The invention discloses an intersection driving method and device for an automatic driving vehicle, the vehicle and a medium. The method comprises the steps: obtaining the actual intersection information of the intersection from a current map when the current position of the automatic driving vehicle recognizes that the vehicle is at the intersection; identifying vehicle information of at least one other vehicle in the region of interest in the intersection according to the current vehicle information of the autonomous vehicle; using a pre-trained prediction model to predict a subsequent driving track of each other vehicle based on the actual intersection information and the vehicle information of the at least one other vehicle; and determining a target local path and a target driving behavior of the automatic driving vehicle according to the actual intersection information, the subsequent driving track of each other vehicle and the traffic information of the intersection. Therefore, the problem that safety accidents easily occur due to the fact that information such as surrounding obstacle vehicles and traffic lights cannot be accurately recognized is solved, the risk of collision with other vehicles is reduced, and the safety and comfort of the vehicle are improved.
本申请公开了一种自动驾驶车辆的交叉路口行驶方法、装置、车辆及介质,方法包括:在由自动驾驶车辆的当前位置识别到车辆处于交叉路口时,从当前地图中获取交叉路口的实际路口信息;根据自动驾驶车辆的当前车辆信息识别交叉路口中感兴趣区域内至少一辆其他车辆的车辆信息;利用预先训练的预测模型,基于实际路口信息和至少一辆其他车辆的车辆信息预测每辆其他车辆的后续行驶轨迹;根据实际路口信息、每辆其他车辆的后续行驶轨迹和交叉路口的通行信息确定自动驾驶车辆的目标局部路径和目标行驶行为。由此,解决了因无法准确识别周围障碍车、交通灯等信息,容易出现安全事故的问题,不仅降低了与其他车辆的碰撞风险,且提高了车辆的安全性和舒适性。
Intersection driving method and device of automatic driving vehicle, vehicle and medium
自动驾驶车辆的交叉路口行驶方法、装置、车辆及介质
2022-01-07
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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