CN113916239B - Lane-level navigation method for automatic driving buses - Google Patents
Lane-level navigation method for automatic driving buses Download PDFInfo
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Abstract
The embodiment of the invention relates to a lane-level navigation method for an automatic driving bus, which comprises the following steps: acquiring a bus line number of a bus as a current line number; acquiring a vehicle position coordinate of a bus to generate an initial coordinate; acquiring the station position coordinates of the next stop of the bus to generate ending coordinates; inquiring a preset bus route set, and taking a first road data set corresponding to a first route number matched with the current route number as the current road data set; and planning lanes of each road section which the bus needs to pass through from the start coordinate to the end coordinate according to the current road data set and the principle of optimal road passing cost to obtain a corresponding first lane-level navigation data set. The invention can meet the real-time requirement of the automatic driving bus lane navigation and can improve the guarantee of the driving safety of the vehicle.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a lane-level navigation method for an automatic driving bus.
Background
Unlike conventional navigation map algorithms, automatic driving requires lane-level navigation. Most of the current navigation schemes directly find a navigation result of a lane level in a high-precision map through a search algorithm. However, as the number of map lanes increases and the topological relation is more complex, the searching algorithm is more time-consuming and cannot meet the real-time requirement of the automatic driving planning module, so that road planning and navigation have to be asynchronously executed, but the real-time performance of road navigation is reduced. For an automatic driving bus carrying a plurality of passengers, the requirements on driving safety and road navigation instantaneity are higher than those of a common household vehicle, and the conventional navigation scheme cannot meet the navigation requirement of the automatic driving bus.
Disclosure of Invention
The invention aims at overcoming the defects of the prior art, and provides a lane-level navigation method, electronic equipment and a computer-readable storage medium for an automatic driving bus, wherein the lane-level navigation method comprises the steps of acquiring road segmentation information of a current driving road and lane information of each segmented road from a known bus route data set, taking a segmented lane where the current position of a vehicle is located as a starting lane, taking a segmented lane where the next stop is located as an ending lane, planning a navigation lane sequence from the starting lane to the ending lane according to optimal traffic cost by combining the road right information of each current lane, so as to obtain real-time lane-level navigation information. According to the invention, based on the characteristic of fixed bus route, the calculation time of road navigation in the high-precision map according to the positioning of the vehicle can be saved, the calculation amount and calculation time of lane navigation in the high-precision map according to the change target can be reduced by taking the unchanged stop as the current navigation target point, and the calculation complexity and calculation time can be reduced by using the optimal passing cost calculation principle to replace the traditional positioning search algorithm. The invention can meet the real-time requirement of the automatic driving bus lane navigation and can improve the guarantee of the driving safety of the vehicle.
To achieve the above object, a first aspect of an embodiment of the present invention provides a lane-level navigation method for an automatically driven bus, the method including:
acquiring a bus line number of a bus as a current line number; acquiring a vehicle position coordinate of the bus to generate an initial coordinate; acquiring the station position coordinates of the next stop of the bus to generate ending coordinates;
inquiring a preset bus route set, and taking a first road data set corresponding to a first route number matched with the current route number as a current road data set; the bus route set comprises a plurality of first bus routes; the first bus line comprises the first line number and the first road data set;
and planning lanes of each road section which the bus needs to pass through from the starting coordinate to the ending coordinate according to the current road data set and the principle of optimal road passing cost to obtain a corresponding first lane-level navigation data set.
Preferably, the first road data set includes a plurality of first road segment data sets;
the first road segment data set comprises first road segment identification data, a first road segment coordinate range and a plurality of first vehicle track data sets;
The first lane data set includes first lane identification data, a first lane coordinate range, and first road weight data;
the first lane-level navigation data set includes a plurality of first navigation lane data sets;
the first navigation lane data set includes second road segment identification data and second lane identification data.
Preferably, the planning, according to the current road data set and according to a road optimal passing cost principle, each road section lane through which the bus passes from the start coordinate to the end coordinate to obtain a corresponding first lane-level navigation data set, specifically includes:
in the current road data set, the first road segment identification data corresponding to the first road segment coordinate range containing the initial coordinate is marked as initial road segment identification data, and the first road segment identification data corresponding to the first road segment coordinate range containing the end coordinate is marked as end road segment identification data;
all the first road segment data sets from the starting road segment identification data to the ending road segment identification data in the current road data set are sequenced according to the sequence from the starting road segment to the ending road segment to form a navigation road data set; the navigation road data set comprises a plurality of navigation road segment data sets, and the number of the navigation road segment data sets is the total number N of road segments;
According to the 1 st navigation road section data set, calculating the optimal passing cost of the bus from the initial coordinates to each lane of the 1 st navigation road section, and generating a corresponding first lane costM 1 ≥j 1 ≥1，M 1 The total number of lanes for the 1 st navigation section;
the first road cost of each lane of the ith navigation section according to the ith navigation section data set and the ith-1 navigation sectionCalculating the optimal passing cost of the bus from the initial coordinates to each lane of the ith navigation road section, and generating corresponding first lane cost +.>N≥i≥2,M i-1 ≥j i-1 ≥1，M i ≥j i ≥1，M i-1 、M i The total number of lanes of the ith-1 and ith navigation road sections respectively;
cost the last said first laneAs the optimal passing cost of the current road; setting a corresponding first navigation lane data set for each lane participating in calculating the optimal passing cost of the current road; setting the second road section identification data of the first navigation lane data set as the first road section identification data corresponding to the current lane, and setting the second road section identification data as the first road identification data corresponding to the current lane;
and sequencing the first navigation lane data sets corresponding to all lanes according to the lane change sequence from the starting coordinate to the ending coordinate to obtain the first lane-level navigation data set.
Further, according to the 1 st navigation road section data set, calculating an optimal passing cost of the bus from the start coordinate to each lane of the 1 st navigation road section, and generating a corresponding first lane costThe method specifically comprises the following steps:
in the 1 st navigation road section data set, marking a lane corresponding to the first lane data set corresponding to the first lane coordinate range containing the start coordinate as a start lane S;
calculating a first lane cost corresponding to the initial lane S The first road weight data of the first vehicle road data set corresponding to the starting lane S in the 1 st navigation road section data set;
setting any one lane except the starting lane S in the ith navigation road section as other lanes O;
calculating the first lane cost corresponding to any other lane O
LC is a preset single lane change cost factor, < >>For the number of lane changes from the starting lane S to the current other lane O, +.>And the first road weight data of the first lane data set corresponding to the current other lane O in the 1 st navigation road section data set is obtained.
