The invention provides an automatic driving vehicle control method and device at a crossroad, and relates to the technical field of automatic driving, and the method comprises the steps: obtaining a collection vehicle track and to-be-connected front and rear lane line data at a target crossroad; curve fitting under different lane changing types is carried out on the front lane line data and the rear lane line data, and initial fitting lane lines under different lane changing types are obtained; determining the deviation degree between the front and rear lane lines and the initial fitting lane line under different lane changing types, and determining a lane line matching mode at the target crossroad according to the deviation degree; and performing connection line optimization in a lane line matching mode on the target initial fitting lane line by using the acquired vehicle track to obtain an optimal connection line, and controlling the autonomous vehicle passing through the target crossroad according to the optimal connection line. By adopting the method and the device for controlling the automatic driving vehicle at the crossroad, the problem of low control accuracy of the automatic driving vehicle at the crossroad is solved.
本申请提供了一种十字路口处的自动驾驶车辆控制方法及装置,涉及自动驾驶技术领域,该方法包括:获取采集车轨迹及目标十字路口处待连接的前后车道线数据;对前后车道线数据进行不同变道类型下的曲线拟合,获取不同变道类型下的初始拟合车道线;确定不同变道类型下前后车道线与初始拟合车道线之间的偏移程度,根据偏移程度确定目标十字路口处的车道线匹配方式;利用采集车轨迹对目标初始拟合车道线进行车道线匹配方式下的连接线优化获得最优连接线,根据最优连接线对经过目标十字路口的自动驾驶车辆进行控制。通过采用上述十字路口处的自动驾驶车辆控制方法及装置,解决了十字路口处自动驾驶车辆的控制准确性低的问题。
Method and device for controlling automatic driving vehicle at crossroad
一种十字路口处的自动驾驶车辆控制方法及装置
08.03.2024
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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