The invention provides an automatic driving vehicle control method, device and equipment and a storage medium, relates to the technical field of automatic driving, in particular to the technical fields of target recognition, data generation, trajectory prediction and the like, and can be applied to scenes such as automatic driving path planning and mobile robot motion planning. The specific implementation scheme comprises the steps of obtaining a turn-round request of a target vehicle; determining a first path in which the target vehicle is not generated through a preset generation algorithm; determining that no obstacle exists in the backing collision area of the target vehicle, and generating a backing path corresponding to the backing collision area according to the backing collision area; determining a target back-up path point from each back-up path point in the back-up path; and according to the target reversing path point, controlling the target vehicle to reverse to the target reversing path point, and then driving the target vehicle in a driving path corresponding to a pre-constructed forward driving collision area. According to the invention, the trafficability of the autonomous vehicle in a space-limited scene can be improved, and the calculation time consumption of backing planning is reduced.

    本公开提供一种自动驾驶车辆控制方法、装置、设备及存储介质,涉及自动驾驶技术领域,具体涉及目标识别、数据生成、轨迹预测等技术领域,可应用于自动驾驶路径规划、移动机器人运动规划等场景下,具体实现方案包括:获取目标车辆的掉头请求;确定通过预设生成算法未生成目标车辆的第一路径;确定目标车辆的倒车碰撞区域中不存在障碍物,并根据倒车碰撞区域生成倒车碰撞区域对应的倒车路径;从倒车路径中的各倒车路径点中,确定目标倒车路径点;根据目标倒车路径点,控制目标车辆倒车至目标倒车路径点后,以预先构建的前向行驶碰撞区域对应的行驶路径行驶。本公开可以提高自动驾驶车辆在空间受限的场景下的通行性,降低倒车规划的计算耗时。


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    Titel :

    Automatic driving vehicle control method, device and equipment and storage medium


    Weitere Titelangaben:

    自动驾驶车辆控制方法、装置、设备及存储介质


    Beteiligte:
    WU HANZHAO (Autor:in) / LIANG QI (Autor:in) / ZHANG KUAN (Autor:in)

    Erscheinungsdatum :

    20.02.2024


    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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