optional route from the target point, then enter the third judgment module; the prediction module 415 is used to predict the first driving time for the unmanned vehicle to reach the target point through the preset driving route if the unmanned vehicle has an optional route from the target point, and predict the second driving time for the unmanned vehicle to reach the target point through the optional route; the eighth judgment module 416 is used to determine whether the first driving time is less than or equal to the second driving time, and if the first driving time is less than or equal to the second driving time, then enter the third judgment module 405.

In the embodiment of the present invention, the first judging module 401 judges whether the unmanned vehicle has a lane change demand according to the preset driving route of the unmanned vehicle; if the unmanned vehicle has a lane change demand, the acquisition module 402 acquires the target lane corresponding to the lane change demand; when the target lane has a first non-merging section, a first merging section, a second non-merging section, a second merging section, a third non-merging section and a third merging section in sequence from the triggering target of the lane change demand, the first non-merging section, the first merging section and the second merging section are A first mergable road section, a second non-mergable road section, a second mergable road section, a third non-mergable road section and a third mergable road section are all located in front of the unmanned vehicle, and at least one of the first mergable road section, the second mergable road section and the third mergable road section has a length greater than a first preset threshold, then the second judging module 403 judges whether the length of the first mergable road section is greater than or equal to the first preset threshold; if the length of the first mergable road section is greater than or equal to the first preset threshold, then the first controlling module 404 controls the unmanned vehicle to the unmanned vehicle merges into the target lane at the first mergeable section; if the length of the first mergeable section is less than the first preset threshold, the third judgment module 405 judges whether the length of the second mergeable section is greater than or equal to the first preset threshold; if the length of the second mergeable section is greater than or equal to the first preset threshold, the second control module 406 controls the unmanned vehicle to merge into the target lane at the second mergeable section; if the length of the second mergeable section is less than the first preset threshold, the fourth judgment module 407 judges whether the length of the third mergeable section is greater than or equal to the second preset threshold; if the length of the third mergeable section is greater than or equal to the first preset threshold, the third control module 408 controls the unmanned vehicle to merge into the target lane at the third mergeable section, so that the unmanned vehicle can merge into the target lane at the section closest to the triggering target of the lane change demand and whose length is greater than the first preset threshold, thereby achieving the unmanned vehicle to successfully merge before the triggering target of the lane change demand and ensuring the driving time of the unmanned vehicle.

Embodiment 3

Please refer to Fig. 10, which is a schematic diagram of the hardware structure of an unmanned vehicle provided by an embodiment of the present invention. The unmanned vehicle 500 includes: one or more processors 501 and a memory 502, and Fig. 10 takes one memory as an example.

The processor 501 and the memory 502 may be connected via a bus or other means. In the embodiment of the present invention, connection via a bus is taken as an example.

The memory 502 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions/modules corresponding to the method for driving a vehicle in the embodiment of the present invention (for example, the modules shown in FIG. 9 ). The processor 501 executes various functional applications and data processing of the device for driving a vehicle by running the non-volatile software programs, instructions and modules stored in the memory 502, that is, the method for driving a vehicle in the above method embodiment is realized.

The memory 502 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and applications required for at least one function; the data storage area may store data created according to the use of the device for driving the vehicle, etc. In addition, the memory 502 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 502 may optionally include a memory remotely arranged relative to the processor 501, and these remote memories may be connected to the device for controlling the unmanned vehicle via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

The one or more modules are stored in the memory 502, and when executed by the one or more processors 501, the method of driving a vehicle in any of the above method embodiments is executed.

The above product can execute the method provided by the embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in this embodiment, please refer to the method provided by the embodiment of the present invention.

An embodiment of the present invention provides a non-volatile computer-readable storage medium, which stores computer-executable instructions. The computer-executable instructions are executed by an unmanned vehicle to perform the method of driving the vehicle in any of the above method embodiments.