Further, the first lane cost according to the ith navigation section data set and each lane of the ith-1 navigation section Calculating the optimal passing cost of the bus from the initial coordinates to each lane of the ith navigation road section, and generating corresponding first lane cost +.>The method specifically comprises the following steps:
setting any lane in the ith navigation road section as a current lane A when i < N, and setting a lane corresponding to the ending coordinate in the ith navigation road section as a current lane A when i=N; setting any one lane except the current lane A in the ith navigation road section as other lanes B; setting a previous lane connected with the current lane A in the i-1 navigation road section as a corresponding previous lane A ', and setting a previous lane connected with any other lane B as a corresponding previous lane B';
calculating the cost of a first following lane corresponding to the current lane A
For the first lane cost of the corresponding preceding lane a'>For the accumulated number of passes from the starting lane S of the 1 st navigation section to the corresponding preceding lane A'>The first road weight data of the first lane data set corresponding to the current lane A in the ith navigation road section data set are obtained;
calculating the cost of the first following lane corresponding to any other lane B
For a first lane cost of said previous lane B 'corresponding to the current other lane B,/for said previous lane B' >For the accumulated number of passes from the starting lane S to the corresponding preceding lane B' -, is->The first road weight data of the first lane data set corresponding to the current other lane B in the ith navigation road section data set are obtained;
calculating the first lane-changing cost of the current lane A corresponding to any other lane B
And from the resulting plurality of said first lane-changing lanes cost + ->In the method, the minimum value is taken as the first minimum lane changing cost corresponding to the current lane A For the first following lane cost of the current other lane B corresponding to the current lane A, LC is a preset single lane change cost factor, < >>For the number of lane changes from the current other lane B to the current lane A, +.>The first road weight data of the first lane data set corresponding to the current lane A in the ith navigation road section data set are obtained;
cost of the first following lane corresponding to the current lane AAnd the first minimumLane change cost->Taking the minimum value as the first lane cost corresponding to the current lane A
A second aspect of an embodiment of the present invention provides an electronic device, including: memory, processor, and transceiver;
The processor is configured to couple to the memory, and read and execute the instructions in the memory, so as to implement the method steps described in the first aspect;
the transceiver is coupled to the processor and is controlled by the processor to transmit and receive messages.
A third aspect of the embodiments of the present invention provides a computer-readable storage medium storing computer instructions that, when executed by a computer, cause the computer to perform the method of the first aspect described above.
The embodiment of the invention provides a lane-level navigation method, electronic equipment and a computer-readable storage medium for an automatic driving bus, which are used for acquiring road segmentation information of a current driving road and lane information of each segmentation road from a known bus route data set, taking a segmentation lane where the current position of the vehicle is located as a starting lane, taking a segmentation lane where the next stop is located as an ending lane, and planning a navigation lane sequence from the starting lane to the ending lane according to optimal passing cost by combining the road right information of each current lane so as to obtain real-time lane-level navigation information. According to the invention, based on the characteristic of fixed bus route, the calculation time of road navigation in the high-precision map according to the positioning of the vehicle can be saved, the calculation amount and calculation time of lane navigation in the high-precision map according to the change target can be reduced by taking the unchanged stop as the current navigation target point, and the calculation complexity and calculation time can be reduced by using the optimal passing cost calculation principle to replace the traditional positioning search algorithm. The invention meets the real-time requirement of road navigation of the automatic driving bus and improves the guarantee of vehicle driving safety.
Drawings
Fig. 1 is a schematic diagram of a lane-level navigation method for an automatic driving bus according to a first embodiment of the present invention;
FIG. 2a is a schematic diagram of a bus road segment and a segment lane according to a first embodiment of the present invention;
FIG. 2b is a schematic diagram of a segment lane marked with road right data according to an embodiment of the present invention;
FIG. 2c is a schematic diagram of a segmented lane with lane costs marked according to an embodiment of the present invention;
FIG. 2d is a schematic diagram of lane navigation according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, which is a schematic diagram of a lane-level navigation method for an automatic driving bus according to a first embodiment of the present invention, the method mainly includes the following steps:
Step 1, obtaining a bus line number of a bus as a current line number; acquiring a vehicle position coordinate of a bus to generate an initial coordinate; and acquiring the station position coordinates of the next stop of the bus to generate ending coordinates.
Here, the vehicle position coordinates and the station position coordinates may be map coordinates of a high-precision map, or may be road coordinates of a road where the vehicle is located; map coordinates are commonly a two-dimensional or three-dimensional world coordinate system; the road coordinates take the road center line as a reference and comprise transverse coordinates and longitudinal coordinates, wherein the transverse coordinates are vertical distances from the position points to the road center line, and the longitudinal coordinates are distances from the vertical points of the position points on the road center line to the starting point of the road center line; if the vehicle position coordinate and the station position coordinate are map coordinates of a high-precision map, the vehicle position coordinate and the station position coordinate need to be converted into map coordinates-road coordinates, and the conversion result is used as corresponding starting coordinates and ending coordinates; if the vehicle position coordinate and the station position coordinate are the road coordinates of the road, the vehicle position coordinate and the station position coordinate are directly used as the corresponding starting coordinate and ending coordinate.
Step 2, inquiring a preset bus line set, and taking a first road data set corresponding to a first line number matched with the current line number as the current road data set;
The bus route set comprises a plurality of first bus routes; the first bus line comprises a first line number and a first road data set; the first road data set comprises a plurality of first road segment data sets; the first road segment data set comprises first road segment identification data, a first road segment coordinate range and a plurality of first road data sets; the first set of lane data includes first lane identification data, a first lane coordinate range, and first road weight data.
