The invention belongs to the field of automatic driving, and particularly relates to a right ownership decision-making method, system and equipment for automatic driving. The method comprises the steps: determining a first potential conflict vehicle and a potential conflict region which are in conflict with a target vehicle; calculating whether collision in the potential conflict area can be avoided or not; if yes, judging whether the target vehicle passes through the potential conflict area or not; if not, judging whether the target vehicle makes way or not; if yes, calculating whether the relative distance between the target vehicle and the first potential conflict vehicle at the current moment is smaller than the safety distance between the two vehicles at the current speed or not; if yes, sending a deceleration instruction to an execution mechanism of the target vehicle; and if not, sending a vehicle following instruction to an execution mechanism of the target vehicle. From the perspective of the right of way, the possibility of potential conflicts is detected, and the conflicts are eliminated based on rules, so that the automatic driving automobile is guided to select proper behaviors to avoid collision accidents.

    本发明属于自动驾驶领域,具体涉及了一种自动驾驶路权归属决策方法、系统及设备,本发明通过确定与目标车辆发生冲突的第一潜在冲突车辆和潜在冲突区域;并计算是否可以避免在潜在冲突区域内碰撞;若可以避免,则判断目标车辆是否通过潜在冲突区域;若未通过潜在冲突区域,则判断目标车辆是否让路;若让路,则计算当前时刻目标车辆与第一潜在冲突车辆之间的相对距离是否小于当前速度下两车的安全距离;若小于,则向目标车辆的执行机构发送减速指令;若大于,则向目标车辆的执行机构发送跟车指令。本发明从路权的角度出发,通过检测潜在冲突的可能性,并基于规则消除此类冲突,从而指导自动驾驶汽车选择合适的行为以避免碰撞事故。


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    Title :

    Road right ownership decision-making method, system and equipment for automatic driving


    Additional title:

    一种自动驾驶路权归属决策方法、系统及设备


    Contributors:
    WANG XIAO (author) / ZHAO CAN (author) / YANG LINYAO (author) / LI ZHIHENG (author) / LI LI (author) / WANG FEIYUE (author)

    Publication date :

    2021-08-27


    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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