An intelligent driving method and device, a storage medium and a computer program can be used for advanced auxiliary driving and automatic driving. The method comprises the following steps: obtaining environment information around a vehicle at the current moment and state information of the vehicle at the current moment; determining a control point at the current moment according to the environment information and the state information; according to the control point, the control track at the historical moment and the state information, generating a control track at the current moment, the control track representing a track used for guiding the vehicle to run. Therefore, the influence of the environment information on the characteristics is concentrated to the control point, the control track at the current moment is generated through the control point, the control requirements in different scenes are met, the environment information does not need to be processed in advance to generate a plurality of track lines, the requirement for the computing power is greatly reduced, switching among different characteristics is realized according to the priorities of a plurality of information sources and the corresponding weight information, smooth transition among multiple characteristics or scenes is ensured, and the performance of the advanced driving assistance system is improved.

    一种智能驾驶方法、装置、存储介质及计算机程序,可用于高级辅助驾驶和自动驾驶,该方法包括:获取当前时刻自车周围的环境信息及当前时刻自车的状态信息;根据环境信息及状态信息,确定当前时刻的控制点;根据控制点、历史时刻的控制轨迹及状态信息,生成当前时刻的控制轨迹,控制轨迹表示用于导引自车行驶的轨迹。这样,将环境信息对特性的影响集中到控制点,通过控制点生成当前时刻的控制轨迹,满足不同场景下的控制要求,且无需预先对环境信息进行处理生成多个条轨迹线,大大降低了对算力的要求,根据多个信息源的优先级及对应的权重信息,实现不同特性之间的切换,保证了多个特性或场景间的平滑过渡,提升了高级驾驶辅助系统的性能。


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    Title :

    Intelligent driving method and device, storage medium and computer program


    Additional title:

    一种智能驾驶方法、装置、存储介质及计算机程序


    Contributors:
    WANG XU (author) / WANG XIAOQI (author)

    Publication date :

    2021-07-23


    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



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