CN117351762A - Method, device, equipment, storage medium and vehicle for vehicle to pass through intersection - Google Patents

Abstract

The present disclosure relates to a method, apparatus, device, storage medium and vehicle for a vehicle to pass through an intersection, the method comprising: when the vehicle is at the intersection and the front of the intersection is provided with the vehicle, acquiring the running track and the running state of the front vehicle; determining the driving trend of the front vehicle according to the driving state of the front vehicle; determining a target running track of the vehicle according to the running trend of the front vehicle and the running track of the front vehicle; and controlling the vehicle to run according to the target running track. According to the method and the device, the running trend of the front vehicle is judged according to the running state of the front vehicle, the running trend of the front vehicle is determined to be straight running, lane changing or turning and the like, so that the target running track of the front vehicle is determined according to the running trend of the front vehicle and the running track of the front vehicle, the vehicle is controlled to run through the intersection according to the target running track, and compared with the prior art that the vehicle runs blindly following the front vehicle, the method and the device are safer and more reliable, and the running safety of the vehicle is improved.

Description

Methods, devices, equipment, storage media and vehicles for vehicles passing through intersections

Technical field

The present disclosure relates to the field of automobile intelligent driving technology, and in particular to a method, device, equipment, storage medium and vehicle for a vehicle to pass through an intersection.

Background technique

Lane Keeping Assist (LKA) refers to controlling the vehicle to maintain automatic driving along two lanes of one lane.

Under normal circumstances, when there is a car in front, the car can follow the car in front when passing through the intersection without lane lines and maintain the LKA function. Vehicles collide.

Contents of the invention

In order to solve the above technical problems, the present disclosure provides a method, device, equipment, storage medium and vehicle for a vehicle to pass through an intersection, thereby improving the safety of vehicle driving and improving the flexibility of the method for a vehicle to pass through an intersection.

In a first aspect, an embodiment of the present disclosure provides a method for a vehicle to pass through an intersection, including:

When the vehicle is at an intersection and there is a vehicle in front of it, obtain the driving trajectory and driving status of the vehicle in front;

Determine the driving trend of the preceding vehicle based on the driving state of the preceding vehicle;

Determine the target driving trajectory of the vehicle based on the driving trend of the preceding vehicle and the driving trajectory of the preceding vehicle;

Control the vehicle to drive according to the target driving trajectory.

In a second aspect, an embodiment of the present disclosure provides a device for a vehicle to pass through an intersection, including:

The acquisition module is used to obtain the driving trajectory and driving status of the vehicle in front when the vehicle is at an intersection and there is a vehicle in front;

A first determination module, configured to determine the driving trend of the preceding vehicle based on the driving state of the preceding vehicle;

a second determination module, configured to determine the target driving trajectory of the vehicle based on the driving trend of the preceding vehicle and the driving trajectory of the preceding vehicle;

A control module is used to control the vehicle to drive according to the target driving trajectory.

In a third aspect, an embodiment of the present disclosure provides an electronic device, including:

memory;

processor; and

Computer program;

Wherein, the computer program is stored in the memory and configured to be executed by the processor to implement the method as described in the first aspect.

In a fourth aspect, embodiments of the present disclosure provide a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the method described in the first aspect.

In a fifth aspect, embodiments of the present disclosure also provide a computer program product. The computer program product includes a computer program or instructions, and the computer program or instructions are executed by a processor to implement the method described in the first aspect.

In a sixth aspect, an embodiment of the present disclosure further provides a vehicle, including the device for passing a vehicle through an intersection as described above.

The methods, devices, equipment, storage media, and vehicles for vehicles passing through intersections provided by embodiments of the present disclosure obtain the driving trajectory and driving status of the preceding vehicle when the vehicle is located at the intersection and there is a vehicle in front of it, thereby determining the driving direction of the preceding vehicle in the future. The trend provides the data basis; determine the driving trend of the preceding vehicle based on the driving status of the preceding vehicle, and clarify whether the preceding vehicle is going straight, changing lanes, or turning; determine the own vehicle based on the driving trend of the preceding vehicle and the driving trajectory of the preceding vehicle The target driving trajectory of the vehicle is determined, thereby ensuring the safety of the vehicle; controlling the vehicle to drive according to the target driving trajectory, so that the vehicle passes the intersection according to the target driving trajectory. Compared with the existing technology, blindly following the vehicle ahead The vehicle is driven more safely and reliably, and the safety of the vehicle is improved.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those of ordinary skill in the art, It is said that other drawings can be obtained based on these drawings without exerting creative labor.

