The invention relates to an intersection vehicle path planning method based on a virtual lane line, and the method comprises the following steps: S1, enabling a target vehicle to obtain vehicle body GPS data and navigation data, and uploading the vehicle body GPS data and the navigation data to a road side unit; S2, enabling the roadside unit to obtain intersection lane data, obtaining GPS information of a driving-in lane and a driving-out lane in combination with vehicle body GPS data and navigation data, if the driving-in lane and the driving-out lane are parallel to each other, executing the step S3, and if not, executing the step S4; S3, connecting the driving-in lane and the driving-out lane to generate a virtual auxiliary lane line, and enabling the target vehicle to run according tothe virtual auxiliary lane line; and S4, establishing a linear model according to the GPS information of the lane port, generating an arc-shaped virtual auxiliary lane line, converting the arc-shapedvirtual auxiliary lane line into a local plane coordinate system, obtaining a turning angle, and performing driving according to the virtual auxiliary lane line and the turning angle. Compared with the prior art, the method has the advantages of improving the safety and reliability of vehicles passing through the intersection, improving the road condition of the intersection and the like.
本发明涉及一种基于虚拟车道线的交叉路口车辆路径规划方法,具有包括以下步骤:步骤S1:目标车辆获取车身GPS数据和导航数据,上传至路侧单元;步骤S2:路侧单元获取交叉路口车道数据,结合车身GPS数据和导航数据,得到驶入车道和驶离车道的GPS信息,若驶入车道和驶离车道相互平行转至步骤S3,否则转至步骤S4;步骤S3:连接驶入车道和驶离车道生成虚拟辅助车道线,目标车辆根据虚拟辅助车道线行驶;步骤S4:根据车道端口的GPS信息建立线型模型,生成弧形的虚拟辅助车道线,转换到局部平面坐标系,获取转弯角度,根据虚拟辅助车道线和转弯角度行驶。与现有技术相比,本发明具有提升车辆经过交叉路口的安全性与可靠性、改善交叉路口的道路状况等优点。
Intersection vehicle path planning method and device based on virtual lane line
一种基于虚拟车道线的交叉路口车辆路径规划方法和装置
2020-09-25
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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