The invention discloses a method for automatically driving to pass through an intersection and a storage medium, and the method comprises the following steps: S1, reconstructing a road environment according to the road environment information of the intersection, obtaining the navigation information of a vehicle, and predicting a drivable region; s2, executing a preset lane changing decision according to the navigation information of the vehicle; s3, executing a preset longitudinal decision according to the road environment; s4, planning a driving track fitting mode of the vehicle; and S5, executing a preset trajectory decision according to the road environment and the travelable area. Based on vision, a radar sensor and a navigation map, road environment information of an intersection is collected, the road environment of the intersection is reconstructed, and meanwhile, a navigation path provided by the navigation map and a lane where a vehicle is located are combined to execute a corresponding lane changing decision, a longitudinal decision and a driving track decision of the vehicle. The road environment of the intersection can be accurately obtained, and the intersection can be stably and safely passed.

    本发明公开了一种自动驾驶通过交叉路口的方法及存储介质,包括以下步骤,S1、根据交叉路口的道路环境信息重构道路环境,获取本车的导航信息,并预测可行驶区域;S2、根据本车导航信息执行预设的换道决策;S3、根据道路环境执行预设的纵向决策;S4、规划本车的行驶轨迹拟合方式;S5、根据道路环境及可行驶区域执行预设的轨迹决策。本发明基于视觉、雷达传感器、以及导航地图,通过采集交叉路口的道路环境信息,重构交叉路口的道路环境,同时,结合导航地图提供的导航路径和本车所在车道,执行相应的换道决策、纵向决策以及本车的行驶轨迹决策,能够准确的获取交叉路口的道路环境,并稳定安全的通过交叉路口。


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    Title :

    Method for automatically driving to pass through intersection and storage medium


    Additional title:

    一种自动驾驶通过交叉路口的方法及存储介质


    Contributors:
    TAN XIUQUAN (author) / WANG QING (author) / CHEN CHANGYOU (author)

    Publication date :

    2022-06-03


    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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