CN-122024473-A - Road right management and control method, device, storage medium and program product

CN122024473ACN 122024473 ACN122024473 ACN 122024473ACN-122024473-A

Abstract

The application discloses a road authority control method, equipment, a storage medium and a program product, which relate to the technical field of automatic driving safety and comprise the steps of obtaining behavior data and surrounding environment data of a target vehicle in a preset test scene; the method comprises the steps of calculating a dynamic road right coincidence degree score according to behavior data and surrounding environment data based on a scene road right model, determining a dynamic road right label according to a driving license level of a target vehicle, comparing the received scene complexity level with the dynamic road right label to obtain a comparison result, and executing a corresponding road right management and control strategy by combining the dynamic road right coincidence degree score. According to the scheme, a closed-loop management and control mechanism integrating capability grading, behavior evaluation, scene matching and dynamic verification is constructed, so that the dynamic adaptation of the running authority of the automatic driving vehicle and the actual safety capability of the automatic driving vehicle is realized, and the problems of static and coarse granularity of road authority management and control in the prior art are solved.

Inventors

WENG RENHONG
XIONG WEIMING
YI WEI
CHENG WEILU

Assignees

浙江吉利控股集团有限公司
吉利汽车研究院（宁波）有限公司

Dates

Publication Date: 20260512
Application Date: 20260123

Claims (11)

1. The road authority control method is characterized by comprising the following steps of: Acquiring behavior data and surrounding environment data of a target vehicle in a preset test scene; calculating a dynamic road right coincidence degree score according to the behavior data and the surrounding environment data based on a pre-constructed scene road right model; Determining a dynamic road permission label according to the driving license grade of the target vehicle, and binding the dynamic road permission label with an electronic driving license of the target vehicle; and comparing the received scene complexity level with a dynamic road permission label contained in the electronic driving license to obtain a comparison result, and executing a corresponding road permission management and control strategy by combining the dynamic road permission consistency score.
2. The road right management and control method according to claim 1, wherein the step of calculating a dynamic road right coincidence score based on the behavior data and the surrounding environment data based on the pre-constructed scene road right model comprises: Calculating a vehicle behavior road weight of the target vehicle according to the behavior data and the surrounding environment data; And calculating a dynamic road right coincidence degree score of the target vehicle based on the vehicle behavior road right value and an expected road right value in the pre-constructed scene road right model.
3. The road right management and control method according to claim 2, wherein the step of calculating the dynamic road right coincidence score of the target vehicle based on the vehicle behavior road right value and an expected road right value in the pre-constructed scene road right model includes: Judging whether a subtraction model or a division model is adopted; When a subtraction model is adopted, determining a dynamic road weight coincidence degree score of the target vehicle according to an absolute difference value of the vehicle behavior road weight value and an expected road weight value and combining a preset coefficient, wherein the dynamic road weight coincidence degree score decreases along with the increase of the absolute difference value and is zero when the absolute difference value exceeds a preset range; When the division model is adopted, the dynamic road weight coincidence degree score of the target vehicle is determined according to the ratio of the vehicle behavior road weight to the expected road weight and by combining with a preset coefficient.
4. The road right management and control method according to claim 1, wherein the step of determining a dynamic road right label according to the driver license level of the target vehicle and binding the dynamic road right label with the electronic driver license of the target vehicle comprises: And mapping the driving license level into a corresponding dynamic road authority label according to a preset authority mapping rule, and writing the dynamic road authority label into an electronic driving license of the target vehicle to form a vehicle identity certificate with a scene passing authority identifier, wherein the dynamic road authority label is used for representing the authorized complexity level of the authorized operation of the target vehicle.
5. The method for managing and controlling road authorities according to claim 1, wherein said step of comparing the received scene complexity level with the dynamic road authority label contained in the electronic driving license to obtain a comparison result, and executing the corresponding road authority management policy in combination with the dynamic road authority consistency score comprises: Receiving the scene complexity level of the current traffic environment of the target vehicle; And comparing the scene complexity level with the dynamic road permission label to obtain a comparison result, and executing a corresponding road permission management and control strategy based on the comparison result and the dynamic road permission consistency score.
6. The method for managing and controlling road authorities according to claim 5, wherein the step of comparing the scene complexity level with the dynamic road authority label to obtain a comparison result and executing a corresponding road authority management policy based on the comparison result and the dynamic road authority coincidence score comprises: judging whether the dynamic road permission label is larger than or equal to the scene complexity level; If yes, executing a corresponding road right management and control strategy according to a comparison result of the dynamic road right coincidence degree score and a preset first threshold value and a preset second threshold value; If not, executing a corresponding road right management and control strategy according to a comparison result of the dynamic road right coincidence degree score and a preset third threshold value.
7. The method of claim 6, wherein the step of executing the corresponding road right management policy according to a comparison result of the dynamic road right compliance score with a preset first threshold and a preset second threshold comprises: judging the size relation between the dynamic road weight conformity score and the preset first threshold value and the preset second threshold value; If the dynamic road right coincidence degree score is larger than or equal to the preset first threshold value, allowing the target vehicle to normally pass; If the dynamic road right coincidence degree score is larger than or equal to the preset second threshold value and smaller than the first threshold value, sending an early warning prompt to the target vehicle, and starting a reinforced monitoring mechanism; And if the dynamic road right coincidence degree score is smaller than the preset second threshold value, triggering a road right degradation strategy.
8. The method of claim 6, wherein the step of executing the corresponding road right management policy according to the comparison result of the dynamic road right compliance score and a preset third threshold value comprises: Judging whether the dynamic road right conformity score is larger than or equal to a preset third threshold value; if yes, issuing a pass limiting instruction to the target vehicle; If not, triggering a preset minimum risk strategy.
9. A road right management device, characterized in that the device comprises a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the road right management method according to any one of claims 1 to 8.
10. A storage medium, characterized in that the storage medium is a computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the road right management method according to any one of claims 1 to 8.
11. A computer program product, characterized in that the computer program product comprises a computer program which, when executed by a processor, implements the steps of the road right management method according to any one of claims 1 to 8.

