CN-119218214-B - Vehicle driving road selection method and system, vehicle-mounted control equipment and vehicle

CN119218214BCN 119218214 BCN119218214 BCN 119218214BCN-119218214-B

Abstract

The application provides a vehicle driving road selection method and system, vehicle-mounted control equipment and a vehicle, which comprise the steps of identifying the traffic state of a current road based on map data of the current road and driving data of a target vehicle on the current road, synchronously positioning and constructing a map through sensor data when the current road is in a congestion state to generate sensing information of the target vehicle, calculating the driving speed of the target vehicle according to the driving data, correlating the sensing information of the target vehicle with the number of lanes of the current road to generate a road selection strategy of the target vehicle, and controlling the target vehicle to change lanes according to the road selection strategy so that the traffic time of the target vehicle after lane change is smaller than or equal to the traffic time before lane change. According to the application, the lane with relatively short passing time in the current road can be rapidly obtained through the running data of the current vehicle and the map data of the current road, so that the passing time of the target vehicle on the current road is reduced.

Inventors

LU XIANHAO
TANG RUYI
LI YANG

Assignees

重庆赛力斯凤凰智创科技有限公司

Dates

Publication Date: 20260505
Application Date: 20241011

Claims (9)

1. A vehicle travel path selection method, characterized by comprising the steps of: identifying a traffic state of the current road based on map data of the current road and traveling data of the target vehicle on the current road, wherein the traffic state comprises a congestion state and a normal traffic state; When the current road is in a congestion state, synchronous positioning and map construction are carried out through sensor data, and the perception information of the target vehicle is generated, wherein the sensor data is generated by a sensor which is pre-configured on the target vehicle; Calculating the running speed of the target vehicle according to the running data of the target vehicle on the current road, and associating the perception information of the target vehicle with the number of lanes of the current road to generate a road selection strategy of the target vehicle; controlling the target vehicle to carry out lane change according to the road selection strategy so that the traffic time of the target vehicle after lane change is smaller than or equal to the traffic time before lane change; the process of identifying the traffic state of the current road based on the map data of the current road and the traveling data of the target vehicle on the current road includes: Acquiring speed data and geographic position data of a plurality of vehicles based on map data of a current road, if real-time speed of vehicles exceeding a preset number in one or more road sections of the current road is less than or equal to preset speed or geographic position change distance of vehicles exceeding the preset number in one or more road sections of the current road is less than or equal to preset distance, marking the corresponding road section as a target road section and marking traffic state of the target road section as a congestion state, and Acquiring the interval distance between the target vehicle and a front vehicle based on the running data of the target vehicle on the target road section, and calculating the average running speed of the front vehicle in a preset time period through the interval distance; and determining a traffic state of the target vehicle on the target road section based on the limited speed of the target road section and the average running speed of the front vehicle in a preset time period, wherein the front vehicle is positioned in front of the target vehicle; And determining the traffic state of the current road according to the traffic state of the target road section and the traffic state of the target vehicle in the target road section.
2. The vehicle travel path selection method according to claim 1, wherein the process of generating the perception information of the target vehicle by synchronous positioning and map construction of sensor data includes: Acquiring laser point cloud data of the surrounding environment of the target vehicle through a laser radar pre-configured on the target vehicle, and constructing and generating the sensor data through view data acquired by an image shooting device pre-configured on the target vehicle; The sensor data is used for synchronous positioning and map construction, and a motion equation and an observation equation of the target vehicle are constructed and generated, wherein the motion equation is used for representing pose changes of the target vehicle at different moments, and the observation equation is used for representing surrounding environment characteristics observed by the target vehicle at different poses; And generating perception information of the target vehicle based on the motion equation and the observation equation of the target vehicle.
3. The vehicle travel road selection method according to claim 1 or 2, wherein if the current road includes only one lane, the process of generating a road selection policy of the target vehicle, and controlling the target vehicle to make a lane change in accordance with the road selection policy includes: Acquiring real-time speed of a front vehicle and deceleration of the target vehicle, wherein the front vehicle is positioned in front of the target vehicle; calculating a minimum safe distance between the target vehicle and the preceding vehicle based on the real-time vehicle speed of the preceding vehicle and the deceleration of the target vehicle; And controlling the target vehicle to follow the front vehicle according to the minimum safe distance for normal running.
