The invention discloses a method for controlling the driving of an unmanned vehicle at an intersection without a signal lamp, and the method comprises the steps: receiving parameter information and driving state information transmitted by the unmanned vehicle, and the parameter information comprising the priority of the unmanned vehicle for executing a task; according to the parameter informationand the driving state information, planning a first driving path of the unmanned vehicle, and the first driving path comprising a plurality of road points taking a time sequence as a sequence; under the condition that the unmanned vehicle triggers a predetermined event, judging whether a target road point of the current unmanned vehicle exists in the at least two first driving paths or not, and the target road point being any one of multiple road points taking a time sequence as a sequence; under the condition that the judgment result is yes, planning a second driving path of the unmanned vehicle according to the priority of task execution of the unmanned vehicle; and controlling the unmanned vehicle to drive according to the second driving path. The invention further discloses a device for controlling driving of an unmanned vehicle at an intersection without a signal lamp.
本发明公开了一种无信号灯路口控制无人驾驶车辆行驶的方法,包括:接收无人驾驶车辆发送的参数信息和行车状态信息,参数信息包括无人驾驶车辆执行任务的优先级;根据参数信息和行车状态信息,规划无人驾驶车辆的第一行车路径,第一行车路径包括以时间顺序为序列的多个路点;在无人驾驶车辆触发预定事件的情况下,判断当前无人驾驶车辆的目标路点是否存在于至少两条第一行车路径中,目标路点为以时间顺序为序列的多个路点中的任意一个路点;在判断结果为是的情况下,根据无人驾驶车辆执行任务的优先级,规划无人驾驶车辆的第二行车路径;根据第二行车路径控制无人驾驶车辆行驶。本发明还公开了一种无信号灯路口控制无人驾驶车辆行驶的装置。
Method and device for controlling driving of unmanned vehicle at intersection without signal lamp
无信号灯路口控制无人驾驶车辆行驶的方法及装置
2020-08-07
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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