Figure 1 is a flow chart of a method for a vehicle to pass through an intersection provided by an embodiment of the present disclosure;

Figure 2 is a schematic diagram of an application scenario provided by an embodiment of the present disclosure;

Figure 3 is a schematic diagram of an application scenario provided by an embodiment of the present disclosure;

Figure 4 is a flow chart of a method for a vehicle to pass through an intersection provided by an embodiment of the present disclosure;

Figure 5 is a flow chart of a method for a vehicle to pass through an intersection provided by an embodiment of the present disclosure;

Figure 6 is a schematic diagram of an application scenario provided by an embodiment of the present disclosure;

Figure 7 is a schematic structural diagram of a device for vehicles passing through intersections provided by an embodiment of the present disclosure;

FIG. 8 is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure.

Detailed ways

In order to understand the above objects, features and advantages of the present disclosure more clearly, the solutions of the present disclosure will be further described below. It should be noted that, as long as there is no conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other.

Many specific details are set forth in the following description to fully understand the present disclosure, but the present disclosure can also be implemented in other ways different from those described here; obviously, the embodiments in the description are only part of the embodiments of the present disclosure, and Not all examples.

The embodiment of the present disclosure provides a method for a vehicle to pass through an intersection. The method will be introduced below with reference to specific embodiments.

Figure 1 is a flow chart of a method for a vehicle to pass through an intersection provided by an embodiment of the present disclosure. This method can be applied to the application scenario shown in Figure 2. The application scenario includes an intersection 23, the own vehicle 21 and the preceding vehicle 22. The local vehicle 21 and the leading vehicle 22 can specifically be cars, off-road vehicles, commercial vehicles, trucks, etc. . It can be understood that the method for vehicles passing through intersections provided by the embodiments of the present disclosure can also be applied in other scenarios.

The method for vehicles passing through the intersection shown in Figure 1 is introduced below in conjunction with the application scenario shown in Figure 2. The specific steps included in this method are as follows:

S101. When the vehicle is at an intersection and there is a vehicle in front of it, obtain the driving trajectory and driving status of the vehicle in front.

As shown in Figure 2, when the vehicle 21 is located at an intersection 23 and there is a car 22 in front of it, the vehicle 21 is regarded as a point, which is recorded as point O. Similarly, the vehicle in front is recorded as point Q. The vehicle 21 obtains the vehicle 22 in front of it through sensor data. The driving trajectory and driving status of car Q, where the driving trajectory is the distance traveled from this intersection to the opposite intersection. The driving status includes a stationary state (i.e. braking state) and a moving state (i.e. moving forward, left, right, etc. state), the sensor is placed in the center of the front windshield of the vehicle. The sensor can also be installed in other locations on the vehicle. The specific situation can be determined according to the actual situation. It is understood that the sensor can be a sensing camera, etc. that can obtain lane line information, front A device that collects information such as the vehicle’s driving trajectory and driving status.

S102. Determine the driving trend of the preceding vehicle according to the driving state of the preceding vehicle.

The own vehicle 21 determines the driving trend of the preceding vehicle 22 based on the driving state of the preceding vehicle 22, including a stationary state (ie, braking state) and a moving state (ie, a state of moving forward, left, right, etc.). It is understandable that the driving trend of the vehicle in front includes going straight, changing lanes, turning, making a U-turn, etc.

S103. Determine the target driving trajectory of the vehicle based on the driving trend of the preceding vehicle and the driving trajectory of the preceding vehicle.

The vehicle determines the target driving trajectory of the vehicle 21 based on the driving trend of the preceding vehicle 22 and the driving trajectory of the preceding vehicle 22 .

S104. Control the vehicle to drive according to the target driving trajectory.

The vehicle 21 is controlled to drive through the intersection 23 according to the target driving trajectory. After the vehicle passes the intersection, the vehicle 21 is controlled to keep driving automatically along the two lane lines of the lane according to the LKA function.

