The invention relates to an intersection identification and intersection trajectory planning method for an intelligent vehicle in an urban road running process. The method is actual application of an automatic driving technology and an auxiliary driving technology on the basis of intelligent traffic. The method is characterized in that intersections are divided into four types of typical intersection bodies, intersection identification is conducted through a multisensory infusion mode and a four-layer early warning template matching method, road edge disappearing points are determined as intersection entry points, template center points matched with the intersections are determined as intersection exit points, trajectory planning is conducted through a double-RRT method as so to achieve intersection identification and tracking. The intersection identification and intersection trajectory planning method has the advantages that the intelligent vehicle can cope with the complex environment of urban traffic intersections through intersection identification and planning, the intelligent driving problems that the intelligent vehicle is lost at the intersections and can pass through the intersections only through accurate navigation are solved, the adaptive capacity to the environment of the intelligent vehicle is improved, and important technological support is provided for intelligent driving under the complex urban environment.
Intersection identification and intersection trajectory planning method for intelligent vehicle in urban road running process
2015-04-22
Patent
Electronic Resource
English
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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