Here, the bus route set is a data set related to the bus route in the high-precision map; each first bus line corresponds to a fixed bus line, the number of the first line is the fixed number of the corresponding bus line, and the first road data set is the bus road data set of the corresponding bus line;
each bus road is virtually divided into a plurality of continuous bus road sections, and each first road section data set corresponds to one bus road section; continuously numbering bus road sections from a starting section to an ending section, wherein first section identification data are used for recording numbering information of corresponding road sections, as shown in a schematic diagram of the bus road sections and a segmented lane provided in fig. 2a in the first embodiment of the invention, a current road comprises 3 bus road sections, and the corresponding first section identification data are respectively 1, 2 and 3; the first road segment coordinate range is a road coordinate range of a corresponding road segment, and the range can be a coordinate range formed by road coordinates of the head and tail positions of the central line of the corresponding road segment, or a coordinate range formed by road coordinates of four vertexes of the corresponding road segment;
Each bus road actually consists of a plurality of adjacent lanes which are transversely arranged, naturally comprises a plurality of adjacent segmented lanes in each bus road section, and each first vehicle road data set corresponds to one segmented lane in the current road section; continuously numbering segmented lanes from left to right or from right to left in a specified direction, wherein the first lane identification data is used for recording numbering information of corresponding segmented lanes, as shown in fig. 2a, a current road comprises 3 adjacent lanes (1, 2 and 3), the 3 adjacent lanes are divided into 9 segmented lanes by 3 bus road sections, and the corresponding first lane identification data can be respectively set as 1-1, 1-2, 1-3, 2-1, 2-2, 2-3, 3-1, 3-2 and 3-3; the first lane coordinate range is a road coordinate range of a corresponding segmented lane, and the range can be a coordinate range formed by the road coordinates of the head and tail positions of the central line of the road of the corresponding segmented lane or a coordinate range formed by the road coordinates of four vertexes of the corresponding segmented lane; the first road weight data is used for identifying the lane use state weight of the current corresponding segmented lane, the first road weight data conventionally comprises a passable road weight, an obstacle road weight, a passable road weight, a traffic control road weight and the like, the weight types corresponding to the first road weight data can be expanded based on the use state types of other lanes, the passable road weight is initialized to 0 under the conventional condition, and the obstacle road weight, the passable road weight, the traffic control road weight and the like are all initialized to a large number, for example, the obstacle road weight=10000, the traffic control road weight=30000 and the passable road weight=30000.
Step 3, planning lanes of all road sections which the bus needs to pass through from the start coordinate to the end coordinate according to the current road data set and the principle of optimal road passing cost to obtain a corresponding first road-level navigation data set;
wherein the first lane-level navigation data set includes a plurality of first navigation lane data sets; the first navigation lane data set comprises second road section identification data and second road identification data;
here, when the embodiment of the invention carries out specific lane navigation calculation, the calculation mode of the road optimal passing cost principle is used for replacing the conventional map searching algorithm, so that the complexity of navigation calculation can be reduced; the principle of optimal traffic cost of the road is that the lowest traffic cost from the initial coordinate to each segmented lane in each continuous bus road section is calculated in a segmented calculation mode from the bus road section where the initial coordinate is located to the bus road section where the end coordinate is located; the lowest passing cost of each segmented lane in the segmentation calculation mode is related to the lowest passing cost of the connecting segmented lane of the previous segment or other parallel segmented lanes of the same segment; based on the segmentation calculation mode, after the calculation of the lowest traffic cost corresponding to the segmented lane where the end coordinate is located is completed, all the segmented lane information from the segmented lane where the start coordinate is located to the segmented lane where the end coordinate is located, which corresponds to the lowest traffic cost, can be reversely obtained, and the needed lane navigation information, namely the first lane-level navigation data set, can be obtained by sequencing all the segmented lane information according to the front-back lane change sequence;
The method specifically comprises the following steps: step 31, in the current road data set, marking the first road segment identification data corresponding to the first road segment coordinate range containing the initial coordinate as initial road segment identification data, and marking the first road segment identification data corresponding to the first road segment coordinate range containing the final coordinate as end road segment identification data;
if the first road segment coordinate range is a coordinate range formed by the road coordinates of the head and tail positions of the road center line of the corresponding road segment, firstly calculating a vertical point sitting mark of the starting coordinate or the ending coordinate on the road center line to be the corresponding starting vertical point coordinate or ending vertical point coordinate, and if the starting vertical point coordinate or the ending vertical point coordinate is within the first road segment coordinate range, determining that the first road segment coordinate range comprises the starting coordinate or the ending coordinate; if the first road segment coordinate range is a coordinate range formed by four vertex road coordinates of the corresponding road segment, when the starting coordinate or the ending coordinate is in the coordinate range formed by the four vertex road coordinates, the first road segment coordinate range is determined to contain the starting coordinate or the ending coordinate;
step 32, sorting all first road segment data sets from the initial road segment identification data to the end road segment identification data in the current road data set according to the sequence from the initial road segment to the end road segment to form a navigation road data set; the navigation road data set comprises a plurality of navigation road segment data sets, and the number of the navigation road segment data sets is the total number N of road segments;
Here, taking fig. 2a as an example, the first segment identification data corresponding to the bus road segment where the start coordinate is located, that is, the start segment identification data is 1, and the first segment identification data corresponding to the bus road segment where the end coordinate is located, that is, the end segment identification data is 3, then all the first segment data sets from the start segment identification data to the end segment identification data of the first segment identification data, that is, all the first segment data sets from 1 to 3 of the first segment identification data, that is, the 3 navigation segment data sets of the navigation road data sets should be sequentially: the first road segment identification data is a first road segment data set of 1, 2 and 3; the total number of segments N of fig. 2a is 3;
step 33, calculating the optimal passing cost of the bus from the initial coordinates to each lane of the 1 st navigation road section according to the 1 st navigation road section data set, and generating the corresponding first lane cost
Wherein,the left footmark of (1) corresponds to the specific navigation road section one by one, the left footmark corresponds to the 1 st navigation road section, and the right footmark j 1 Corresponding to specific segmented lanes one by one, M 1 ≥j 1 ≥1，M 1 The total number of lanes for the 1 st navigation section;