The embodiment of the present disclosure obtains the driving trajectory and driving status of the preceding vehicle when the vehicle is located at an intersection and there is a vehicle ahead, thereby providing a data basis for subsequent determination of the driving trend of the preceding vehicle; determining the driving trend of the preceding vehicle based on the driving status of the preceding vehicle , it is clear whether the driving situation of the vehicle in front is going straight, changing lanes, turning, etc.; determine the target driving trajectory of the vehicle based on the driving trend of the vehicle in front and the driving trajectory of the vehicle in front, thereby determining the target driving trajectory of the vehicle, ensuring that the vehicle Driving safety: Control the vehicle to drive according to the target driving trajectory, so that the vehicle passes the intersection according to the target driving trajectory. Compared with the existing technology of blindly following the vehicle in front, it is safer and more reliable, and improves the safety of vehicle driving.

In addition, in this embodiment, after the vehicle follows the vehicle in front and passes through the intersection, it quickly returns to the center of the lane according to the LKA function, ensuring the safety of the vehicle. Compared with the existing method of passing through the intersection, it can effectively avoid casualties in traffic accidents. Wait for safety conditions to improve the driving experience and safety.

In some embodiments, determining the driving trend of the preceding vehicle according to the driving state of the preceding vehicle includes: determining the lateral movement distance between the location of the preceding vehicle and the historical position of the preceding vehicle; determining based on the lateral movement distance The driving trend of the vehicle in front.

Determine the lateral movement distance between the position of the preceding vehicle and the historical position of the preceding vehicle, where the time difference between the location of the preceding vehicle and the historical position of the preceding vehicle is the safe driving time. Based on the lateral movement distance, the driving trend of the preceding vehicle is determined. It is understandable that the driving trend of the vehicle in front includes going straight, changing lanes, turning, making a U-turn, etc.

Safe driving time = preset distance/(lane width/lane changing time)

The safe driving time indicates the maximum time to drive forward to ensure your own safety in an unknown scenario, the unit is seconds (s);

The preset distance represents the distance allowed for lateral offset in the operating domain of the lane keeping assist function, and the unit is meters (m);

Lane width, also known as standard lane width, represents the width required for a row of vehicles to travel safely and smoothly on the road, including the designed outer width of the vehicle and the necessary excess width for passing, overtaking or parallel driving, etc. The unit is meters (m );

Lane changing time (T) represents the time it takes for a vehicle to successfully change lanes from the current lane to the adjacent lane, and the unit is seconds (s).

As shown in Figure 3, when the vehicle O is at the intersection and there is a car in front of the vehicle, determine the lateral movement distance X between the position Q' of the preceding vehicle at time T and the historical position Q of the preceding vehicle at time T0. Similarly, , the longitudinal movement distance between the position Q' of the preceding vehicle at time T and the historical position Q of the preceding vehicle at time T0 is Y, where the time difference between the position Q' of the preceding vehicle and the historical position Q of the preceding vehicle is T- T0 is the safe driving time.

The embodiment of the present disclosure provides a data basis for determining the target driving trajectory of the vehicle by determining the lateral movement distance of the vehicle in front, and then determining the driving trend of the vehicle in front.

As shown in Figure 4, in some embodiments, determining the driving trend of the preceding vehicle based on the lateral movement distance specifically includes the following steps S401-S403:

S401. Determine whether the lateral movement distance is greater than the preset distance threshold. If yes, execute step S402; if not, execute step S403.

The preset distance threshold is a distance threshold determined based on the lateral offset distance allowed by the lane keeping assist function. The preset distance threshold = the preset distance + the calibration value. The calibration value is to prevent the vehicle control from being too sensitive.

S402. Determine the driving trend of the vehicle in front to change lanes or turn.

If the lateral movement distance X is greater than the preset distance threshold, that is,

Optionally, the vehicle in front can change lanes to the left or right. The turn can be left or right.

Specifically, S402 can be implemented by the method shown in Figure 5. That is, when the current driving trend of the vehicle is to change lanes, specifically, as shown in Figure 5, S402 can be implemented through the following steps S501-S503:

S501. Determine whether there is an obstacle in the lane adjacent to the vehicle. If yes, proceed to step S502; if not, proceed to step S503.

The sensor data can sense whether there are obstacles in the adjacent lanes within the sensing range of the vehicle. If there are obstacles in the adjacent lanes of the vehicle, step S502 is executed; if there are no obstacles in the adjacent lanes of the vehicle, step S503 is executed. .

S502: Virtually generate lane lines based on the current position of the vehicle and the vehicle's duration frame, plan the target driving trajectory of the vehicle, and control the vehicle to drive according to the target driving trajectory.