Description

Road right management and control method, device, storage medium and program product Technical Field The present application relates to the field of automatic driving safety, and in particular, to a road right management and control method, apparatus, storage medium, and program product. Background In existing systems for vehicle safety testing and issuing driver's licenses, it is mainly investigated whether a vehicle can "safely pass" a single scenario, i.e. whether a collision is avoided and a minimum risk state (MRC) is entered. The "trafficability" test has a blind area that cannot effectively judge whether the behavior of the vehicle accords with the Right-of-Way (Right-of-Way) principle in the traffic rule when the vehicle passes through the scene. For example, the vehicle may "rob" in a very aggressive manner when turning left unprotected, forcing the straight-going vehicle to slow down for travel. From a "trafficability" perspective, it avoids collisions and passes the test. But from the perspective of overall safety and efficiency of traffic flow, the traffic flow is disturbed by the excessively high behavior of Right-of-WAY AGGRESSIVENESS, so that sudden braking of other road users is caused, and even subsequent linkage accidents are caused. Conversely, a vehicle may be too conservative and may be late in possession of absolute road rights, resulting in traffic congestion. In addition, after the vehicle obtains the license to get on the road, vehicles with different grades have the same road authority. A class B vehicle that has just passed and a class SS vehicle that is fully classified also enter the urban high-speed loop, the risk of the former being much higher than the risk of the latter. The prior art lacks a mechanism for dynamically allocating and managing road authorities of vehicles according to actual safety capabilities of the vehicles. Therefore, an innovative mechanism is needed to evaluate the "road right etiquette" of the vehicle in the test and dynamically manage the drivable area and scene according to the capability level thereof in the actual operation, thereby realizing more refined safety management and control. Disclosure of Invention The application mainly aims to provide a road right management and control method, equipment, a storage medium and a program product, which aim to solve the technical problem of dynamic and refined right management and control on road right behaviors and actual safety capability of an automatic driving vehicle in actual operation. In order to achieve the above object, the present application provides a road right management and control method, which includes: Acquiring behavior data and surrounding environment data of a target vehicle in a preset test scene; calculating a dynamic road right coincidence degree score according to the behavior data and the surrounding environment data based on a pre-constructed scene road right model; Determining a dynamic road permission label according to the driving license grade of the target vehicle, and binding the dynamic road permission label with an electronic driving license of the target vehicle; and comparing the received scene complexity level with a dynamic road permission label contained in the electronic driving license to obtain a comparison result, and executing a corresponding road permission management and control strategy by combining the dynamic road permission consistency score. In one embodiment, the step of calculating the dynamic road right consistency score based on the pre-constructed scene road right model according to the behavior data and the surrounding environment data includes: Calculating a vehicle behavior road weight of the target vehicle according to the behavior data and the surrounding environment data; And calculating a dynamic road right coincidence degree score of the target vehicle based on the vehicle behavior road right value and an expected road right value in the pre-constructed scene road right model. In one embodiment, the step of calculating the dynamic road right compliance score of the target vehicle based on the vehicle behavior road right value and the expected road right value in the pre-constructed scene road right model includes: Judging whether a subtraction model or a division model is adopted; When a subtraction model is adopted, determining a dynamic road weight consistency score of the target vehicle according to the absolute difference value of the vehicle behavior road weight value and the expected road weight value and combining a preset coefficient, wherein the dynamic road weight consistency score decreases when the absolute difference value increases and becomes zero when the absolute difference value exceeds a preset range; When the division model is adopted, the dynamic road weight coincidence degree score of the target vehicle is determined according to the ratio of the vehicle behavior road weight to the expected road weight and by combining