CN114764980B

CN114764980B - Vehicle turning route planning method and device

Info

Publication number: CN114764980B
Application number: CN202110035292.2A
Authority: CN
Inventors: 刘大伟; 湛逸飞
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2021-01-12
Filing date: 2021-01-12
Publication date: 2024-04-12
Anticipated expiration: 2041-01-12
Also published as: CN114764980A; WO2022151839A1

Abstract

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

Description

Vehicle turning route planning method and device

Technical Field

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

Background

The rise and development of unmanned technology provides a new idea for solving the problem of urban road congestion and reducing traffic safety hidden trouble. In a complex dynamic urban road environment, due to the influence of travel purposes and traffic flows, time or space conflicts inevitably occur between different traffic participants. In unmanned, the collision is obvious in the turning scene of the traffic intersection, so that it is important to plan a turning route capable of avoiding the collision.

Turning route planning is one of the key steps in the production of high-precision maps, and the mode of planning turning routes in the related art is usually manual labeling and semi-automatic labeling. The manual labeling mode is usually that a drafter manually draws according to a point cloud map, and the manual drawing of the route is time-consuming and labor-consuming, and the smoothness and the attractiveness of the route cannot be guaranteed. Semi-automatic labeling is usually performed by automatically generating a smooth curve of a turning route, but collision scenes in the turning route cannot be considered in the generation process, and manual verification and manual adjustment are needed later.

Accordingly, there is a need in the art for a way to automatically generate and avoid conflicting planned turning routes.

Disclosure of Invention

In view of this, a vehicle turning route planning method and apparatus are provided.

In a first aspect, embodiments of the present application provide a vehicle turn route planning method, the method comprising:

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

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

And under the condition that the prediction result is that collision is generated, determining an entry direction point in the road intersection area according to the entry point, the exit point and the entry direction, and determining a turning route according to the entry direction point.

According to the vehicle turning route planning method, whether collision occurs when different vehicles simultaneously enter a road intersection area from the first direction and the second direction and turn can be predicted at least according to the entry point and the entry direction, the entry direction point is determined when the prediction result is that collision occurs, and the turning route is determined according to the entry direction point. Therefore, the technical scheme of the embodiment of the application not only can realize the automatic prediction of whether the collision occurs in the turning process of the vehicle, but also can automatically generate a new entry direction point, wherein the entry direction point is used as a key point for determining the turning route, and the turning route can be optimized, so that the generated turning route does not collide with other turning routes. The vehicle turning route planning method provided by the embodiment of the application can replace a mode of manually marking the turning route in the high-precision map in the related technology, reduce the turning route generation cost, improve the turning route generation efficiency, and provide a reliable technical scheme for unmanned vehicle on-site planning routes.

In a first possible implementation manner, predicting whether a collision occurs when different vehicles simultaneously enter the road junction area from the first direction and the second direction and turn according to at least the entry point and the entry direction includes:

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

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

The embodiment of the application provides a mode of judging whether conflict is generated or not according to the prediction under the condition that the left-turn lane to be turned is arranged in the first direction and the second direction, and whether the conflict is generated or not can be quickly determined by utilizing information which is easy to acquire in the left-turn lane to be turned.

In a second possible implementation manner, according to the first aspect, the predicting whether a collision occurs in a case that different vehicles simultaneously drive into the road junction area from the first direction and the second direction and turn includes:

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

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

In the embodiment of the application, whether the collision occurs or not can be quickly obtained by using the data of the entry point in the first direction, the entry direction and the entry point in the second direction.

In a third possible implementation manner, the predicting whether a collision occurs in a case that different vehicles simultaneously drive into the road junction area from the first direction and the second direction and turn, includes:

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

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

The embodiment of the application provides another mode for predicting whether collision occurs under the condition of left turning to-be-turned tracks, and the mode can also be used for completing collision prediction by using less and easily-acquired data.

In a fourth possible implementation manner of the first aspect, the predicting whether a collision occurs when different vehicles simultaneously enter the road junction area from the first direction and the second direction and turn according to at least the entry point and the entry direction includes:

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

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

The embodiment of the application provides a universal turning conflict prediction mode, which is particularly suitable for the conflict prediction between left turns of a vehicle, the conflict prediction between right turns of the vehicle and the conflict prediction between left turns and right turns of the vehicle under the condition of no left turn to-be-turned lane.

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

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

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

The embodiment of the application provides a mode of planning a left-turn route under the condition that a left-turn lane is to be turned and a collision is predicted, in the mode, any point on a line segment connecting a driving-in point in the first direction and a driving-in point in the second direction can be used as a driving-in direction point, and a left-turn curve is determined according to the driving-in direction point, so that the mode can rapidly and effectively plan the left-turn curve avoiding the collision.

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

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

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

The embodiment of the application provides a mode of planning a left turn route under the condition that a left turn lane is to be turned and a conflict exists in prediction, in the mode, at least one point in a triangle formed by the driving-in points of the first direction and the second direction and the intersection point of the first ray and the second ray can be used as the driving-in direction point, and a left turn curve is determined according to the driving-in direction point, so that the mode can quickly and effectively plan the left turn curve avoiding the conflict.

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

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

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

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

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

The embodiment of the application provides a way of planning a left-turn route under the condition that a left-turn lane to be turned is available and a conflict is predicted, in the way, further, an intersection point of a third ray and a fourth ray can be used as one point for determining a left-turn curve, and the accuracy of the left-turn curve is improved.

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

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

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

The embodiment of the application aims at a way of planning a turning route under the condition that turning lane lines of the first direction and the second direction intersect.

In a second aspect, embodiments of the present application provide a high-precision map labeling method, including:

determining the turning route using the vehicle turning route planning method provided by the first aspect and any one of possible implementation manners of the first aspect;

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

According to the embodiment of the application, the turning route planning mode can be applied to high-precision map labeling, a manual labeling mode can be replaced, labeling efficiency is improved, and labeling cost is reduced.