When there are obstacles in the adjacent lanes and the current position of the vehicle cannot sense the starting positions of the lane lines on both sides of the opposite exit, for example, the vehicle in front is changing lanes to the right and there are obstacles in the adjacent right lane of the vehicle. Then the vehicle cannot follow the driving trend of the vehicle in front. The historical lane width is determined based on the vehicle's duration frame, and the lane lines are generated virtually based on the vehicle's current position and historical lane width. Specifically, with the current position of the vehicle as the center and perpendicular to the vehicle's driving direction, the projection position of the vehicle on the virtual lane lines on both sides is determined at half the historical lane width. Based on these two projection positions and the driving direction of the car, Parallel lines in the driving direction of the car can be drawn through these two projection positions to create virtual lane lines. It is understandable that the vehicle in front can also change lanes to the left. Correspondingly, there are obstacles in the left lane adjacent to the vehicle.

Optionally, when there are obstacles in adjacent lanes and the current position of the vehicle can sense the starting positions of the lane lines on both sides of the opposite exit, based on the current position of the vehicle and the starting positions of the lane lines on both sides of the opposite exit, Plan the target driving trajectory of the vehicle and control the vehicle to drive according to the target driving trajectory.

As shown in Figure 6, when the vehicle is at point O', based on the sensor data of the vehicle, the starting positions A1 and B1 of the lane lines on both sides of the opposite exit can be obtained, and the starting positions of the lane lines on both sides of the opposite exit can be determined. The midpoint O1 of the connecting line between A1 and B1 is determined as the end point of the trajectory planning.

Safe driving distance = safe driving time * driving speed

The safe driving distance represents the farthest distance you can travel forward to ensure your own safety in an unknown scenario. The unit is meters (m);

Driving speed (V) represents the vehicle driving speed in meters per second (m/s).

Safe driving distance = preset distance/(lane width/lane changing time)*driving speed

If the distance between the current position O' of the own vehicle and the end point O1 of the trajectory planning is less than or equal to the safe driving distance, then the connection line between the current position O' of the own vehicle and the end point O1 of the trajectory planning is determined. is the target driving trajectory of the vehicle, and controls the vehicle to drive through the intersection according to the target driving trajectory.

If the distance between the vehicle's current position O' and the trajectory planning end point O1 is greater than the safe driving distance, then the projection positions A and B of the vehicle's current position O' on the lane lines on both sides of the current lane and the lanes on both sides of the opposite exit The starting positions A1 and B1 of the line are determined, and the trajectory planning point O2 is determined so that the distance between any two adjacent points among the vehicle's current position O', trajectory planning point O2, and trajectory planning end point O1 is less than or equal to the safe driving distance. It can be understood that when the distance between any two adjacent points among the current position O' of the vehicle, the trajectory planning point O2, and the trajectory planning end point O1 is greater than the safe driving distance, other trajectory planning points need to be determined so that the vehicle The distance between the current position, at least one trajectory planning point, and any two adjacent points in the trajectory planning end point is less than or equal to the safe driving distance.

Optionally, based on the projected positions A and B of the vehicle's current position O' on the lane lines on both sides of the current lane and the starting positions A1 and B1 of the lane lines on both sides of the opposite exit, determining at least one trajectory planning point includes: determining The first midpoint A2 of the connection line AA1 between the projected position A on the left lane line of the current lane and the starting position A1 of the left lane line of the opposite exit; determine the projected position B on the right lane line of the current lane and The second midpoint B2 of the connection line BB1 between the starting position B1 of the right lane line of the opposite exit; determine the midpoint O2 of the connection line between the first midpoint A2 and the second midpoint B2 as the first trajectory Planning points.

According to the current position O' of the vehicle, at least one trajectory planning point, and the trajectory planning end point O1, the target driving trajectory of the vehicle is planned, and the vehicle is controlled to drive through the intersection according to the target driving trajectory.

S503. According to the driving trajectory of the preceding vehicle, determine the target driving trajectory of the own vehicle as the driving trajectory of the preceding vehicle.

