Vehicle travel control method and apparatus

An electronic device, comprising:

• at least one processor, and
• a memory communicatively connected with the at least one processor;
• wherein the memory has stored thereon instructions executable by the at least one processor, and the instructions, when executed by the at least one processor, enable the at least one processor to implement the steps of:
• acquiring a distance between a vehicle and a first intersection, wherein the first intersection is an intersection for the vehicle to go across on a first road which the vehicle is currently on;
• acquiring, on a determination that the distance is less than or equal to a preset distance, intersection information of the first intersection and travelling information of the vehicle, wherein the intersection information comprises lane information of at least two lanes on the first road;
• determining, according to the intersection information and the travelling information, a target weight of each of the at least two lanes for the vehicle to travel into;
• determining, according to the target weight of each of the at least two lanes for the vehicle to travel into, an intended travel route of the vehicle;
• and
• controlling the vehicle to perform autonomous driving according to the intended travel route;
• wherein determining, according to the target weight of each of the at least two lanes for the vehicle to travel into, the intended travel route of the vehicle comprises:
• determining, according to the target weight of each of the at least two lanes for the vehicle to travel into, a target lane;
• and
• determining, according to the target lane, the intended travel route;
• wherein determining, according to the target weight of each of the at least two lanes for the vehicle to travel into, the target lane comprises:
• determining, according to a plurality of travelling trajectory points in the travelling information, a first weight of each of at least two candidate directions for the vehicle to turn into at the first intersection;
• determining a candidate direction with a first weight greater than or equal to a preset threshold to be a target direction, and determining a turning lane corresponding to the target direction, wherein the turning lane is one of the at least two lanes for the vehicle to travel into;
• and
• determining, according to the turning lane and the target weight of each of the at least two lanes for the vehicle to travel into, the target lane;
• wherein the first weight is a probability that a plurality of consecutive angular tendencies fall into each of at least two candidate directions, and the plurality of consecutive angular tendencies are obtained according to every two adjacent travelling trajectory points of the plurality of travelling trajectory points;
• wherein the target weight is independent from the first weight.

A non-transitory computer readable storage medium on which computer instructions are stored, wherein the computer instructions are configured to enable a computer to execute the steps of:

• acquiring a distance between a vehicle and a first intersection, wherein the first intersection is an intersection for the vehicle to go across on a first road which the vehicle is currently on;
• acquiring, on a determination that the distance is less than or equal to a preset distance, intersection information of the first intersection and travelling information of the vehicle, wherein the intersection information comprises lane information of at least two lanes on the first road;
• determining, according to the intersection information and the travelling information, a target weight of each of the at least two lanes for the vehicle to travel into;
• determining, according to the target weight of each of the at least two lanes for the vehicle to travel into, an intended travel route of the vehicle;
• and
• controlling the vehicle to perform autonomous driving according to the intended travel route;
• wherein determining, according to the target weight of each of the at least two lanes for the vehicle to travel into, the intended travel route of the vehicle comprises:
• determining, according to the target weight of each of the at least two lanes for the vehicle to travel into, a target lane;
• and
• determining, according to the target lane, the intended travel route;
• wherein determining, according to the target weight of each of the at least two lanes for the vehicle to travel into, the target lane comprises:
• determining, according to a plurality of travelling trajectory points in the travelling information, a first weight of each of at least two candidate directions for the vehicle to turn into at the first intersection;
• determining a candidate direction with a first weight greater than or equal to a preset threshold to be a target direction, and determining a turning lane corresponding to the target direction, wherein the turning lane is one of the at least two lanes for the vehicle to travel into;
• and
• determining, according to the turning lane and the target weight of each of the at least two lanes for the vehicle to travel into, the target lane;
• wherein the first weight is a probability that a plurality of consecutive angular tendencies fall into each of at least two candidate directions, and the plurality of consecutive angular tendencies are obtained according to every two adjacent travelling trajectory points of the plurality of travelling trajectory points;
• wherein the target weight is independent from the first weight.