The invention discloses an intersection vehicle meeting control method and device, vehicle control equipment and a storage medium, and the method comprises the steps: detecting whether there is an intersection at one side, far away from an opposite lane, of a main vehicle lane and in front of the main vehicle in the driving process of the main vehicle; if yes, when it is detected that there is an opposite vehicle on the opposite lane, generating a first prediction track for the opposite vehicle to go straight and a second prediction track for the opposite vehicle to turn to enter the intersection; calculating the first similarity between the driving track of the opposite vehicle and the first prediction track, calculating the second similarity between the driving track and the second prediction track, determining the driving intention of the opposite vehicle according to the first similarity and the second similarity, and controlling the main vehicle according to the driving intention. The problem that collision risks exist in emergency braking due to the fact that the automatic driving vehicle cannot predict that the opposite vehicle steers to enter the intersection is solved, speed reduction and avoidance can be performed in advance when the driving intention of the opposite vehicle is predicted to steer to enter the intersection, collision caused by emergency braking is avoided, and the meeting safety of the automatic driving vehicle at the intersection and the driving comfort are improved.
本发明公开了一种路口会车控制方法、装置、车辆控制设备和存储介质,包括:在主车行驶的过程中,检测主车车道远离对向车道一侧、主车前方是否存在路口;若是,在检测到对向车道有对向车时,生成对向车直行的第一预测轨迹和对向车转向进入路口的第二预测轨迹;对向车的行驶轨迹与第一预测轨迹的第一相似度,以及计算行驶轨迹与第二预测轨迹的第二相似度,根据第一相似度和第二相似度确定对向车的行驶意图,根据行驶意图控制主车。解决了自动驾驶车辆无法预测对向车转向进入路口,导致急刹存在碰撞风险的问题,可以在预测到对向车的行驶意图为转向进入路口时提前减速避让,避免急刹发生碰撞,提高了自动驾驶车辆在路口会车的安全性和行驶的舒适性。
Intersection meeting control method and device, vehicle control equipment and storage medium
路口会车控制方法、装置、车辆控制设备和存储介质
2022-12-23
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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