When there are no obstacles in the adjacent lanes, for example, the vehicle in front is changing lanes to the right and there are no obstacles in the adjacent right lane of the vehicle, then based on the driving trajectory of the vehicle in front, the target driving trajectory of the vehicle is determined as The driving trajectory of the preceding vehicle, that is, the target driving trajectory of this vehicle is the driving trajectory of the preceding vehicle, which is a safe driving distance in the lane-changing direction of the preceding vehicle (i.e., the right direction), and the lateral movement distance of this vehicle is the lane keeping assist The lateral offset distance allowed by the function. It is understandable that the vehicle in front can also change lanes to the left. Correspondingly, there are no obstacles in the left lane adjacent to the vehicle.

S403. Determine that the driving trend of the vehicle in front is straight.

If the lateral movement distance X is less than or equal to the preset distance threshold, that is,

Optionally, if the driving trend of the preceding vehicle is to go straight, the target driving trajectory of the own vehicle is determined to be the driving trajectory of the preceding vehicle based on the driving trajectory of the preceding vehicle.

The embodiment of the present disclosure determines the target driving trajectory of the vehicle by determining the driving situation of the vehicle in front, whether there are obstacles in the adjacent lane of the vehicle, and whether the starting position of the lane lines on both sides of the opposite exit can be sensed, thereby determining the target driving trajectory of the vehicle and controlling the vehicle. The car drives through the intersection according to the target driving trajectory. After crossing the intersection, the car can drive in the center of the lane according to the LKA function, further improving the safety of the car's driving.

FIG. 7 is a schematic structural diagram of a device for vehicles passing through intersections provided by an embodiment of the present disclosure. The device for the vehicle to pass through the intersection may be the electronic device as described in the above embodiment, or the device for the vehicle to pass through the intersection may be a component or assembly in the electronic device. The device for a vehicle passing through an intersection provided by the embodiment of the present disclosure can execute the processing flow provided by the method embodiment for a vehicle passing through the intersection. As shown in Figure 7, the device 70 for a vehicle passing through the intersection includes: an acquisition module 71, a first determination module 72, a third The second determination module 73 and the control module 74; among them, the acquisition module 71 is used to acquire the driving trajectory and driving status of the preceding vehicle when the vehicle is located at the intersection and there is a vehicle in front; the first determination module 72 is used to obtain the driving trajectory and driving status of the preceding vehicle according to the preceding vehicle. The driving state of the vehicle determines the driving trend of the preceding vehicle; the second determination module 73 is used to determine the target driving trajectory of the vehicle based on the driving trend of the preceding vehicle and the driving trajectory of the preceding vehicle; the control module 74 uses To control the vehicle to drive according to the target driving trajectory.

Optionally, the first determination module 72 is also used to determine the driving trend of the preceding vehicle according to the driving state of the preceding vehicle, including: determining the lateral movement distance between the position of the preceding vehicle and the historical position of the preceding vehicle; based on The lateral movement distance determines the driving trend of the vehicle in front.

Optionally, the first determination module 72 is also used to determine the driving trend of the preceding vehicle based on the lateral movement distance, including: determining whether the lateral movement distance is greater than a preset distance threshold; wherein, the preset distance threshold It is a distance threshold determined based on the lateral offset distance allowed by the lane keeping assist function; if the lateral movement distance is less than or equal to the preset distance threshold, it is determined that the driving trend of the vehicle in front is to go straight; if the lateral movement distance is greater than the preset distance distance threshold, it is determined that the driving trend of the vehicle in front is to change lanes or turn.

Optionally, the second determination module 73 is also used to determine the target driving trajectory of the own vehicle based on the driving trend of the preceding vehicle and the driving trajectory of the preceding vehicle, including: if the driving trend of the preceding vehicle is to change lanes or turn. , then determine whether there are obstacles in the adjacent lanes of the vehicle; if there are no obstacles in the adjacent lanes of the vehicle, determine the target driving trajectory of the vehicle to be the driving trajectory of the preceding vehicle based on the driving trajectory of the preceding vehicle.

Optionally, the second determination module 73 is also used to determine the target driving trajectory of the own vehicle based on the driving trend of the preceding vehicle and the driving trajectory of the preceding vehicle, including: if the driving trend of the preceding vehicle is straight, then based on The driving trajectory of the preceding vehicle determines the target driving trajectory of the own vehicle as the driving trajectory of the preceding vehicle.

Optionally, the control module 74 is also used to, if the driving trend of the vehicle in front is to change lanes and there are obstacles in the adjacent lane of the vehicle, virtually generate lane lines based on the current position of the vehicle and the duration frame of the vehicle, and plan the vehicle's current position. The target driving trajectory of the vehicle is controlled to control the vehicle to drive according to the target driving trajectory.

