The invention provides an intersection passing method and device, equipment and a storage medium. Under the condition that the sanitation vehicle arrives at the entrance of the first passing port along the rightmost lane, the state information of the target traffic light can be obtained according to the vehicle type and the driving direction of the sanitation vehicle, and different driving strategies are selected according to the vehicle type of the sanitation vehicle, that is, if the sanitation vehicle belongs to the first vehicle type, the target traffic light can be driven to enter the entrance of the first passing port. If yes, the sanitation vehicle is controlled to run to the running direction along the sidewalk according to the state information to indicate to turn left or turn round; and if the sanitation vehicle belongs to a second vehicle type, determining a virtual stop line, and controlling the sanitation vehicle to stop along the virtual stop line under the condition that the state information indicates that passing is allowed and the driving track of the sanitation vehicle conflicts with the driving tracks of other traffic participants. By planning different driving strategies for sanitation vehicles of different vehicle types, the influence on other traffic participants can be reduced when the sanitation vehicles turn left and turn around on the rightmost lane.
本公开提供一种路口通行方法、装置、设备及存储介质。在环卫车沿最右侧车道到达所述第一通行口的驶入口的情况下,可以根据所述环卫车的车型以及行驶方向获取目标红绿灯的状态信息,并根据环卫车的车型选择不同的行驶策略,即若所述环卫车属于第一种车型,则根据状态信息控制所述环卫车沿人行道行驶到所述行驶方向指示进行左转或掉头;若所述环卫车属于第二种车型,则确定虚拟停止线,并在所述状态信息指示允许通行,且所述环卫车的行驶轨迹与其他交通参与者的行驶轨迹冲突的情况下,控制所述环卫车沿所述虚拟停止线停止。通过为不同车型的环卫车规划不同的行驶策略,可以使环卫车在最右侧车道进行左转和掉头时减少对其他交通参与者的影响。
Intersection passing method, device and equipment and storage medium
一种路口通行方法、装置、设备及存储介质
2023-07-25
Patent
Elektronische Ressource
Chinesisch
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