when calculating the optimal passing cost corresponding to each segmented lane in the initial bus road section, initializing the first lane cost of the segmented lane where the initial coordinates are located, namely the initial lane, and then calculating the first lane cost of other lanes according to the lane changing cost based on the first lane cost of the initial lane to obtain the corresponding first lane cost;
The method specifically comprises the following steps: step 331, in the 1 st navigation link data set, marking a lane corresponding to the first lane data set corresponding to the first lane coordinate range including the start coordinate as a start lane S;
step 332, calculating a first lane cost corresponding to the initial lane S
Wherein,the first road weight data of a first vehicle road data set corresponding to the initial lane S in the 1 st navigation road section data set;
taking fig. 2b as an example of a schematic diagram of a segment lane marked with road right data according to the first embodiment of the present invention, the initial lane S is segment lanes 1-3, and the corresponding first road right data is thatFor a passable road weight of 0, then the first lane cost of the starting lane S +.>
Step 333, setting any lane other than the starting lane S in the ith navigation section as the other lane O;
step 334, calculating a first lane cost corresponding to any other lane O
Wherein LC is a preset single lane change cost factor,for the number of lane changes from the starting lane S to the current other lane O, < >>The first road weight data of a first lane data set corresponding to the current other lanes O in the 1 st navigation road section data set;
here, LC is conventionally set to a constant value of 1000;
For example, as shown in FIG. 2b, the starting lane S is a segmented lane 1-3, the other lanes O include segmented lanes 1-1 and segmented lanes 1-2, and the first lane cost of the starting lane S is knownIs 0;
then, when the other lane O is the segmented lane 1-2,the first road weight data is the first road weight data of the subsection lane 1-2, and the value of the first road weight data is the passable road weight 0; />The number of lane changes from the segmented lane 1-3 to the segmented lane 1-2 is 1; the first lane cost of the segmented lane 1-2 +.>FIG. 2c is a schematic view of a segmented lane with lane costs marked thereon according to a first embodiment of the present invention;
when the other lane O is the segmented lane 1-1,is divided intoThe first road weight data of the section lane 1-1 has a value of passable road weight 0; />The number of lane changes from the segmented lane 1-3 to the segmented lane 1-1 is 2; the first lane cost of the segment lane 1-1 +.>As shown in fig. 2 c;
step 34, based on the ith navigation segment data set and the first lane cost of each lane of the ith-1 navigation segmentCalculating optimal passing cost of each lane of a bus from a start coordinate to an ith navigation road section, and generating corresponding first lane cost +.>
Wherein N is greater than or equal to i is greater than or equal to 2, M i-1 ≥j i-1 ≥1，M i ≥j i ≥1，M i-1 、M i The total number of lanes of the ith-1 and ith navigation road sections respectively;
Here, i has a value from 2 to N, the ith navigation section data set includes the 2-N navigation section data sets, the ith navigation section includes the 2-N navigation section, j i Corresponds to the segmented lane, j on each navigation section i Including j 2 -j N ；
The lowest traffic cost of each segmented lane is related to the lowest traffic cost of its connected segmented lane in the previous segment or other parallel segmented lanes in the same segment; when calculating, taking the current segmented lane as the following lane of the connecting segmented lane of the previous segment, and calculating the corresponding following lane cost according to the lowest passing cost of the previous lane; the current segmented lane is taken as a lane changing lane of other lanes of the same segment, the corresponding lane changing lane cost in the calculation is calculated according to the lowest traffic cost of other lanes, and the minimum value is taken as the minimum lane changing lane cost from the multiple lane changing lane costs; taking the minimum value from the minimum lane changing cost and the following lane cost as the first lane cost of the current segmented lane;
the method specifically comprises the following steps: step 341, setting any lane in the i-th navigation link as a current lane a when i < N, and setting a lane corresponding to the ending coordinates in the i-th navigation link as the current lane a when i=n; setting any lane except the current lane A in the ith navigation road section as other lanes B; setting a previous lane connected with the current lane A in the i-1 navigation road section as a corresponding previous lane A ', and setting a previous lane connected with any other lane B as a corresponding previous lane B';
Step 342, calculating a first following lane cost corresponding to the current lane A
Wherein,first lane cost for the corresponding preceding lane a +.>For the accumulated number of passes from the starting lane S of the 1 st navigation section to the corresponding preceding lane A' -, is->The method comprises the steps of obtaining first road weight data of a first lane data set corresponding to a current lane A in an ith navigation road section data set;
step 343, calculating the cost of the first following lane corresponding to any other lane B
Wherein,for the first lane cost of the previous lane B' corresponding to the current other lane B,for the accumulated number of transitions from the starting lane S to the corresponding preceding lane B' -, +.>The first road weight data of a first vehicle road data set corresponding to the current other lane B in the ith navigation road section data set;
step 344, calculating the first lane-changing cost of the current lane A corresponding to any other lane B
And from the obtained plurality of first lane-changing lanes cost +.>In the method, the minimum value is taken as the first minimum lane changing cost corresponding to the current lane A
Wherein,for the first following lane cost of the current other lane B corresponding to the current lane A, LC is a preset single lane change cost factor, < >>For the number of lane changes from the current other lane B to the current lane a +. >The method comprises the steps of obtaining first road weight data of a first lane data set corresponding to a current lane A in an ith navigation road section data set;
step 345, from the currentFirst following lane cost corresponding to lane AAnd a first minimum lane change cost +.>Taking the minimum value as the first lane cost corresponding to the current lane A>
Step 35, cost the last first laneAs the optimal passing cost of the current road; setting a corresponding first navigation lane data set for each lane participating in calculating the optimal passing cost of the current road; setting second road section identification data of the first navigation lane data set as first road section identification data corresponding to a current lane, and setting second road section identification data as first road identification data corresponding to the current lane;
here, the last first lane costThe first road cost of the segmented lane corresponding to the ending coordinate is the optimal road passing cost from the segmented lane where the starting coordinate is located to the segmented lane of the ending coordinate; all segmented lanes participating in calculation to obtain the optimal traffic cost of the road, namely the optimal navigation lane corresponding to the current optimal traffic cost; in the embodiment of the invention, a first navigation lane data set is configured for each optimal navigation lane, wherein the second road section identification data is the road section identification of the road section where the optimal navigation lane is located, namely the first road section identification data, and the second road identification data is the lane identification of the optimal navigation lane, namely the first road identification data;
And step 36, sequencing the first navigation lane data sets corresponding to the lanes according to the lane change sequence from the start coordinates to the end coordinates to obtain a first lane-level navigation data set.
