The embodiment of the invention discloses a safe passing method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a target obstacle in a preset distance range according to a vehicle-mounted sensor; based on the target obstacle, acquiring a blind area polygon of a sensing blind area; obtaining a relation lane associated with the current lane of the vehicle according to the high-precision map; acquiring collision intersection points of the relation lane and the blind area polygon, and determining the collision intersection point closest to the current lane of the vehicle as a target intersection point; according to the target intersection point, the expected speed of the vehicle is determined, so that the collision risk between the vehicle and an obstacle located in the sensing blind area is reduced. The driving safety of the automatic driving vehicle in the driving environment with the blind area is improved, and the production cost is reduced.

    本公开实施例公开了一种安全通行方法、装置、电子设备和存储介质,该方法包括:根据车载传感器,获取预设距离范围内的目标障碍物;基于所述目标障碍物,获取感知盲区的盲区多边形;根据高精地图,得到与本车当前车道关联的关系车道;获取所述关系车道与所述盲区多边形的碰撞交点,将与所述本车当前车道距离最近的碰撞交点确定为目标交点;根据所述目标交点,确定所述本车的期望速度,以降低所述本车与处在所述感知盲区中的障碍物之间的碰撞风险。本公开提高了在有盲区的行驶环境中自动驾驶车辆的行驶安全性,降低了生产成本。


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    Title :

    Safe passing method and device, electronic equipment and storage medium


    Additional title:

    安全通行方法、装置、电子设备和存储介质


    Contributors:

    Publication date :

    2022-05-27


    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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