Optionally, the control module 74 is also used to virtually generate lane lines based on the current location of the vehicle and the vehicle's duration frame, and determine the target driving trajectory of the vehicle, including: determining the historical lane width based on the vehicle's duration frame; The current position of the vehicle and the historical lane width are used to virtually generate lane lines; based on the lane lines, the target driving trajectory of the vehicle is determined to be the center line of the lane lines.

Optionally, the control module 74 is also used to determine whether the vehicle can sense the starting position of the lane lines on both sides of the opposite exit based on the current position of the vehicle. If so, based on the current position of the vehicle and the starting positions of the lane lines on both sides of the opposite exit. The starting position of the lane line, planning the target driving trajectory of the vehicle, and controlling the vehicle to drive according to the target driving trajectory.

The device for vehicles passing through intersections in the embodiment shown in FIG. 7 can be used to implement the technical solutions of the above method embodiments. The implementation principles and technical effects are similar and will not be described again here.

FIG. 8 is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure. The electronic device provided by the embodiment of the present disclosure can execute the processing flow provided by the method embodiment of the vehicle passing through the intersection. As shown in Figure 8, the electronic device 80 includes: a memory 81, a processor 82, a computer program and a communication interface 83; wherein, the computer The program is stored in the memory 81 and is configured to be executed by the processor 82 as described above for the vehicle passing through the intersection.

In addition, embodiments of the present disclosure also provide a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the method for a vehicle passing an intersection described in the above embodiments.

In addition, embodiments of the present disclosure also provide a computer program product, which includes a computer program or instructions. When the computer program or instructions are executed by a processor, the method for a vehicle passing an intersection as described above is implemented.

In addition, an embodiment of the present disclosure also provides a vehicle, including a device for passing a vehicle through an intersection as described above.

It should be noted that the computer-readable medium mentioned above in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the above two. The computer-readable storage medium may be, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any combination thereof. More specific examples of computer readable storage media may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard drive, random access memory (RAM), read only memory (ROM), removable Programmed read-only memory (EPROM or flash memory), fiber optics, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In this disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code therein. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device . Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wire, optical cable, RF (radio frequency), etc., or any suitable combination of the above.

In some embodiments, the client and server can communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and can communicate with digital data in any form or medium. (e.g., communications network) interconnection. Examples of communication networks include local area networks ("LAN"), wide area networks ("WAN"), the Internet (e.g., the Internet), and end-to-end networks (e.g., ad hoc end-to-end networks), as well as any currently known or developed in the future network of.

The above-mentioned computer-readable medium may be included in the above-mentioned electronic device; it may also exist independently without being assembled into the electronic device.

The above-mentioned computer-readable medium carries one or more programs. When the above-mentioned one or more programs are executed by the electronic device, the electronic device:

When the vehicle is at an intersection and there is a vehicle in front of it, obtain the driving trajectory and driving status of the vehicle in front;

Determine the driving trend of the preceding vehicle based on the driving state of the preceding vehicle;

Determine the target driving trajectory of the vehicle based on the driving trend of the preceding vehicle and the driving trajectory of the preceding vehicle;

Control the vehicle to drive according to the target driving trajectory.

In addition, the electronic device can also perform other steps in the method for a vehicle passing through an intersection as described above.

Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, including but not limited to object-oriented programming languages—such as Java, Smalltalk, C++, and Includes conventional procedural programming languages—such as "C" or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In situations involving remote computers, the remote computer can be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (such as an Internet service provider through Internet connection).

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, segment, or portion of code that contains one or more logic functions that implement the specified executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown one after another may actually execute substantially in parallel, or they may sometimes execute in the reverse order, depending on the functionality involved. It will also be noted that each block of the block diagram and/or flowchart illustration, and combinations of blocks in the block diagram and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or operations. , or can be implemented using a combination of specialized hardware and computer instructions.

The units involved in the embodiments of the present disclosure can be implemented in software or hardware. Among them, the name of a unit does not constitute a limitation on the unit itself under certain circumstances.

The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, and without limitation, exemplary types of hardware logic components that may be used include: Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), Systems on Chips (SOCs), Complex Programmable Logical device (CPLD) and so on.

In the context of this disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media would include electrical connections based on one or more wires, laptop disks, hard drives, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.