For ease of understanding, specific examples are set forth below to further illustrate the above steps 34-36.
Taking fig. 2b as an example, n=3, the value of i is from 2 to 3;
1. when i=2, the i-1 st navigation section is the 1 st navigation section, namely, the bus road section 1; because n=3, i < N, the current lane a is the segmented lane 2-1, the segmented lane 2-2, and the segmented lane 2-3, respectively;
1.1 Calculating a first lane cost corresponding to the current lane a (segmented lane 2-1)
When the current lane A is a segmented lane 2-1, the previous lane A' is a segmented lane 1-1; the other lanes B comprise segmented lanes 2-2 and segmented lanes 2-3; the corresponding previous lane B 'is the segmented lane 1-2 when the other lane B is the segmented lane 2-2, and the corresponding previous lane B' is the segmented lane 1-3 when the other lane B is the segmented lane 2-3;
1.1.1 Calculating a first following lane cost for the current lane a (segmented lane 2-1):
first lane cost 2000 for the preceding lane A', i.e. the segment lane 1-1,/-1>For the cumulative number of transitions 2, < >, > from the starting lane S, i.e. the segment lane 1-3, to the segment lane 1-1 >For the first road weight data of the segment lane 2-1, i.e. the passable road weight 0, then the first following lane cost of the current lane A (segment lane 2-1)/(cost of following lane)>
1.1.2 Calculating the first following lane cost of the other lane B (segment lane 2-2, segment lane 2-3):
when the other lane B is the segmented lane 2-2,first lane cost 1000, < >, > for the preceding lane B', i.e. the segment lane 1-2>For the cumulative number of transitions 1,/from the starting lane S, i.e. the segment lanes 1-3, to the segment lanes 1-2>For the first road weight data of the segment lane 2-2, i.e. the passable road weight 0, then the first following lane cost of the other lane B (segment lane 2-2)/(4)>
When the other lane B is the segmented lane 2-3,first lane cost 0, for the preceding lane B', i.e. the segment lanes 1-3>For the cumulative transition number 0 from the start lane S i.e. the segment lanes 1-3 to the segment lanes 1-3,for the first road weight data of the segment lane 2-3, i.e. the obstacle road weight 10000, then the first following lane cost of the other lane B (segment lane 2-3)>
1.1.3 Calculating a first minimum lane-changing cost of the current lane a (segmented lane 2-1) and the other lane B:
when the other lane B is the segmented lane 2-2, For the first following lane cost 1001 of the other lane B (segment lane 2-2), lc is 1000, and (2)>For lane change number 1 from the other lane B (segmented lane 2-2) to the current lane A (segmented lane 2-1),. About.>For the first road weight data of the current lane A (segmented lane 2-1), namely the passable road weight value 0, the first lane change cost of the current lane A (segmented lane 2-1) corresponding to the other lane B (segmented lane 2-2) is equal to the first lane change cost of the current lane A (segmented lane 2-1)>
When the other lane B is the segmented lane 2-3,for the first following lane cost 10000 of the other lane B (segment lane 2-3), lc is 1000, and (2)>For a number of passes 2,/for a change from the other lane B (segment lane 2-3) to the current lane A (segment lane 2-1)>For the first road weight data of the current lane A (segmented lane 2-1), namely the passable road weight value 0, the first lane change cost of the current lane A (segmented lane 2-1) corresponding to the other lane B (segmented lane 2-3)>
From the current carFirst lane-changing lane cost 2001 corresponding to the other lane B (segment lane 2-1) in the lane A (segment lane 2-1) and first minimum lane-changing lane cost 12000 corresponding to the current lane A (segment lane 2-1) and the other lane B (segment lane 2-3) in the lane B (segment lane 2-1) are the minimum values, and then the first minimum lane-changing lane cost corresponding to the current lane A (segment lane 2-1) 2001.
1.1.4 Determining a first lane cost for the current lane a (segmented lane 2-1):
first following lane cost 2002 and first minimum lane change lane cost corresponding from current lane A (segmented lane 2-1)2001, then the first lane cost corresponding to the current lane A (segment lane 2-1)2001. As shown in fig. 2 c;
1.2 Calculating a first lane cost corresponding to the current lane a (segmented lane 2-2)
When the current lane A is the segmented lane 2-2, the previous lane A' is the segmented lane 1-2; the other lanes B comprise segmented lanes 2-1 and segmented lanes 2-3; when the other lanes B are the segmented lanes 2-1, the corresponding previous lane B 'is the segmented lanes 1-1, and when the other lanes B are the segmented lanes 2-3, the corresponding previous lane B' is the segmented lanes 1-3;
1.2.1 Calculating a first following lane cost for the current lane a (segmented lane 2-2):
the first following lane cost of the current lane A (segment lane 2-2) is 1001;
1.2.2 Calculating the first following lane cost of the other lane B (segment lane 2-1, segment lane 2-3):
when the other lane B is the segmented lane 2-1, the first following lane cost of the other lane B (segmented lane 2-1) is 2002;
when the other lane B is the segmented lane 2-3, the first following lane cost of the other lane B (segmented lane 2-3) is 10000;
1.2.3 Calculating a first minimum lane-changing cost of the current lane a (segmented lane 2-2) and the other lane B:
when the other lane B is the segmented lane 2-1,first following lane cost 2002 for other lane B (segment lane 2-1), LC is 1000,/L>For lane change number 1 from the other lane B (segmented lane 2-1) to the current lane A (segmented lane 2-2)>For the first road weight data of the current lane A (segmented lane 2-2), namely the passable road weight value 0, the first lane change cost of the current lane A (segmented lane 2-2) corresponding to the other lane B (segmented lane 2-1)>
When the other lane B is the segmented lane 2-3,for the first following lane cost 10000 of the other lane B (segment lane 2-3), lc is 1000, and (2)>For lane change number 1 from the other lane B (segmented lane 2-3) to the current lane A (segmented lane 2-2)>The first road weight data for the current lane a (segment lane 2-2), i.e., passable road weight 0, then the current lane a (segmentLane 2-2) first lane-changing lane cost +_corresponding to the other lane B (segment lane 2-3)>
Taking the minimum value from the first lane-changing lane cost 2002 corresponding to the current lane a (the segmented lane 2-2) and the other lane B (the segmented lane 2-1) and the first lane-changing lane cost 11000 corresponding to the current lane a (the segmented lane 2-2) and the other lane B (the segmented lane 2-3), the first minimum lane-changing lane cost corresponding to the current lane a (the segmented lane 2-2) 2002;
1.2.4 Determining a first lane cost for the current lane a (segmented lane 2-2):
first following lane cost 1001 and first minimum lane change lane cost corresponding from current lane a (segmented lane 2-2)2002, the first lane cost corresponding to the current lane A (segmented lane 2-2)1001; as shown in fig. 2 c;