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

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

The turning route planning method can be applied to unmanned vehicle on-site route planning, and can rapidly and accurately provide the unmanned vehicle with the turning route avoiding collision.

In a fourth aspect, embodiments of the present application provide a vehicle turn route planning apparatus, including:

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

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

and the route determining module is used for determining an entry direction point in the road intersection area according to the entry point, the exit point and the entry direction and determining a turning route according to the entry direction point under the condition that the prediction result is that the collision is generated.

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

In a second possible implementation manner according to the fourth aspect, the conflict prediction module is further configured to: :

In a third possible implementation manner according to the fourth aspect, the conflict prediction module is further configured to: :

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

In a fifth possible implementation manner according to the fourth aspect, the route determining module is specifically configured to:

In a sixth possible implementation manner according to the fourth aspect, the route determining module is specifically configured to:

In a seventh possible implementation manner according to the fourth aspect, the route determining module is further configured to:

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

In an eighth possible implementation manner according to the fourth aspect, the route determining module is specifically configured to:

In a fifth aspect, embodiments of the present application provide a high-precision map labeling apparatus, including a vehicle turning route planning apparatus and a labeling module provided in the fourth aspect and any possible implementation manner of the fourth aspect, where,

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

In a sixth aspect, embodiments of the present application provide a vehicle driving control apparatus, including a vehicle turning route planning apparatus and a vehicle control module provided in the fourth aspect and any one of possible implementation manners of the fourth aspect, where,

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

In a seventh aspect, embodiments of the present application provide a vehicle for traveling along a turning route noted by the high-precision map noted method provided in the second aspect, or traveling along a turning route determined by the vehicle traveling control method provided in the third aspect.

In an eighth aspect, an embodiment of the present application provides a vehicle turning route planning apparatus, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the method of the first/second/third aspect or one or more of the possible implementations of the first/second/third aspect when executing the instructions.

In a ninth aspect, embodiments of the present application provide a non-transitory computer readable storage medium having stored thereon computer program instructions, wherein the computer program instructions, when executed by a processor, implement a method of one or more of the above-described first/second/third aspects or a plurality of possible implementations of the first/second/third aspects.

In a tenth aspect, embodiments of the present application provide a computer program product comprising computer readable code, or a non-transitory computer readable storage medium carrying computer readable code, which when run in an electronic device, a processor in the electronic device performs a method of one or more of the above-described first/second/third aspects or a plurality of possible implementations of the first/second/third aspects.

In an eleventh aspect, embodiments of the present application provide a chip comprising at least one processor for executing a computer program or computer instructions stored in a memory to perform a method in any one of the possible implementations of the above aspects.

Optionally, the chip may further comprise a memory for storing a computer program or computer instructions. Optionally, the chip may further comprise a communication interface for communicating with other modules than the chip.

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

These and other aspects of the application will be apparent from and elucidated with reference to the embodiment(s) described hereinafter.

Drawings

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

Fig. 1 is a schematic structural diagram of a lane planning system according to an embodiment of the present application.

Fig. 2 is a schematic architecture diagram of another lane planning system according to an embodiment of the present application.

Fig. 3 is a functional block diagram of an intelligent vehicle 003 provided in an embodiment of the present application.

FIG. 4 illustrates a method flow diagram for vehicle turn route planning in accordance with an embodiment of the present application.

Fig. 5 shows an exemplary diagram of a scenario according to an embodiment of the present application.

Fig. 6 shows an exemplary diagram of a scenario according to an embodiment of the present application.

Fig. 7 shows an exemplary diagram of a scenario according to an embodiment of the present application.

Fig. 8 shows an exemplary diagram of a scenario according to an embodiment of the present application.

Fig. 9 shows an exemplary diagram of a scenario according to an embodiment of the present application.

Fig. 10 shows an exemplary diagram of a scenario according to an embodiment of the present application.

Fig. 11 shows an exemplary diagram of a scenario according to an embodiment of the present application.

Fig. 12 shows an exemplary diagram of a scenario according to an embodiment of the present application.

Fig. 13 shows an exemplary diagram of a scenario according to an embodiment of the present application.

Fig. 14 shows an exemplary diagram of a scenario according to an embodiment of the present application.

Fig. 15 shows a schematic block configuration of a vehicle turning route planning apparatus according to an embodiment of the present application.

Fig. 16 is a schematic block diagram showing a vehicle turning route planning apparatus according to an embodiment of the present application.

Detailed Description

Various exemplary embodiments, features and aspects of the present application will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers indicate identical or functionally similar elements. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

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

In addition, numerous specific details are set forth in the following detailed description in order to provide a better understanding of the present application. It will be understood by those skilled in the art that the present application may be practiced without some of these specific details. In some instances, methods, means, elements, and circuits have not been described in detail as not to unnecessarily obscure the present application.

In order to facilitate understanding of the embodiments of the present application, a description will be given below of a structure of one of lane line planning systems on which the embodiments of the present application are based. Referring to fig. 1, fig. 1 is a schematic structural diagram of a lane line planning system provided in an embodiment of the present application, where the system includes a collecting device 001 and a route planning device 002, where the collecting device 001 and the route planning device 002 may communicate through a network to send collected raw data for planning lane lines to the route planning device 002, and the route planning device 002 completes lane line planning.

