The invention discloses a driving state judgment method, computer equipment, a readable storage medium and a motor vehicle, and relates to the technical field of automatic driving, the driving state of a vehicle at an intersection is judged when the vehicle runs navigation auxiliary cruise, and the method comprises the following steps: obtaining a global path of navigation planning and a current road course; acquiring lane lines on two sides of the own vehicle and a stop line in front of the own vehicle through a vehicle sensing system, and converting the lane lines and the stop line into an own vehicle coordinate system; and judging the driving state of the vehicle according to the current pose of the vehicle and the positions of the lane line and the stop line under the coordinate system of the vehicle, wherein the driving state comprises approaching the intersection, driving away from the intersection and being in the intersection. According to the invention, the relative position of the vehicle and the crossroad can be accurately positioned.

    本发明公开了一种行驶状态判断方法、计算机设备、可读存储介质及机动车,涉及自动驾驶技术领域,于车辆运行导航辅助巡航时判断自车在交叉路口的行驶状态,包括如下步骤:获取导航规划的全局路径和当前的道路航向;通过车辆感知系统获取自车两侧的车道线和自车前方的停止线并转换到自车坐标系下;根据自车当前的位姿以及自车坐标系下车道线和停止线的位置判断自车的行驶状态,所述行驶状态包括靠近交叉路口、驶离交叉路口、在交叉路口中。本发明能够准确地定位自车与十字路口的相对位置。


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    Titel :

    Driving state judgment method, computer equipment, readable storage medium and motor vehicle


    Weitere Titelangaben:

    一种行驶状态判断方法、计算机设备、可读存储介质及机动车


    Beteiligte:
    ZHANG SHIYI (Autor:in) / QI ZIHENG (Autor:in) / YU WEI (Autor:in)

    Erscheinungsdatum :

    2023-09-05


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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