1.3 Calculating a first lane cost corresponding to the current lane a (segmented lane 2-3)
When the current lane A is the segmented lane 2-3, the previous lane A' is the segmented lane 1-3; the other lanes B include a segmented lane 2-1 and a segmented lane 2-2; the corresponding previous lane B 'is the segmented lane 1-1 when the other lane B is the segmented lane 2-1, and the corresponding previous lane B' is the segmented lane 1-2 when the other lane B is the segmented lane 2-2;
1.3.1 Calculating a first following lane cost for the current lane a (segmented lane 2-3):
the first following lane cost of the current lane A (segment lane 2-3) is 10000;
1.3.2 Calculating the first following lane cost of the other lane B (segment lane 2-1, segment lane 2-2):
when the other lane B is the segmented lane 2-1, the first following lane cost of the other lane B (segmented lane 2-1) is 2002;
when the other lane B is the segmented lane 2-2, the first following lane cost of the other lane B (segmented lane 2-2) is 1001;
1.3.3 Calculating a first minimum lane-changing cost of the current lane a (segmented lane 2-3) and the other lane B:
when the other lane B is the segmented lane 2-1,first following lane cost 2002 for other lane B (segment lane 2-1), LC is 1000,/L>For a number of passes 2,/for a change from the other lane B (segment lane 2-1) to the current lane A (segment lane 2-3)>For the first road weight data of the current lane A (the segmented lane 2-3), namely the obstacle road weight 10000, the first lane changing cost of the current lane A (the segmented lane 2-3) corresponding to the other lane B (the segmented lane 2-1)>
When the other lane B is the segmented lane 2-3,for the first following lane cost 1001 of the other lane B (segment lane 2-2), lc is 1000, and (2)>To go from the other lane B (segment lane 2-2) to the current lane A (segment lane 2-3)Is 1,/for lane change number>For the first road weight data of the current lane A (the segmented lane 2-3), namely the obstacle road weight 10000, the first lane changing cost of the current lane A (the segmented lane 2-3) corresponding to the other lane B (the segmented lane 2-2) is equal to the first lane changing cost of the current lane A (the segmented lane 2-3)>
Taking the minimum value from the first lane-changing lane cost 14002 of the current lane a (segment lane 2-3) corresponding to the other lane B (segment lane 2-1) and the first lane-changing lane cost 12001 of the current lane a (segment lane 2-2) corresponding to the other lane B (segment lane 2-2), the first minimum lane-changing lane cost of the current lane a (segment lane 2-3) corresponding to 12001;
1.3.4 Determining a first lane cost for the current lane a (segmented lane 2-3):
first following lane cost 10000 and first minimum lane change lane cost corresponding from current lane A (segment lanes 2-3)12001, the first lane cost corresponding to the current lane a (segment lanes 2-3)12001; as shown in fig. 2 c.
2. When i=3, the i-1 navigation section is the 2 nd navigation section, namely the bus road section 2; since n= 3,i =n, the current lane a is the lane corresponding to the end coordinates, that is, the segmented lane 3-1;
2.1 Calculating a first lane cost corresponding to the current lane a (segmented lane 3-1)
When the current lane A is a segmented lane 3-1, the previous lane A' is a segmented lane 2-1; the other lanes B include a segmented lane 3-2 and a segmented lane 3-3; when the other lanes B are the segmented lanes 3-2, the corresponding previous lanes B 'are the segmented lanes 2-2, and when the other lanes B are the segmented lanes 3-3, the corresponding previous lanes B' are the segmented lanes 2-3;
2.1.1 Calculating a first following lane cost for the current lane a (segmented lane 3-1):
when the current lane a is the segmented lane 3-1,first lane cost 2001 for the preceding lane A', i.e. the segment lane 2-1,/-A- >For the accumulated number of transition passes 2 from the starting lane S i.e. the segment lane 1-3 to the segment lane 2-1,for the first road weight data of the segment lane 3-1, i.e. the passable road weight 0, then the first following lane cost of the current lane A (segment lane 3-1)/(cost of following lane)>
2.1.2 Calculating the first following lane cost of the other lane B (segment lane 3-2, segment lane 3-3):
when the other lane B is the segmented lane 3-2,first lane cost 1001, for the preceding lane B', i.e. the segment lane 2-2>For the cumulative number of transitions 1,/from the starting lane S, i.e. the segment lane 1-3, to the segment lane 2-2>For the first road weight data of the segment lane 3-2, i.e. the no-pass road weight 30000, then the first following lane cost of the other lane B (segment lane 3-2)
When the other lane B is the segmented lane 3-3,first lane cost 12001 for the preceding lane B', i.e. the segment lanes 2-3, -A>For the cumulative number of transitions 0, < >, > from the starting lane S, i.e. the segment lanes 1-3, to the segment lanes 1-3>For the first road weight data of the segment lane 2-3, i.e. the obstacle road weight 10000, then the first following lane cost of the other lane B (segment lane 3-3)
2.1.3 Calculating a first minimum lane-changing cost of the current lane a (segmented lane 3-1) and the other lane B:
When the other lane B is the segmented lane 3-2,first following lane cost 31002 for other lane B (segment lane 3-2), LC is 1000,/for other lane B (segment lane 3-2)>For lane change number 1 from the other lane B (segment lane 3-2) to the current lane A (segment lane 3-1),. About.>For the first road weight data of the current lane A (segmented lane 3-1), namely the passable road weight value 0, then the first lane change cost of the current lane A (segmented lane 3-1) corresponding to the other lane B (segmented lane 3-2)>
When the other lane B is the segmented lane 3-3,first following lane cost 22001 for other lane B (segment lane 2-3), LC 1000,/L>For a number of passes 2,/for the change from the other lane B (segment lane 3-3) to the current lane A (segment lane 3-1)>For the first road weight data of the current lane A (segmented lane 3-1), namely the passable road weight value 0, then the first lane change cost of the current lane A (segmented lane 3-1) corresponding to the other lane B (segmented lane 3-3)>
Taking the minimum value from the first lane-changing lane cost 32002 corresponding to the current lane a (the segmented lane 3-1) and the other lane B (the segmented lane 3-2) and the first lane-changing lane cost 24001 corresponding to the current lane a (the segmented lane 3-1) and the other lane B (the segmented lane 3-3), the first minimum lane-changing lane cost corresponding to the current lane a (the segmented lane 3-1) 24001;
2.1.4 Determining a first lane cost for the current lane a (segmented lane 3-1):
corresponding first lane from the current lane A (segment lane 3-1)A following lane cost 2003 and a first minimum lane change lane cost24001, if the minimum value is taken, the first lane cost corresponding to the current lane A (the segmented lane 3-1)2003; as shown in fig. 2 c.