The acquisition device 001 may be an electronic device having data acquisition capabilities and data transceiving capabilities. For example, the acquisition device 001 may be an acquisition vehicle equipped with one or more sensors of lidar, cameras, global navigation satellite systems (Global Navigation Satellite System, GNSS), inertial measurement units (Inertial Measurement Unit, IMU), etc. The acquisition vehicles can collect intersection information of turning lane lines to be marked in the high-precision map, namely, before the high-precision map is drawn, the information required by drawing the high-precision map can be collected through the acquisition vehicles running on each road. The laser radar is mainly used for collecting point cloud data, and because the laser radar can accurately reflect position information, the width of a road surface, the height of a signal lamp and some other information can be obtained through the laser radar; the camera is mainly used for collecting information such as marks of the road surface, lane lines and the like; GNSS is mainly used for recording the coordinates of the current acquisition point; the IMU is mainly used for recording and collecting the angle and acceleration information of the vehicle and correcting and collecting the position and angle of the vehicle.

Alternatively, the collecting device 001 may be a road side unit installed at an intersection, and the road side unit may obtain intersection information in the coverage area and monitor a plurality of intelligent vehicles in the coverage area. The road side unit can acquire the intersection information of the lane line to be planned in automatic driving, namely, the road side unit can monitor the dynamics in the intersection at any time and can send the information of the intersection to the intelligent vehicle which needs to pass through the intersection. It should be noted that, the intersection information may be acquired by one road side unit, or may be acquired by a plurality of road side units cooperatively cooperating to achieve the purpose of acquiring information of all roads connected to the intersection. The road side unit can be composed of a high-gain directional beam control read-write antenna and a radio frequency controller. The high-gain directional beam control read-write antenna is a microwave transceiver module and is responsible for transmitting/receiving, modulating/demodulating, encoding/decoding and encrypting/decrypting signals and data; the radio frequency controller is a module for controlling the transmission and the reception of data and processing the information transmitted and received to the upper computer.

The collecting device 001 can collect the intersection information of the turning lane line to be marked in the high-precision map, such as road grade data at the intersection (namely, the data of each road connected with the intersection), lane grade data at the intersection (namely, the data of each lane connected with the intersection) and the information of the obstacle in the intersection. Road level may also be referred to as non-high-precision vector road network data for describing a particular road from road level accuracy. The road-level data is road network data collected according to the granularity of a road, namely, one lane comprising a plurality of lanes also has only one vector data taking a road segment (link) as a unit. Vector data includes a series of location coordinate points, typically on a road centerline; the road class data also includes road class, traffic capacity, number of lanes, road category, driving style, road broadband, and the like. The lane-level data may be referred to as high-precision vector road network data for describing a specific road from lane line accuracy. Specifically, the lane-level data is road network data collected according to lane line granularity, and may include, but is not limited to, lane edge line information (including vector data of a position where a lane edge line is located) of any one road, lane boundary line information (including vector data of a position where a lane boundary line is located), and the like. The obstacle may be an object that impedes driving in the intersection, the information of the obstacle may be vector data of a position where the obstacle is located, and the obstacle includes, but is not limited to, at least one of the following: curb, tree, street lamp, etc.

The route planning apparatus 002 may be an electronic device with data processing capability and data transceiving capability, may be a physical device such as a host, a rack-mounted server, a blade server, etc., or may be a virtual device such as a virtual machine, a container, etc. The route planning device 002 may determine an entry point, an exit point, and an entry direction of the entry point into the road junction area from the first direction and the second direction, respectively; predicting whether collision occurs when different vehicles simultaneously enter the road junction area from the first direction and the second direction and turn according to at least the entry point and the entry direction; and under the condition that the prediction result is that collision is generated, determining an entry direction point in the road intersection area according to the entry point, the exit point and the entry direction, and determining a turning route according to the entry direction point.

When the collecting device 001 is used for collecting vehicles, the collected intersection information may be intersection information of a turning lane line to be marked in the high-precision map, and the route planning device 002 may be a device for generating the high-precision map. After the route planning apparatus 002 generates the high-precision map, the high-precision map may be transmitted to the intelligent vehicle 003, and the intelligent vehicle 003 may complete traveling based on the high-precision map.

When the collecting device 001 is a road side unit installed at an intersection, the collected intersection information may be information of the intersection of the lane line to be planned in automatic driving, please refer to fig. 2, fig. 2 is a schematic diagram of another lane line planning system according to an embodiment of the present application. As can be seen from fig. 2, the route planning device 002 may be an intelligent vehicle 003 traveling at an intersection, and when the intelligent vehicle 003 receives information of the intersection sent by the road side unit, a lane line which does not generate a collision may be planned according to the information of the intersection.

It should be noted that the turning lane line may include a left turning lane line or a right turning lane line, and the embodiments of the present application do not limit at all.

It should be noted that, the bezier curve may be used to draw the lane line, and the spline curve may also be used to determine to draw the lane line, and the tool for drawing the lane line is not limited in this embodiment of the present application.

Based on the lane line planning system architecture, the embodiment of the application provides an intelligent vehicle 003 applied to the lane line planning system architecture. Referring to fig. 3, fig. 3 is a functional block diagram of an intelligent vehicle 003 according to an embodiment of the present application. In one embodiment, intelligent vehicle 003 may be configured in a fully or partially autonomous mode. For example, the intelligent vehicle 003 may control itself while in the automatic driving mode and may determine the current state of the vehicle and its surroundings by human operation, determine the possible behavior of at least one other vehicle in the surroundings, and determine a confidence level corresponding to the likelihood that the other vehicle performs the possible behavior, and control the intelligent vehicle 003 based on the determined information. While the intelligent vehicle 003 is in the autonomous mode, the intelligent vehicle 003 may be placed in operation without interaction with a person.

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

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

Examples of energy sources 219 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. The energy source 219 may also provide energy to other systems of the intelligent vehicle 003.