4. The vehicle travel road selection method according to claim 1 or 2, wherein if the current road includes only two lanes, the process of generating a road selection policy of the target vehicle, and controlling the target vehicle to make a lane change in accordance with the road selection policy includes: identifying whether a vehicle positioned in front of the target vehicle exists on a current lane and a side lane or not based on the perception information of the target vehicle, and comparing the speeds of the vehicle in front of the current lane and the vehicle in front of the side lane when the vehicle in front of the current lane and the vehicle in front of the side lane exist; If the running speed of the vehicle in front of the current lane is smaller than that of the vehicle in front of the next lane, determining the road selection strategy as changing to the next lane, and controlling the target vehicle to change from the current lane to the next lane based on the perception information of the target vehicle; and if the running speed of the vehicle in front of the current lane is greater than or equal to the running speed of the vehicle in front of the next lane, determining the road selection strategy as follow-up running without lane change, and controlling the target vehicle to follow the vehicle in front of the current lane according to the minimum safe distance to perform normal running.
5. The vehicle travel road selection method according to claim 1 or 2, wherein if the current road includes only three or more lanes, generating a road selection policy of the target vehicle, and controlling the target vehicle to make a lane change according to the road selection policy comprises: identifying a lane position of the target vehicle based on the perceived information of the target vehicle; Identifying whether a vehicle positioned in front of the target vehicle exists on a current lane, a left lane and a right lane based on perception information of the target vehicle when the target vehicle is positioned in a middle lane of a current road; when the front vehicle exists in the current lane, the front vehicle exists in the left lane and the front vehicle exists in the right lane, the speed of the front vehicle in the current lane is respectively compared with that of the front vehicle in the left lane and the front vehicle in the right lane; If the running speed of the vehicle in front of the current lane is smaller than the running speed of the vehicle in front of the left lane or the running speed of the vehicle in front of the right lane, determining the road selection strategy as changing to the lane with the highest running speed, and controlling the target vehicle to change from the current lane to the corresponding lane based on the perception information of the target vehicle; And if the running speed of the vehicle in front of the current lane is greater than or equal to the running speed of the vehicle in front of the left lane and greater than or equal to the running speed of the vehicle in front of the right lane, determining the road selection strategy as follow-up running without lane change, and controlling the target vehicle to follow the vehicle in front of the current lane according to the minimum safe distance to perform normal running.
6. The vehicle travel road selection method according to claim 1, wherein when the traffic state of the current road is identified based on the map data of the current road and the travel data of the target vehicle on the current road, the method further comprises: The traffic state obtained based on the map data of the current road is recorded as a map traffic state, and the traffic state obtained based on the driving data of the target vehicle on the current road is recorded as a driving traffic state; judging whether the map traffic state is consistent with the running traffic state or not; If the map traffic state is consistent with the running traffic state, taking the map traffic state or the running traffic state as the traffic state of the current road; And uploading the traffic state of the current road to a cloud end, and pushing the traffic state of the current road to other vehicles connected with the cloud end.
7. A vehicle travel path selection system, the system comprising: The system comprises a traffic state module, a traffic state control module and a traffic state control module, wherein the traffic state module is used for identifying the traffic state of a current road based on map data of the current road and travel data of a target vehicle on the current road, and comprises a congestion state and a normal traffic state, wherein the current road comprises at least one lane, the process of identifying the traffic state of the current road based on the map data of the current road and the travel data of the target vehicle on the current road comprises the steps of acquiring the speed data and the geographic position data of a plurality of vehicles based on the map data of the current road, and determining the traffic state of the target vehicle in front of the current road based on the speed data of the target vehicle and the traffic state of the target vehicle in the current road if the real-time speed of the vehicles exceeding the preset number is smaller than or equal to the preset speed or the geographic position change distance of the vehicles exceeding the preset number in the one or more road sections of the current road is smaller than or equal to the preset distance, marking the corresponding road section as the target road section and marking the traffic state of the target section as the congestion state; the perception information module is used for carrying out synchronous positioning and map construction through sensor data when the current road is in a congestion state to generate perception information of the target vehicle, wherein the sensor data is generated by a sensor which is pre-configured on the target vehicle; the road selection strategy module is used for calculating the running speed of the target vehicle according to the running data of the target vehicle on the current road, and associating the perception information of the target vehicle with the number of lanes of the current road to generate a road selection strategy of the target vehicle; And the lane change module is used for controlling the target vehicle to carry out lane change according to the road selection strategy so that the traffic time of the target vehicle after the lane change is smaller than or equal to the traffic time before the lane change.
8. An in-vehicle control apparatus comprising a memory, a processor and a computer program stored on the memory, the processor executing the computer program to implement the steps of the vehicle travel path selection method of any one of claims 1 to 6.
9. A vehicle comprising the vehicle travel path selection system according to claim 7 or comprising the in-vehicle control apparatus according to claim 8.