As can be seen from FIG. 2c, the last first lane costFirst lane cost for segment lane 3-12003, the optimal passing cost of the current road is 2003; as can be seen from the above example, the current road optimal passing cost is actually the first following lane cost of the segmented lane 3-1, and is related to the first lane cost of the segmented lane 2-1; whereas the first lane cost of the segmented lane 2-1 is actually the first minimum lane-changing lane cost of the segmented lane 2-1, related to the first lane cost of the segmented lane 2-2; the first lane cost of the segmented lane 2-2 is actually the first following lane cost of the segmented lane 2-2, and is related to the first lane cost of the segmented lane 1-2; as can also be seen from the example of step 334 above, the first lane cost of the segmented lane 1-2 is related to the segmented lane 1-3, i.e. the segmented lane corresponding to the start coordinates. Then all segmented lanes participating in the calculation of the road optimal passing cost 2003 are the set of all relevant segmented lanes mentioned above: segment lane 3-1, segment lane 2-2, segment lane 1-2, and segment lane 1-3; the embodiment of the invention correspondingly sets 5 first navigation lane data sets to respectively correspond to the 5 associated lanes.
After the 5 first navigation lane data sets are obtained, the embodiment of the invention sorts the 5 first navigation lane data sets according to the lane change sequence from the start coordinate to the end coordinate, namely, according to the sequence of the segmented lane 1-3, the segmented lane 1-2, the segmented lane 2-1 and the segmented lane 3-1, so as to obtain a first lane-level navigation data set. The first lane-level navigation data set can also obtain the lane route for implementing the lane-level navigation in this time, as shown in fig. 2d, which is a lane navigation schematic diagram provided in the first embodiment of the present invention, the total number of the total passing lanes is 5, and two lane changes are required to be completed in the bus road sections 1 and 2 respectively.
Fig. 3 is a schematic structural diagram of an electronic device according to a second embodiment of the present invention. The electronic device may be the aforementioned terminal device or server, or may be a terminal device or server connected to the aforementioned terminal device or server for implementing the method of the embodiment of the present invention. As shown in fig. 3, the electronic device may include: a processor 301 (e.g., a CPU), a memory 302, a transceiver 303; the transceiver 303 is coupled to the processor 301, and the processor 301 controls the transceiving actions of the transceiver 303. The memory 302 may store various instructions for performing the various processing functions and implementing the processing steps described in the method embodiments previously described. Preferably, the electronic device according to the embodiment of the present invention further includes: a power supply 304, a system bus 305, and a communication port 306. The system bus 305 is used to implement communication connections between the elements. The communication port 306 is used for connection communication between the electronic device and other peripheral devices.
The system bus 305 referred to in fig. 3 may be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, or the like. The system bus may be classified into an address bus, a data bus, a control bus, and the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus. The communication interface is used to enable communication between the database access apparatus and other devices (e.g., clients, read-write libraries, and read-only libraries). The Memory may comprise random access Memory (Random Access Memory, RAM) and may also include Non-Volatile Memory (Non-Volatile Memory), such as at least one disk Memory.
The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), a graphics processor (Graphics Processing Unit, GPU), etc.; but also digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
It should be noted that, the embodiments of the present invention also provide a computer readable storage medium, where instructions are stored, when the computer readable storage medium runs on a computer, to cause the computer to perform the method and the process provided in the above embodiments.
The embodiment of the invention also provides a chip for running the instructions, and the chip is used for executing the processing steps described in the embodiment of the method.