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

The sensor system 204 may include several sensors that sense information about the environment surrounding the intelligent vehicle 003. For example, the sensor system 204 may include a global positioning system 222 (which may be a GPS system, or may be a beidou system or other positioning system), an inertial measurement unit (inertial measurement unit, IMU) 224, a radar 226, a laser rangefinder 228, and a camera 230. The sensor system 204 may also include sensors (e.g., in-vehicle air quality monitors, fuel gauges, oil temperature gauges, etc.) that monitor the internal systems of the intelligent vehicle 003. Sensor data from one or more of these sensors may be used to detect objects and their corresponding characteristics (location, shape, direction, speed, etc.). Such detection and identification is a critical function of the safe operation of autonomous intelligent vehicle 003.

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

Radar 226 may utilize radio signals to sense objects within the ambient environment of smart vehicle 003. In some embodiments, in addition to sensing an object, the radar 226 may be used to sense the speed and/or heading of the object.

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

The camera 230 may be used to capture multiple images of the surroundings of the intelligent vehicle 003. The camera 230 may be a still camera or a video camera.

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

Steering system 232 is operable to adjust the heading of intelligent vehicle 003. For example, in one embodiment may be a steering wheel system.

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

The brake unit 236 is used to control the intelligent vehicle 003 to decelerate. The brake unit 236 may use friction to slow the wheel 221. In other embodiments, the brake unit 236 may convert the kinetic energy of the wheels 221 into electrical current. The brake unit 236 may take other forms to slow the rotational speed of the wheels 221 to control the speed of the intelligent vehicle 003.

The computer vision system 240 may be operative to process and analyze images captured by the camera 230 to identify objects and/or features in the environment surrounding the intelligent vehicle 003. The objects and/or features may include traffic signals, road boundaries, and obstacles. The computer vision system 240 may use object recognition algorithms, in-motion restoration structure (Structure from Motion, SFM) algorithms, video tracking, and other computer vision techniques. In some embodiments, the computer vision system 240 may be used to map an environment, track objects, estimate the speed of objects, and so forth.

The route control system 242 is used to determine the travel route of the intelligent vehicle 003. In some embodiments, route control system 242 may incorporate data from sensor 238, GPS 222, and one or more predetermined maps to determine a travel route for intelligent vehicle 003.

The obstacle avoidance system 244 is operable to identify, evaluate, and avoid or otherwise traverse potential obstacles in the environment of the intelligent vehicle 003.

Of course, in one example, control system 206 may additionally or alternatively include components other than those shown and described. Or some of the components shown above may be eliminated.

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

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

The wireless communication system 246 may communicate wirelessly with one or more devices directly or via a communication network. For example, wireless communication system 246 may use 3G cellular communication, such as CDMA, EVD0, GSM/GPRS, or 4G cellular communication, such as LTE. Or 5G cellular communication. The wireless communication system 246 may communicate with a wireless local area network (wireless local area network, WLAN) using WiFi. In some embodiments, the wireless communication system 246 may communicate directly with devices using an infrared link, bluetooth, or ZigBee. Other wireless protocols, such as: various vehicle communication systems, for example, wireless communication system 246 may include one or more dedicated short-range communication (dedicated short range communications, DSRC) devices, which may include public and/or private data communications between vehicles and/or roadside stations.

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

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

The processor 213 may be any conventional processor, such as a commercially available CPU. Alternatively, the processor may be a special purpose device such as an ASIC or other hardware-based processor. Although FIG. 3 functionally illustrates a processor, memory, and other elements of computer 120 in the same block, it will be understood by those of ordinary skill in the art that the processor, computer, or memory may in fact comprise a plurality of processors, computers, or memories that may or may not be stored within the same physical housing. For example, the memory may be a hard disk drive or other storage medium located in a different housing than computer 120. Thus, references to a processor or computer will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Rather than using a single processor to perform the steps described herein, some components, such as the steering component and the retarding component, may each have their own processor that performs only calculations related to the component-specific functions.

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

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

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

A user interface 216 for providing information to or receiving information from a user of the intelligent vehicle 003. Optionally, the user interface 216 may include one or more input/output devices within the set of peripheral devices 208, such as a wireless communication system 246, a car-in-computer 248, a microphone 250, and a speaker 252.

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

Optionally, computer system 212 may also receive information from other computer systems or transfer information to other computer systems. For example, the computer system 212 may transfer the sensor data collected from the sensor system 204 of the intelligent vehicle 003 to another computer system at a remote location, and process the data with another computer system, such as data fusion of the data collected by each sensor in the sensor system 204 by another computer system, and then return the fused data or analysis result to the computer system 212. Optionally, data from computer system 212 may be transmitted to a cloud-side computer system via a network for further processing. The networks and intermediate nodes may include various configurations and protocols including the internet, world wide web, intranets, virtual private networks, wide area networks, local area networks, private networks using proprietary communication protocols of one or more companies, ethernet, wiFi and HTTP, and various combinations of the foregoing. Such communication may be by any device capable of transmitting data to and from other computers, such as modems and wireless interfaces.

As described above, in some possible embodiments, the remote computer system interacting with the computer system 212 in the intelligent vehicle 003 may comprise a server, such as a load balancing server farm, having a plurality of computers that exchange information with different nodes of a network for the purpose of receiving, processing, and transmitting data from the computer system 212. The server may have a processor, memory, instructions and data, etc. For example, in some embodiments of the present application, the server's data may include information that provides weather related information. For example, the server may receive, monitor, store, update, and transmit various information related to weather. The information may include precipitation, clouds, and/or temperature information, for example, in the form of reports, radar information, forecasts, and the like. The data of the server may further include high-precision map data, traffic information (such as real-time traffic congestion conditions and traffic accident situations) of the road section ahead, and the server may send the high-precision map data and the traffic information to the computer system 212, so as to assist the intelligent vehicle 003003 in better performing automatic driving and ensuring driving safety.

