The invention relates to an unmanned vehicle control method and device used in an intersection scene and an unmanned vehicle. The method comprises the following steps: planning a path of an unmanned vehicle from a starting point to a target point in a high-definition map, and pre-loading the high-definition map of a specified traffic intersection; when the unmanned vehicle is in an intersection connection area of a traffic intersection in the path, obtaining vector information corresponding to a plurality of roads associated with the intersection connection area, determining a spatial position relationship among the plurality of roads according to the vector information, and determining a road through which the path passes; and generating a behavior decision of the unmanned vehicle passing through the traffic intersection, and executing automatic driving according to the behavior decision. According to the scheme provided by the invention, the defect that the scheme in the related technology occupies a large number of computing resources is avoided, and the implementation is convenient.

    本申请涉及一种用于路口场景下的无人车控制方法、装置及无人车。该方法包括:规划出无人车在高清地图中自起始点至目标点的路径,并预先加载指定交通路口的高清地图;当所述无人车处于所述路径中的交通路口的路口连接区时,得到与所述路口连接区相关联的多条道路对应的向量信息,根据所述向量信息确定出多条道路之间的空间位置关系,以及确定出所述路径所经过的道路;生成所述无人车通过所述交通路口的行为决策,根据所述行为决策执行自动驾驶。本申请提供的方案,避免了相关技术中的方案占用大量的计算资源的缺陷,且便于实施。


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    Title :

    Unmanned vehicle control method and device used in traffic intersection scene and unmanned vehicle


    Additional title:

    用于交通路口场景下的无人车的控制方法、装置及无人车


    Contributors:
    ZOU LIBING (author) / ZHANG HAIQIANG (author) / LI CHENGJUN (author)

    Publication date :

    2022-03-01


    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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