The embodiment of the invention provides a lane-level navigation method, electronic equipment and a computer-readable storage medium for an automatic driving bus, which are used for acquiring road segmentation information of a current driving road and lane information of each segmentation road from a known bus route data set, taking a segmentation lane where the current position of the vehicle is located as a starting lane, taking a segmentation lane where the next stop is located as an ending lane, and planning a navigation lane sequence from the starting lane to the ending lane according to optimal passing cost by combining the road right information of each current lane so as to obtain real-time lane-level navigation information. According to the invention, based on the characteristic of fixed bus route, the calculation time of road navigation in the high-precision map according to the positioning of the vehicle can be saved, the calculation amount and calculation time of lane navigation in the high-precision map according to the change target can be reduced by taking the unchanged stop as the current navigation target point, and the calculation complexity and calculation time can be reduced by using the optimal passing cost calculation principle to replace the traditional positioning search algorithm. The invention meets the real-time requirement of road navigation of the automatic driving bus and improves the guarantee of vehicle driving safety.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of function in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (5)
1. A lane-level navigation method for an autonomous bus, the method comprising:
acquiring a bus line number of a bus as a current line number; acquiring a vehicle position coordinate of the bus to generate an initial coordinate; acquiring the station position coordinates of the next stop of the bus to generate ending coordinates;
inquiring a preset bus route set, and taking a first road data set corresponding to a first route number matched with the current route number as a current road data set; the bus route set comprises a plurality of first bus routes; the first bus line comprises the first line number and the first road data set;
planning lanes of each road section of the bus, which is required to pass through from the starting coordinate to the ending coordinate, according to the current road data set and the principle of optimal road passing cost to obtain a corresponding first road-level navigation data set;
wherein the first road data set comprises a plurality of first road segment data sets;
the first road segment data set comprises first road segment identification data, a first road segment coordinate range and a plurality of first vehicle track data sets;
The first lane data set includes first lane identification data, a first lane coordinate range, and first road weight data;
the first lane-level navigation data set includes a plurality of first navigation lane data sets;
the first navigation lane data set comprises second road section identification data and second road identification data;
planning lanes of each road section which the bus needs to pass through from the starting coordinate to the ending coordinate according to the current road data set and the principle of optimal road passing cost to obtain a corresponding first lane-level navigation data set, wherein the method specifically comprises the following steps of:
in the current road data set, the first road segment identification data corresponding to the first road segment coordinate range containing the initial coordinate is marked as initial road segment identification data, and the first road segment identification data corresponding to the first road segment coordinate range containing the end coordinate is marked as end road segment identification data;
all the first road segment data sets from the starting road segment identification data to the ending road segment identification data in the current road data set are sequenced according to the sequence from the starting road segment to the ending road segment to form a navigation road data set; the navigation road data set comprises a plurality of navigation road segment data sets, and the number of the navigation road segment data sets is the total number N of road segments;
According to the 1 st navigation road section data set, calculating the optimal passing cost of the bus from the initial coordinates to each lane of the 1 st navigation road section, and generating a corresponding first lane costM 1 ≥j 1 ≥1，M 1 The total number of lanes for the 1 st navigation section; right footmark j 1 One-to-one correspondence with a specific segmented lane;
the first road cost of each lane of the ith navigation section according to the ith navigation section data set and the ith-1 navigation sectionCalculating the optimal passing cost of the bus from the initial coordinates to each lane of the ith navigation road section, and generating corresponding first lane cost +.>N≥i≥2,M i-1 ≥j i-1 ≥1，M i ≥j i ≥1，M i-1 、M i The total number of lanes of the ith-1 and ith navigation road sections respectively; j (j) i Corresponding to the segmented lanes on each navigation road segment;
cost the last said first laneAs the optimal passing cost of the current road; setting a corresponding first navigation lane data set for each lane participating in calculating the optimal passing cost of the current road; setting the second road section identification data of the first navigation lane data set as the first road section identification data corresponding to the current lane, and setting the second road section identification data as the first road identification data corresponding to the current lane;
and sequencing the first navigation lane data sets corresponding to all lanes according to the lane change sequence from the starting coordinate to the ending coordinate to obtain the first lane-level navigation data set.
2. The method according to claim 1, wherein the calculating the optimal traffic cost of the bus from the start coordinates to each lane of the 1 st navigation link based on the 1 st navigation link data set generates a corresponding first lane costThe method specifically comprises the following steps:
in the 1 st navigation road section data set, marking a lane corresponding to the first lane data set corresponding to the first lane coordinate range containing the start coordinate as a start lane S;
calculating a first lane cost corresponding to the initial lane S The first road weight data of the first vehicle road data set corresponding to the starting lane S in the 1 st navigation road section data set;
setting any one lane except the starting lane S in the ith navigation road section as other lanes O;
calculating the first lane cost corresponding to any other lane O
LC is a preset single lane change cost factor, < >>For the number of lane changes from the starting lane S to the current other lane O, +.>And the first road weight data of the first lane data set corresponding to the current other lane O in the 1 st navigation road section data set is obtained.
3. The lane-level navigation method of an automatically driven bus of claim 1 wherein said first cost of track is based on an i-th navigation link data set and each lane of an i-1 navigation linkCalculating the optimal passing cost of the bus from the initial coordinates to each lane of the ith navigation road section, and generating corresponding first lane cost +.>The method specifically comprises the following steps:
at i<Setting any lane in the ith navigation road section as a current lane A when N, and setting a lane corresponding to the ending coordinate in the ith navigation road section as the current lane A when i=N; setting any one lane except the current lane A in the ith navigation road section as other lanes B; setting a previous lane connected with the current lane A in the i-1 navigation road section as a corresponding previous lane A ’ The previous lane connected with any other lane B is set as the corresponding previous lane B ’ ；
Calculating the cost of a first following lane corresponding to the current lane A
For the corresponding previous lane A ’ First lane cost,/, of>From the starting lane S of the 1 st navigation road section to the corresponding previous lane A ’ Is a cumulative variable number of passes->The first road weight data of the first lane data set corresponding to the current lane A in the ith navigation road section data set are obtained;
Calculating the cost of the first following lane corresponding to any other lane B
For the previous lane B corresponding to the current other lane B ’ First lane cost,/, of>To go from the start lane S to the corresponding previous lane B ’ Is a cumulative variable number of passes->The first road weight data of the first lane data set corresponding to the current other lane B in the ith navigation road section data set are obtained;
calculating the first lane-changing cost of the current lane A corresponding to any other lane B
And from the resulting plurality of said first lane-changing lanes cost + ->In the method, the minimum value is taken as the first minimum lane changing cost corresponding to the current lane A For the first following lane cost of the current other lane B corresponding to the current lane A, LC is a preset single lane change cost factor, < >>The lane change times from the current other lane B to the current lane A are obtained;
cost of the first following lane corresponding to the current lane AAnd said first minimum lane change cost +.>Taking the minimum value as the first lane cost +.>
4. An electronic device, comprising: memory, processor, and transceiver;
The processor being adapted to couple with the memory, read and execute instructions in the memory to implement the method of any one of claims 1-3;
the transceiver is coupled to the processor and is controlled by the processor to transmit and receive messages.
5. A computer readable storage medium storing computer instructions which, when executed by a computer, cause the computer to perform the instructions of the method of any one of claims 1-3.
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