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

Alternatively, the above components are just an example, and in practical applications, components in the above modules may be added or deleted according to actual needs, and fig. 3 should not be construed as limiting the embodiments of the present application.

An autonomous car traveling on a road, such as the intelligent vehicle 003 above, may identify objects within its surrounding environment to determine adjustments to the current speed. The object may be another vehicle, a traffic control device, or another type of object. In some examples, each identified object may be considered independently and based on its respective characteristics, such as its current speed, acceleration, spacing from the vehicle, etc., may be used to determine the speed at which the autonomous car is to adjust.

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

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

The intelligent vehicle 003 may be a car, a truck, a motorcycle, a bus, a ship, an airplane, a helicopter, a mower, an amusement ride, a casino vehicle, construction equipment, an electric car, a golf car, a train, a trolley, or the like, and the embodiment of the present application is not particularly limited.

It is understood that the functional diagram of the intelligent vehicle 003 in fig. 3 is merely an exemplary implementation in an embodiment of the present application, and the intelligent vehicle 003 in an embodiment of the present application includes, but is not limited to, the above structure.

The vehicle turning route planning method described in the present application is described in detail below with reference to the accompanying drawings. FIG. 4 is a method flow diagram of one embodiment of a vehicle turn route planning method provided herein. Although the present application provides method operational steps as illustrated in the following examples or figures, more or fewer operational steps may be included in the method, either on a routine or non-inventive basis. In steps where there is logically no necessary causal relationship, the execution order of the steps is not limited to the execution order provided in the embodiments of the present application. The method may be performed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment) as shown in the embodiments or figures during actual vehicle turn routing or when the apparatus is executing.

Specifically, an embodiment of a vehicle turning route planning method provided in the present application is shown in fig. 4, where the method may include:

s101: an entry point into a road junction area from a first direction and a second direction, an exit point, and an entry direction of the entry point are determined, respectively.

In this embodiment of the present application, the road intersection area may include an area where multiple roads intersect, and after the vehicles enter the road intersection area, the vehicles may go straight or turn according to the indication of the traffic light, so as to avoid collision between the vehicles. Fig. 5 and 6 show schematic road surface diagrams of the road junction 501, and as shown, the road junction 501 is respectively connected with a plurality of roads, and each road further comprises a plurality of lane lines. In this embodiment of the present application, the first direction and the second direction may include a passing direction of two roads entering the road junction area 501, and the first direction and the second direction may include two opposite directions, for example, a first direction and a second direction shown in fig. 5 are opposite directions, and may also include two adjacent directions, for example, a first direction and a second direction shown in fig. 9 and fig. 10 are adjacent directions, which is not limited herein.

In the embodiment of the present application, an entry point, an exit point, and an entry direction of the entry point into the road junction area 501 from the first direction and the second direction may be determined, respectively. The case where the vehicle turns in the road junction area 501 includes left and right turns, wherein the left turn case may be further divided into a case where there is a lane to be turned left and a case where there is no lane to be turned left.

In one embodiment of the present application, in the case of a left-turn lane, the end point of the right lane line of the left-turn lane and its entry direction may be taken as the entry point and its entry direction. The driving direction of the end point of the right lane line may include a tangential direction of the end point along the right lane line. As shown in fig. 5, the first direction and the second direction are opposite directions, and the first direction and the second direction are both provided with a left turn lane 503 in the road junction area 501. When the turning routes in the first direction and the second direction are planned, if the lane lines closest to each other do not collide, the generated turning routes do not collide. Based on this, in an embodiment of the present application, in the case where the left-turn waiting lane 503 in the first direction and the second direction is provided in the road junction region 501, the end point of the right lane line of the left-turn waiting lane 503 in the first direction and the second direction and the entering direction thereof may be regarded as the entering point and the entering direction thereof, respectively. As shown in fig. 5, in the first direction, the entry directions of the point B and the point B may be regarded as the entry point and the entry direction, and in the second direction, the entry directions of the point C and the point C may be regarded as the entry point and the entry direction. In another embodiment of the present application, in the case that there is no left turn lane to be turned, an end point of a rightmost lane of the left turn lane may be taken as an entry point, and the corresponding entry direction is a traffic direction of the lane. As shown in fig. 6, in the road surface condition where the lane to be turned left is not turned, the point B may be taken as the entry point in the first direction, and the corresponding exit point may be taken as the first direction.

In this embodiment of the present application, the exit point is an end point of a lane line of a turn, and similarly, the end point of a lane line on the rightmost side in the exit direction may be the exit point in the case of a left turn on the premise that the generated turn route does not collide if the lane line closest to the other side does not collide. As shown in fig. 5, point E may be taken as an exit point from the first direction to the left and out of the road junction area 501. Of course, in other embodiments, any point in the boundary area between the road junction area 501 and the outgoing lane may also be used as the outgoing point, which is not limited herein.

S103: and predicting whether collision occurs when different vehicles simultaneously enter the road junction area from the first direction and the second direction and turn according to at least the entry point and the entry direction.

In this embodiment of the present application, in the process of determining a turning route, it may be predicted whether a collision occurs when a vehicle simultaneously enters the road junction area 501 from the first direction and the second direction and turns, so that the method has an important effect on determining a turning route that does not collide. Whether the prediction generates conflict in different turning scenes is explained through a plurality of embodiments.

In one embodiment of the present application, predicting whether a collision occurs when different vehicles simultaneously enter the road junction 501 from the first direction and the second direction and turn according to at least the entry point and the entry direction may include:

s201: and under the condition that the left-turning to-be-turned lane in the first direction and the second direction is arranged in the road intersection area, respectively taking the end point of the right lane line of the left-turning to-be-turned lane in the first direction and the second direction and the entering direction thereof as the entering point and the entering direction thereof.

