LANE SELECTION METHOD AND APPARATUS, AND VEHICLE
Provided are a lane selection method and apparatus, and a vehicle. The method may be applied to the field of intelligent driving. The method includes: when a vehicle is at an intersection, obtaining information about an obstacle around the vehicle and road topology information; determining a plurality of lanes based on the road topology information, and determining a collision risk between the vehicle and the obstacle based on the information about the obstacle, where the plurality of lanes are lanes through which the vehicle exits the intersection; and selecting, based on the collision risk, a first lane from the plurality of lanes to exit the intersection. When passing through the intersection, the vehicle may select a lane based on the collision risk between the vehicle and the obstacle. This helps improve safety of the vehicle passing through the intersection, thereby improving driving experience of a user.
1 . A method for selecting lanes, comprising:
when a vehicle is at an intersection, obtaining information about a first obstacle around the vehicle and road topology information;
determining a plurality of lanes based on the road topology information, wherein the plurality of lanes are lanes through which the vehicle exits the intersection;
determining a collision risk between the vehicle and the first obstacle based on the information about the first obstacle; and
selecting, based on the collision risk, a first lane from the plurality of lanes to exit the intersection.
2 . The method according to claim 1 , wherein determining the collision risk between the vehicle and the first obstacle based on the information about the first obstacle comprises:
determining the collision risk based on a time to collision (TTC) between the vehicle and the first obstacle and/or a distance between the vehicle and the first obstacle.
3 . The method according to claim 2 , wherein the method further comprises:
determining a passing probability of the first obstacle based on at least one of the road topology information, a type of a lane that the first obstacle enters after exiting the intersection, information about a guide line in the intersection, or a motion trend of the first obstacle, wherein the passing probability indicates a probability that the first obstacle selects a lane from the plurality of lanes for exiting the intersection; and
selecting, the first lane from the plurality of lanes to exit the intersection comprises:
selecting, based on the collision risk and the passing probability, the first lane from the plurality of lanes to exit the intersection.
4 . The method according to claim 1 , wherein selecting the first lane from the plurality of lanes to exit the intersection comprises:
selecting, based on the collision risk, an included angle between an orientation of the vehicle and an orientation of each lane of the plurality of lanes, and an included angle between an orientation of the first obstacle and the orientation of each lane, the first lane from the plurality of lanes to exit the intersection.
5 . The method according to claim 1 , wherein the method further comprises:
before the vehicle passes through the intersection, determining the first obstacle from a plurality of obstacles based on a TTC between the vehicle and each obstacle of the plurality of obstacles, and/or a distance between the vehicle and each obstacle; or
when the vehicle passes through the intersection, determining the first obstacle from a plurality of obstacles based on at least one of a TTC between the vehicle and each obstacle of the plurality of obstacles, a distance between the vehicle and each obstacle, or a predicted trajectory of each obstacle.
6 . The method according to claim 1 , wherein the method further comprises:
controlling a prompt apparatus to prompt information about the first lane.
7 . The method according to claim 1 , wherein the method further comprises:
determining an obstacle avoidance trajectory of the vehicle in the first lane based on the collision risk.
8 . The method according to claim 1 , wherein the information about the first obstacle comprises one or more of a location, a speed, an acceleration, a speed direction, a heading direction, or a yaw rate of the first obstacle.
9 . The method according to claim 1 , wherein the road topology information comprises at least one of lane division information of a road on which the vehicle is located, a type of each lane, or lane line information of each lane.
10 . The method according to claim 1 , wherein the method further comprises:
planning a traveling trajectory of the vehicle from a current location to the first lane.
11 . A lane selection apparatus, comprising:
a processor, and
a memory coupled to the processor to store instructions, which when executed by the processor, cause the lane selection apparatus to:
when a vehicle is at an intersection, obtain information about a first obstacle around the vehicle and road topology information;
determine a plurality of lanes based on the road topology information, wherein the plurality of lanes are lanes through which the vehicle exits the intersection;
determine a collision risk between the vehicle and the first obstacle based on the information about the first obstacle; and
select, based on the collision risk, a first lane from the plurality of lanes to exit the intersection.
12 . The apparatus according to claim 11 , wherein the instructions, when executed, further cause the lane selection apparatus to:
determine the collision risk based on a time to collision TTC between the vehicle and the first obstacle and/or a distance between the vehicle and the first obstacle.
13 . The apparatus according to claim 12 , wherein the instructions, when executed, further cause the lane selection apparatus to:
determine a passing probability of the first obstacle based on at least one of the road topology information, a type of a lane that the first obstacle enters after exiting the intersection, information about a guide line in the intersection, or a motion trend of the first obstacle, wherein the passing probability indicates a probability that the first obstacle selects a lane from the plurality of lanes for exiting the intersection; and
select, based on the collision risk and the passing probability, the first lane from the plurality of lanes to exit the intersection.
14 . The apparatus according to claim 11 , wherein the instructions, when executed, further cause the lane selection apparatus to:
select, based on the collision risk, an included angle between an orientation of the vehicle and an orientation of each lane of the plurality of lanes, and an included angle between an orientation of the first obstacle and the orientation of each lane, the first lane from the plurality of lanes to exit the intersection.
15 . The apparatus according to claim 11 , wherein the instructions, when executed, further cause the lane selection apparatus to:
before the vehicle passes through the intersection, determine the first obstacle from a plurality of obstacles based on a TTC between the vehicle and each obstacle of the plurality of obstacles, and/or a distance between the vehicle and each obstacle; or
when the vehicle passes through the intersection, determine the first obstacle from a plurality of obstacles based on at least one of a TTC between the vehicle and each obstacle of the plurality of obstacles, a distance between the vehicle and each obstacle, or a predicted trajectory of each obstacle.
16 . The apparatus according to claim 11 , wherein the instructions, when executed, further cause the lane selection apparatus to:
control a prompt apparatus to prompt information about the first lane.
17 . The apparatus according to claim 11 , wherein the instructions, when executed, further cause the lane selection apparatus to:
determine an obstacle avoidance trajectory of the vehicle in the first lane based on the collision risk.
18 . The apparatus according to claim 11 , wherein the information about the first obstacle comprises one or more of a location, a speed, an acceleration, a speed direction, a heading direction, or a yaw rate of the first obstacle.
19 . The apparatus according to claim 11 , wherein the road topology information comprises at least one of lane division information of a road on which the vehicle is located, a type of each lane, or lane line information of each lane.
20 . A non-transitory machine-readable storage medium having instructions stored therein, which when executed by a processor, cause the processor to:
when a vehicle is at an intersection, obtain information about a first obstacle around the vehicle and road topology information;
determine a plurality of lanes based on the road topology information, wherein the plurality of lanes are lanes through which the vehicle exits the intersection; determine a collision risk between the vehicle and the first obstacle based on the information about the first obstacle; and
select, based on the collision risk, a first lane from the plurality of lanes to exit the intersection.