An embodiment of the present invention provides a computer program product, including a computer program stored on a non-volatile computer-readable storage medium, wherein the computer program includes program instructions, and when the program instructions are executed by a computer, the computer executes the method of driving a vehicle in any of the above-mentioned method embodiments.

The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

Through the description of the above implementation methods, ordinary technicians in this field can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course can also be implemented by hardware. Ordinary technicians in this field can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims (4)

1. A method for driving a vehicle, applied to an unmanned vehicle, characterized in that the method comprises: According to a preset driving route of the unmanned vehicle, determining whether the unmanned vehicle has a lane change requirement; If so, obtaining the target lane corresponding to the lane change requirement; When the target lane has, in order from the triggering target of the lane change demand, a first non-merge section, a first mergeable section, a second non-merge section, a second mergeable section, a third non-merge section and a third mergeable section, the first non-merge section, the first mergeable section, the second non-merge section, the second mergeable section, the third non-merge section and the third mergeable section, all of which are located in front of the unmanned vehicle, and a length of at least one of the first mergeable section, the second mergeable section and the third mergeable section is greater than a first preset threshold, then determining whether the length of the first mergeable section is greater than or equal to the first preset threshold; Wherein, the first non-merging road section includes a congested road section and a solid road section; Among the first mergeable road section, the second mergeable road section and the third mergeable road section, the third mergeable road section is closest to the driverless vehicle, and the first mergeable road section is farthest from the driverless vehicle; If the length of the first mergable road section is greater than or equal to a first preset threshold, controlling the unmanned vehicle to merge into the target lane on the first mergable road section; If the length of the first mergeable road section is less than a first preset threshold, determining whether the length of the second mergeable road section is greater than or equal to the first preset threshold; If the length of the second mergable road section is greater than or equal to a first preset threshold, controlling the unmanned vehicle to merge into the target lane on the second mergable road section; If the length of the second mergeable road section is less than the first preset threshold, determining whether the length of the third mergeable road section is greater than or equal to the first preset threshold; If the length of the third mergable road section is greater than or equal to a first preset threshold, controlling the unmanned vehicle to merge into the target lane at the third mergable road section; If there is a turning intersection between the unmanned vehicle and the third non-merging road section and there is no lane change requirement between the unmanned vehicle and the turning intersection, then the unmanned vehicle has an optional route to the target point, predicting a first driving time for the unmanned vehicle to reach the target point via the preset driving route, and predicting a second driving time for the unmanned vehicle to reach the target point via the optional route, the method further includes: Comparing the first driving time and the second driving time, wherein the first driving time and the second driving time may refer to historical data of the vehicle at the current moment; When the first driving time is less than or equal to the second driving time, the vehicle still chooses to drive along the preset driving route; When the first driving time is greater than the second driving time, an optional route may be selected for driving. 2. The method according to claim 1, characterized in that the step of controlling the unmanned vehicle to merge into the target lane on the second mergeable road section further comprises: comparing the length of the second mergeable road section with a second preset threshold; If the length of the second mergeable road section is less than the second preset threshold, controlling the unmanned vehicle to slow down and merge into the target lane on the second mergeable road section; If the length of the second mergeable road section is greater than or equal to the second preset threshold, the unmanned vehicle is controlled to merge into the target lane at a normal speed on the second mergeable road section. 3. The method according to claim 1, wherein the step of controlling the unmanned vehicle to merge into the target lane on the first mergeable road section further comprises: comparing the length of the first mergeable road segment with a second preset threshold, wherein the second preset threshold is greater than the first preset threshold; If the length of the first mergeable road section is less than the second preset threshold, controlling the unmanned vehicle to slow down and merge into the target lane on the first mergeable road section; If the length of the first mergeable road section is greater than or equal to the second preset threshold, the unmanned vehicle is controlled to merge into the target lane at a normal speed on the first mergeable road section. 4. An unmanned vehicle, comprising: at least one processor; and A memory, wherein the memory is communicatively connected to the at least one processor, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method according to any one of claims 1 to 3.