S203: according to the positional relationship between the entry point in the first direction and the second direction and the extension line of the entry point in the entry direction thereof, it is predicted whether or not a collision occurs in the case where different vehicles simultaneously enter the road junction area from the first direction and the second direction and turn.

The embodiment of the present application provides a way to predict whether a collision occurs in the case where the left turn waiting lane 503 in the first direction and the second direction is provided in the road junction area 501. Specifically, whether or not a collision is generated may be predicted from a positional relationship between the entry point in the first direction and the second direction and an extension line of the entry point in the entry direction thereof. The above embodiment is described by a specific example, and fig. 7 is a simplified schematic diagram of fig. 5, where the gray area in fig. 7 is a road junction area 501. The point B in fig. 7 is the entry point in the first direction, the tangent line of the point B along the lane line turning left in fig. 7 is the entry direction of the point B, and the extension line of the point B along the entry direction is the first ray 701 in fig. 7. The point C in fig. 7 is the entry point in the second direction, and similarly, the tangent line of the point C along the left turn lane line is the entry direction of the point C, and the extension line of the point C along the entry direction thereof is the second ray 703 in fig. 7. That is, in the embodiment of the present application, whether or not a collision occurs in the case of left-turning lane in the first direction and the second direction may be predicted from the positional relationship among the point B, the first ray 701 having the point B as the start point, the point C, and the second ray 703 having the point C as the start point.

In the embodiment of the application, under the condition that the left-turn lane to be turned exists, the driving-in point and the driving-in direction thereof are data which are easy to acquire, whether collision occurs can be predicted according to the simple data, and the prediction efficiency is high.

In one embodiment of the present application, the predicting whether a collision occurs in a case where different vehicles simultaneously drive into the road junction area from the first direction and the second direction and turn may include:

s301: a ray extending in the entry direction of the ray starting from the entry point in the first direction is determined.

S303: in the case where the entry point in the second direction is located on the left side of the ray, a collision is predicted.

In the following, the above embodiment will be described with reference to fig. 7, and as shown in fig. 7, point C is the entry point in the second direction, and it is found that point C is on the left side of the first ray 701, and then it is predicted that a collision occurs when different vehicles simultaneously enter the road junction 501 from the first direction and the second direction and turn.

S401: determining a first ray extending in the entry direction of the first ray with the entry point in the first direction as a starting point, and a second ray extending in the entry direction of the second ray with the entry point in the second direction as a starting point;

s403: in the event that it is determined that the first ray intersects the second ray, a conflict is predicted.

The above embodiment will be described with reference to fig. 7, wherein the first ray 701 is a light-colored dashed arrow starting from point B, and the second ray 703 is a light-colored dashed arrow starting from point C, as shown in fig. 7. As shown in fig. 7, if the first ray 701 and the second ray 703 intersect at the point H, it is predicted that a collision occurs when different vehicles simultaneously enter the road junction area 501 from the first direction and the second direction and turn.

Therefore, the road condition in fig. 7 satisfies the two conditions for determining the collision at the same time, and it should be noted that in the technical solution of the present application, when the conditions for determining the collision in any of the embodiments are satisfied in the case that there is a lane to be turned left, it is predicted that the collision occurs when different vehicles simultaneously drive into the road junction area from the first direction and the second direction and turn.

In another embodiment of the present application, predicting whether a collision occurs when different vehicles simultaneously enter the road junction 501 from the first direction and the second direction and turn according to at least the entry point and the entry direction includes:

s501: determining a pre-fit turning lane line of the first direction and the second direction respectively, wherein the pre-fit turning lane line is determined according to the entry point, the exit point and an intermediate point, the entry point comprises an endpoint of a rightmost or leftmost lane line, and the intermediate point comprises an intersection point of a ray of the entry point extending along the entry direction and a ray of the exit point extending reversely along the exit direction;

s503: in the case where the pre-fitted turning lane lines of the first direction and the second direction intersect, a collision is predicted.

The embodiment of the application provides a universal conflict prediction mode, which is particularly suitable for application scenes of left turn and judging whether conflict exists between left turn and right turn and between right turn and right turn when a lane to be turned is not left turned in the first direction and the second direction. In the embodiment of the application, the pre-fitted turning lane lines in the first direction and the second direction may be determined according to the entry point, the exit point and the intermediate point, respectively. In one embodiment, the intermediate point may include an intersection of a ray extending from the entry point in the entry direction and a ray extending from the exit point in the exit direction. In other embodiments, the number of intermediate points is not limited, and any point in the road junction area 501 may be included, which is not limited herein. In this embodiment of the present application, the pre-fitted turning lane line may be generated by adopting a drawing manner such as a bezier curve, a spline curve, and the like, which is not limited herein. Fig. 8 shows a pre-fitted turning lane line 801 and a pre-fitted turning lane line 803 generated from the first direction and the second direction without turning left, and as shown in fig. 8, the pre-fitted turning lane line 801 and the pre-fitted turning lane line 803 in the first direction and the second direction intersect, whereby occurrence of collision can be predicted. Fig. 9 illustrates a pre-fitted turning lane line 901 and a pre-fitted turning lane line 903 generated in a scene in which a first direction turns from left to right and a second direction turns from right, as shown in fig. 9, the pre-fitted left turning lane line in the first direction and the pre-fitted right turning lane line 901 and the pre-fitted turning lane line 903 in the second direction intersect, whereby collision can be predicted. Fig. 10 shows a pre-fitted turning lane line 1001 and a pre-fitted turning lane line 1003 generated from the first direction right turn and the second direction right turn, and as shown in fig. 10, the pre-fitted turning lane line 1001 and the pre-fitted turning lane line 1003 in the first direction and the second direction intersect, whereby occurrence of collision can be predicted.

