The embodiment of the invention discloses a traffic signal state speculation method, a vehicle control method, a vehicle and a storage medium. The speculation method includes the steps that sensor data is obtained from at least one sensor observing an environment of a vehicle, wherein the vehicle is configured to operate in an autonomous mode, the environment includes traffic signals unconfirmed by the vehicle, the sensor data indicate the state of at least one other vehicle in the environment; the states of other vehicles in a lane with the same rule as the current lane in the environment aredetermined based on the sensor data by utilizing a sensing system; and the state of the unconfirmed traffic signals is speculated by a speculation system based on the states of the other vehicles inthe lane with the same rule as the current lane. The method can more accurately speculate the state of a traffic signal lamp and improve the safety of automatic vehicle driving.

    本发明实施例公开了一种交通信号状态推测方法、车辆控制方法、车辆及存储介质。该推测方法包括:从观察车辆的环境的至少一个传感器获得传感器数据,所述车辆被配置为以自主模式操作,所述环境包括所述车辆未确认的交通信号,所述传感器数据指示环境中至少一个其他车辆的状态;利用感知系统基于传感器数据确定所述环境中与当前车道同规则的车道的其他车辆的状态;利用推测系统基于所述同规则的车道的其他车辆的状态,推测所述未确认的交通信号的状态。该方法能够更准确地推测交通信号灯状态,提高自动驾驶车辆的安全性。


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    Title :

    Traffic signal state speculation method, vehicle control method, vehicle and storage medium


    Additional title:

    交通信号状态推测方法、车辆控制方法、车辆及存储介质


    Contributors:
    YAN WENLONG (author)

    Publication date :

    2020-12-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / G01K MEASURING TEMPERATURE , Messen der Temperatur / G01D MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE , Anzeigen oder Aufzeichnen in Verbindung mit Messen allgemein / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G01F Messen des Volumens, des Durchflussvolumens, des Massendurchflusses oder des Füllstandes , MEASURING VOLUME, VOLUME FLOW, MASS FLOW, OR LIQUID LEVEL



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