It should be noted that in this article, relational terms such as “first” and “second” are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these There is no such actual relationship or sequence between entities or operations. Furthermore, the terms "comprises," "comprises," or any other variations thereof are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also those not expressly listed other elements, or elements inherent to the process, method, article or equipment. Without further limitation, an element defined by the statement "comprises a..." does not exclude the presence of additional identical elements in a process, method, article, or apparatus that includes the stated element.

The above descriptions are only specific embodiments of the present disclosure, enabling those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be practiced in other embodiments without departing from the spirit or scope of the disclosure. Therefore, the present disclosure is not to be limited to the embodiments described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (12)

1. A method of passing a vehicle through an intersection, the method comprising:

when the vehicle is at the intersection and the front of the intersection is provided with the vehicle, acquiring the running track and the running state of the front vehicle;

determining the driving trend of the front vehicle according to the driving state of the front vehicle;

determining a target running track of the vehicle according to the running trend of the front vehicle and the running track of the front vehicle;

and controlling the vehicle to run according to the target running track.

2. The method of claim 1, wherein determining the driving tendency of the lead vehicle based on the driving state of the lead vehicle comprises:

determining a lateral movement distance between a position of a front vehicle and a history position of the front vehicle;

and determining the driving trend of the front vehicle based on the transverse movement distance.

3. The method of claim 2, wherein determining a driving tendency of a preceding vehicle based on the lateral movement distance comprises:

judging whether the transverse moving distance is larger than a preset distance threshold value or not; the preset distance threshold is a distance threshold determined based on a lateral offset distance allowed by a lane keeping auxiliary function;

if the transverse movement distance is smaller than or equal to a preset distance threshold value, determining that the driving trend of the front vehicle is straight;

and if the transverse moving distance is greater than the preset distance threshold, determining that the driving trend of the front vehicle is lane change or turning.

4. A method according to claim 3, wherein determining a target travel track of the host vehicle from the travel tendency of the preceding vehicle and the travel track of the preceding vehicle comprises:

if the driving trend of the front vehicle is lane change or turning, judging whether an obstacle exists in the adjacent lane of the vehicle;

if no obstacle exists in the adjacent lane of the vehicle, determining the target running track of the vehicle as the running track of the front vehicle according to the running track of the front vehicle.

5. A method according to claim 3, wherein determining a target travel track of the host vehicle from the travel tendency of the preceding vehicle and the travel track of the preceding vehicle comprises:

if the running trend of the front vehicle is straight running, determining that the target running track of the vehicle is the running track of the front vehicle according to the running track of the front vehicle.

6. The method according to claim 4, wherein the method further comprises:

if the driving trend of the front vehicle is lane change and the adjacent lane of the host vehicle has an obstacle, virtually generating a lane line according to the current position of the host vehicle and the time frame of the host vehicle, planning a target driving track of the host vehicle, and controlling the host vehicle to drive according to the target driving track.

7. The method of claim 6, wherein virtually generating a lane line from the current location of the host vehicle and the duration frame of the host vehicle, determining the target travel track of the host vehicle comprises:

determining a historical lane width according to the duration frame of the vehicle;

virtually generating a lane line according to the current position of the vehicle and the historical lane width;

and determining the target running track of the vehicle as the central line of the lane line according to the lane line.

8. The method of claim 6, wherein the method further comprises:

and judging whether the host vehicle can sense the initial positions of the lane lines at the two sides of the opposite exit according to the current position of the host vehicle, if so, planning a target running track of the host vehicle based on the current position of the host vehicle and the initial positions of the lane lines at the two sides of the opposite exit, and controlling the host vehicle to run according to the target running track.

9. An apparatus for passing a vehicle through an intersection, the apparatus comprising:

the acquisition module is used for acquiring the running track and the running state of the front vehicle when the vehicle is at the intersection and the front vehicle is in front of the intersection;

the first determining module is used for determining the driving trend of the front vehicle according to the driving state of the front vehicle;

the second determining module is used for determining a target running track of the vehicle according to the running trend of the front vehicle and the running track of the front vehicle;

and the control module is used for controlling the vehicle to run according to the target running track.

10. An electronic device, comprising:

a memory;

a processor; and

a computer program;

wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of any one of claims 1-8.

11. A computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the method according to any of claims 1-8.

12. A vehicle comprising the apparatus for passing through an intersection of a vehicle according to claim 9.