The invention provides a vehicle intersection decision-making method and device, equipment and a storage medium. The method comprises the steps of determining that an automatic driving vehicle enters an intersection and does not detect an indicator light signal in response to acquired environment data, determining a target vehicle needing to be analyzed and state information of the target vehicle from the environment data based on a set filtering rule, then, based on the position relation between the first driving track of the target vehicle and the second driving track of the automatic driving vehicle and the shape parameters of the set parts of the target vehicle, the expected meeting state of the automatic driving vehicle and the target vehicle is determined, and finally, based on the expected meeting state, the driving strategy of the automatic driving vehicle is determined. The problem that a stable and reliable decision-making method is lacked when the automatic driving vehicle passes through the intersection without the signal lamp is solved, and the driving efficiency and safety of the automatic driving vehicle passing through the intersection are ensured.
本公开提供一种车辆路口决策方法、装置、设备及存储介质。该方法包括:响应于获取的环境数据,确定自动驾驶车辆进入交叉路口且未检测到指示灯信号,再基于设定的过滤规则,从环境数据中确定需要分析的目标车辆和目标车辆的状态信息,然后基于目标车辆的第一行驶轨迹和自动驾驶车辆的第二行驶轨迹的位置关系、目标车辆的设定部位的形状参数,确定自动驾驶车辆与目标车辆的预期会车状态,最后基于预期会车状态,确定自动驾驶车辆的行驶策略。本申请解决了自动驾驶车辆通过无信号灯交叉路口时缺乏稳定可靠的决策方法的问题,保证自动驾驶车辆通过路口的行驶效率和安全性。
Vehicle intersection decision-making method, device and equipment and storage medium
车辆路口决策方法、装置、设备及存储介质
01.08.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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