S105: and under the condition that the prediction result is that collision is generated, determining an entry direction point in the road intersection area according to the entry point, the exit point and the entry direction, and determining a turning route according to the entry direction point.

In this embodiment of the present application, when the prediction result is that a collision occurs, a direction point may be entered in the road junction area 501 according to the entry point, the exit point, that is, the entry direction. Wherein, the entering direction point is used as an adjusting key point of the turning route, so that the collision between the generated turning routes can be avoided.

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

s601: selecting at least one entry direction point from a line segment connecting the entry points in the first direction and the second direction;

s603: and determining a left turn curve according to the entry point, the exit point and the at least one entry direction point in the first direction, and determining a left turn curve on the other side of the left turn route according to the left turn curve.

Next, the method of the above-described embodiment will be described with reference to fig. 7, in which at least one entry direction point is selected from a line segment connecting entry points B and C in two directions, and entry direction point G is selected in fig. 7. In the embodiment of the present application, the left turn curve may be determined according to the entry point B, the exit point E, and the entry direction point G in the first direction. In some embodiments, the left-turn curve may be generated by connecting B, E, G using a bezier curve, spline curve, or the like, which is not limited herein. After the left turn curve on the side of the point B is generated, the left turn curve on the side of the point a in the left turn route may be determined from the left turn curve. In one embodiment of the present application, a ray parallel to BC may be determined and point I taken on the ray such that the length of AI is equal to the length of BG. Similarly, a ray extending in the opposite direction to the exit direction with the exit point F on the other side as the origin is specified, and intersects the ray AI at point M. Based on this, the same curve-drawing method can be used to connect A, I, F to generate the left-turn curve on the other side, and it is needless to say that A, I, M, F can also be used to connect to generate the left-turn curve on the other side.

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

s701: determining a third ray which takes an exit point as a starting point and extends along the opposite direction of the exit direction, wherein the exit point comprises an end point of a lane line at the rightmost side in the exit direction;

s703: determining a fourth ray which takes the entry point in the first direction as a starting point and extends towards the entry point in the second direction;

s705: determining an intersection point of the third ray and the fourth ray;

s707: and determining a left turning curve according to the entry point, the exit point, the intersection point of the third ray and the fourth ray and the at least one entry direction point of the first direction.

In the following, the above embodiment will be described with reference to fig. 7, and in the case of a left-turn lane, a third ray 705 extending in the opposite direction of the exit direction with the exit point E as the origin is first determined. A fourth ray 707 is determined which starts at the entry point B in the first direction and extends towards the entry point C in the second direction. An intersection point L of the third ray 705 and the fourth ray 707 is determined. In one embodiment of the present application, the left turn curve may be determined according to the entry point B, the exit point E, the entry direction point G, and the intersection point L in the first direction. On the basis of the above embodiment, adding the intersection point L to determine the left-turn curve may further improve the accuracy of the left-turn curve.

The method for generating the left-turn route provided by the embodiment of the application is not only applicable to the case of conflict of the second entry point on the left side of the ray which takes the entry point in the first direction as the starting point and extends along the entry direction, but also applicable to the case of conflict of intersection of the first ray and the second ray.

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

s801: selecting at least one entry direction point from a triangle formed by the entry points of the first direction and the second direction and the intersection point of the first ray and the second ray;

s803: and determining a left turn curve according to the entry point, the exit point and the at least one entry direction point in the first direction, or according to the entry point, the exit point, the intersection point of the third ray and the fourth ray and the at least one entry direction point in the first direction, and determining a left turn curve on the other side of the left turn route according to the left turn curve.

The method and the device are suitable for the situation that a left-turn to-be-turned route exists, and the ray extending along the entering direction of the first direction at the entering point is intersected with the ray extending along the entering direction of the second direction at the entering point. As shown in fig. 7, in the embodiment of the present application, at least one entry direction point may be selected from a triangle BCH formed by the entry point B in the first direction, the entry point C in the second direction, and the intersection point H of the first ray 701 and the second ray 703. In the embodiment of the present application, the left turn curve may be determined according to the entry point B in the first direction, the exit point E, and the at least one entry direction point. Likewise, in another embodiment of the present application, a left turn curve may be determined from the entry point B in the first direction, the exit point E, the at least one entry direction point G, and the intersection point L. The determination of L may refer to the descriptions of S701-S705, and will not be described herein. Similarly, after the left-turn curve on the B-point side is generated, the left-turn curve on the a-point side may be generated from the left-turn curve on the B-point side. In the process of determining the left-turn curve of the point A, the vector of the point B and the at least one driving-in direction point can be determined, then at least one driving-in direction point corresponding to the point A is determined at the point A by using the vector, and then the left-turn curve of the point A is drawn and generated by using the same curve drawing mode.

s901: at least one entry direction point is selected from an area formed by intersecting the pre-fitted turning lane lines in the first direction and the second direction.

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

The method and the device are suitable for a scene of a pre-fitting turning lane, and in the process of planning the turning curve under the scene, at least one entering direction point can be selected from an area formed by intersecting the pre-fitting turning lane lines in the first direction and the second direction. As shown in fig. 8, the pre-fitted turning lane lines of the first direction and the second direction intersect at A, B two points. According to the technical solution provided in the foregoing embodiment, for example, at least one point may be selected on the AB lower arc 807 as the entry direction point in the first direction, and a point C is selected in fig. 8. In addition, at least one point may be selected on the arc 805 on the AB as the entry direction point in the second direction, and a point D is selected in fig. 8. After determining the entry direction points, left turn curves in the first direction and the second direction as shown in fig. 11 can be planned from the entry point, the exit point, and the entry direction points C and D, respectively. In the same manner, a left-turn curve in the first direction and a right-turn curve in the second direction as shown in fig. 12 may be planned, and a right-turn curve in the first direction and a right-turn curve in the second direction as shown in fig. 13 may be planned. The number and the positions of the entry direction points are not limited to the above example, and for example, it may be determined that the entry direction points in the first direction and the second direction are the same point, and the two generated turning lane lines are tangential and do not belong to the case of collision.

