The invention discloses an intersection passing method and device, equipment and a medium, and the method comprises the steps: determining a planning track of a target vehicle from a starting road to each lane in a target road when the target vehicle reaches a target position, and enabling the target position to be a position having a preset distance with a stop line of the starting road; determining an initial expectation corresponding to each planning track; obtaining a prediction trajectory of the first vehicle driving influence object, and determining a first target planning trajectory having interaction influence with the prediction trajectory from the planning trajectories; performing expectation updating on the first target planning track to obtain an updated expectation corresponding to the first target planning track; and determining an optimal trajectory from the planned trajectories based on the current expectation of the planned trajectories, and driving the target vehicle to pass through the current intersection based on the optimal trajectory. Therefore, the crossing passing efficiency can be improved.
本申请公开了一种路口通过方法、装置、设备及介质,包括:在目标车辆到达目标位置时,确定所述目标车辆从起始道路到目标道路中各个车道的规划轨迹,其中,所述目标位置为与所述起始道路的停止线存在预设距离的位置;确定每个规划轨迹对应的初始期望;获取第一车辆行驶影响对象的预测轨迹,并从各规划轨迹中确定与所述预测轨迹存在交互影响的第一目标规划轨迹;对所述第一目标规划轨迹进行期望更新,得到所述第一目标规划轨迹对应的更新后期望;基于各规划轨迹当前的期望从各规划轨迹中确定出最优轨迹,并基于所述最优轨迹行驶所述目标车辆以通过当前路口。这样,能够提高路口通过的效率。
Intersection passing method, device, equipment and medium
一种路口通过方法、装置、设备及介质
06.05.2025
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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