The invention belongs to the technical field of automatic driving, and discloses a narrow road automatic driving control method and device, equipment and a storage medium. According to the method, when obstacles exist on the two sides of a vehicle at the same time, the transverse unoccupied distance collected by a vehicle-mounted sensor is obtained; when the transverse unoccupied distance is larger than the safe transverse distance, the distance, collected by the sensing module, of the two sides of the narrow road is obtained; and obtaining a narrow road passing strategy according to the distance between the two sides of the narrow road and the narrow road passing condition so that a driver can pass the narrow road according to the narrow road passing strategy. When it is determined that obstacles exist on the two sides of the vehicle at the same time, the transverse unoccupied distance is obtained through the vehicle-mounted sensor, after the narrow road is determined, the distance between the two sides of the narrow road is collected through the sensing sensor, and then the narrow road passing strategy is obtained according to the distance between the two sides of the narrow road and the narrow road passing condition. A driver is assisted to judge the trafficability of a front narrow road through the sensing module, and unnecessary scratching caused by the fact that the driver mistakes the width of a vehicle body is avoided.

    本发明属于自动驾驶技术领域,公开了一种窄路自动驾驶控制方法、装置、设备及存储介质。本发明通过在车辆两侧同时存在障碍物时,获取车载传感器采集的横向空余距离;在横向空余距离大于安全横向距离时,获取感知模块采集的窄路两侧距离;根据窄路两侧距离和窄路通行条件得到窄路通行策略,以使驾驶员根据窄路通行策略通行窄路。在确定车辆两侧同时存在障碍物时,通过车载传感器获取横向空余距离,在确定为窄路后,通过感知传感器采集窄路两侧距离,再根据窄路两侧距离和窄路通行条件得到窄路通行策略,提高了自动驾驶车辆的窄路通过性,通过感知模块来协助驾驶员判断前方窄路的可通过性,避免产生驾驶员对车身宽度失误造成的不必要的剐蹭。


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    Titel :

    Narrow road automatic driving control method and device, equipment and storage medium


    Weitere Titelangaben:

    窄路自动驾驶控制方法、装置、设备及存储介质


    Beteiligte:
    LIANG XIANQING (Autor:in) / SHEN CHEN (Autor:in) / QIN XILE (Autor:in) / REN CONG (Autor:in) / KE WEI (Autor:in)

    Erscheinungsdatum :

    2024-04-16


    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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



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