In the embodiment of the present application, the turning route may be planned and obtained also in a case where the prediction result includes that different vehicles simultaneously drive into the road junction area 501 from the first direction and the second direction and turn, without collision. In one embodiment of the present application, the pre-fitted turning lane lines of the first direction and the second direction may be respectively taken as the finally determined turning lane lines of the first direction and the second direction, in case that the pre-fitted turning lane line predictions according to the first direction and the second direction do not collide. Likewise, the turning lane lines can be marked in a high-precision map later, or the vehicle can be controlled to run according to the turning lane lines.

In another embodiment of the present application, in a case where the first direction and the second direction are provided with left-turn lanes, the turning route may be determined according to the entry point, the exit point, and the entry direction without collision according to the positional relationship prediction between the entry point in the first direction and the second direction and the extension line of the entry point in the entry direction thereof.

In the following, by way of a specific example, the above-described embodiment is described, fig. 14 is a simplified schematic diagram of fig. 5, and in the case where it is determined that there is no collision, in determining the turning lane line in the first direction, as shown in fig. 14, it is possible to determine a third ray 705 extending in the opposite direction of the exit direction with the exit point E as the start point, and a fifth ray 1401 extending in the entry direction with the entry point B as the start point. An intersection point P of the third ray 705 and the fifth ray 1401 is determined, and a left turn lane line in the first direction is determined according to the entry point B, the exit point E, and the intersection point P. It should be noted that, the bezier curve may be used to draw the lane line, and the spline curve may also be used to determine to draw the lane line, and the tool for drawing the lane line is not limited in this embodiment of the present application.

In another aspect, the present application further provides a method for labeling a high-precision map, including:

determining the turning route by using the vehicle turning route planning method according to any one of the embodiments;

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

Another aspect of the present application also provides a vehicle running control method, including:

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

Another aspect of the present application further provides a vehicle turning route planning apparatus, as shown in fig. 15, the apparatus 1500 includes:

an information determining module 1501 for determining an entry point into a road junction area from a first direction and a second direction, an exit point, and an entry direction of the entry point, respectively;

A collision prediction module 1503, configured to predict whether a collision occurs when different vehicles simultaneously enter the road junction area from the first direction and the second direction and turn according to at least the entry point and the entry direction;

the route determining module 1505 is configured to determine an entry direction point in the road junction region according to the entry point, the exit point, and the entry direction, and determine a turning route according to the entry direction point, if the prediction result is that a collision occurs.

Optionally, in an embodiment of the present application, the conflict prediction module is specifically configured to: :

Optionally, in an embodiment of the present application, the conflict prediction module is further configured to: comprising the following steps:

Optionally, in an embodiment of the present application, the conflict prediction module is specifically configured to:

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

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

Optionally, in an embodiment of the present application, the route determining module is further configured to:

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

Optionally, in an embodiment of the present application, the root route determining module is specifically configured to:

The application also provides a high-precision map marking device, which comprises the vehicle turning route planning device and the marking module according to any embodiment, wherein,

The application also provides a vehicle running control device, which comprises the vehicle turning route planning device and the vehicle control module according to any embodiment, wherein,

In another aspect, the present application further provides a vehicle for traveling on a high-precision map labeled according to the high-precision map labeling method described in the foregoing embodiment, or traveling on a turning route determined according to the vehicle traveling control method described in the foregoing embodiment.

An embodiment of the present application provides a vehicle turning route planning apparatus, as shown in fig. 16, including: a processor and a memory for storing processor-executable instructions; wherein the processor is configured to implement the above-described method when executing the instructions.

Embodiments of the present application provide a non-transitory computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the above-described method.

Embodiments of the present application provide a computer program product comprising a computer readable code, or a non-transitory computer readable storage medium carrying computer readable code, which when run in a processor of an electronic device, performs the above method.

The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: portable computer disk, hard disk, random Access Memory (Random Access Memory, RAM), read Only Memory (ROM), erasable programmable Read Only Memory (Electrically Programmable Read-Only-Memory, EPROM or flash Memory), static Random Access Memory (SRAM), portable compact disk Read Only Memory (Compact Disc Read-Only Memory, CD-ROM), digital versatile disk (Digital Video Disc, DVD), memory stick, floppy disk, mechanical coding devices, punch cards or in-groove protrusion structures having instructions stored thereon, and any suitable combination of the foregoing.

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

Computer program instructions for carrying out operations of the present application may be assembly instructions, instruction set architecture (Instruction Set Architecture, ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, c++ or the like and conventional procedural programming languages, such as the "C" language or similar programming languages. The computer readable program instructions may be executed 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 the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a local area network (Local Area Network, LAN) or a wide area network (Wide Area Network, WAN), or it may be connected to an external computer (e.g., through the internet using an internet service provider). In some embodiments, aspects of the present application are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field programmable gate arrays (Field-Programmable Gate Array, FPGA), or programmable logic arrays (Programmable Logic Array, PLA), with state information of computer readable program instructions.

Various aspects of the present application are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium having the instructions stored therein includes an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). 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 in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.

It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by hardware (e.g., circuits or ASICs (Application Specific Integrated Circuit, application specific integrated circuits)) which perform the corresponding functions or acts, or combinations of hardware and software, such as firmware, etc.

Although the invention is described herein in connection with various embodiments, other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

The embodiments of the present application have been described above, the foregoing description is exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A vehicle turn route planning method, comprising:

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

12. A vehicle travel control method characterized by comprising:

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

a processor;

a memory for storing processor-executable instructions;

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

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

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

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