Description

Vehicle driving road selection method and system, vehicle-mounted control equipment and vehicle Technical Field The present application relates to the field of vehicle control technologies, and in particular, to a method and a system for selecting a vehicle driving road, a vehicle-mounted control device, and a vehicle. Background Along with the continuous updating and perfecting of the existing intelligent driving system technology, a plurality of vehicle types are provided with intelligent driving functions, and the intelligent driving functions can update sensing information in time through laser radar, cameras and other devices and help drivers to drive vehicles on roads, so that vehicle using experience of the drivers is improved. However, the intelligent driving function generally mounted at present can only help a driver to run on a single road, and the driver can only run slowly along with a front vehicle when the driver has a congested road condition, so that the driver cannot timely change the road or be prompted to run on a road with faster traffic when the driver enters the congested road section, and the driver cannot quickly judge due to the fact that the front road is unknown. Therefore, how to help the driver recognize the lane with the fastest traffic in the congested road in advance and quickly pass through the congested road is a current urgent need. Disclosure of Invention In view of the above-mentioned drawbacks of the prior art, an object of the present application is to provide a vehicle driving road selecting method and system, an on-vehicle control device, and a vehicle for solving the technical problems in the prior art. To achieve the above and other related objects, the present application provides a vehicle driving road selecting method, comprising the steps of: identifying a traffic state of the current road based on map data of the current road and traveling data of the target vehicle on the current road, wherein the traffic state comprises a congestion state and a normal traffic state; When the current road is in a congestion state, synchronous positioning and map construction are carried out through sensor data, and the perception information of the target vehicle is generated, wherein the sensor data is generated by a sensor which is pre-configured on the target vehicle; Calculating the running speed of the target vehicle according to the running data of the target vehicle on the current road, and associating the perception information of the target vehicle with the number of lanes of the current road to generate a road selection strategy of the target vehicle; And controlling the target vehicle to carry out lane change according to the road selection strategy so that the traffic time of the target vehicle after lane change is smaller than or equal to the traffic time before lane change. In an embodiment of the present application, the process of identifying the traffic state of the current road based on the map data of the current road and the driving data of the target vehicle on the current road includes: Acquiring speed data and geographic position data of a plurality of vehicles based on map data of a current road, if real-time speed of vehicles exceeding a preset number in one or more road sections of the current road is less than or equal to preset speed or geographic position change distance of vehicles exceeding the preset number in one or more road sections of the current road is less than or equal to preset distance, marking the corresponding road section as a target road section and marking traffic state of the target road section as a congestion state, and Acquiring the interval distance between the target vehicle and a front vehicle based on the running data of the target vehicle on the target road section, and calculating the average running speed of the front vehicle in a preset time period through the interval distance; and determining a traffic state of the target vehicle on the target road section based on the limited speed of the target road section and the average running speed of the front vehicle in a preset time period, wherein the front vehicle is positioned in front of the target vehicle; And determining the traffic state of the current road according to the traffic state of the target road section and the traffic state of the target vehicle in the target road section. In an embodiment of the present application, the process of generating the perception information of the target vehicle by performing synchronous positioning and map construction through sensor data includes: Acquiring laser point cloud data of the surrounding environment of the target vehicle through a laser radar pre-configured on the target vehicle, and constructing and generating the sensor data through view data acquired by an image shooting device pre-configured on the target vehicle; The sensor data is used for synchronous positioning and map construction, and a motion equation