The invention relates to a vehicle driving control method, device and equipment, a medium, a chip and a vehicle in the field of automatic driving, and the method comprises the steps: determining the predicted motion characteristics of a to-be-evaded object in the perception view of a vehicle, the predicted motion features comprise the position relation between the current position of the to-be-evaded object and the driving lane, whether the to-be-evaded object has a predicted driving path intersection with the vehicle or not, and the motion features of the to-be-evaded object when the predicted driving path intersection exists. The vehicle decelerates to at least one of the predicted positions of the to-be-evaded object at the predicted driving path intersection point at the maximum deceleration; according to the predicted motion features and preset safety conditions, determining the safety level of the to-be-evaded object relative to the vehicle; and determining the target deceleration of the vehicle according to the attribute characteristics of the to-be-evaded object and the corresponding safety level, and controlling the vehicle to run according to the target deceleration. And on the premise of safe driving, the conditions of emergency braking and the like of the vehicle are avoided, and the obstacle avoidance flexibility and the driving stability of the vehicle are improved.
本公开涉及自动驾驶领域中一种车辆行驶控制方法、装置、设备、介质、芯片及车辆,包括:确定本车感知视野内的待规避对象的预测运动特征,预测运动特征包括:待规避对象当前的位置与行驶车道的位置关系、待规避对象是否与本车存在预测行驶路径交汇点、以及在存在预测行驶路径交汇点的情况下,本车以最大减速度减速行驶至预测行驶路径交汇点时刻待规避对象的预测位置中的至少一者;根据预测运动特征以及预设的安全条件,确定待规避对象相对本车的安全等级;根据待规避对象的属性特征以及对应的安全等级,确定本车的目标减速度,并根据目标减速度控制本车行驶。在安全行驶的前提下,避免车辆紧急刹车等情况,提高了车辆避障的灵活性和行驶平稳性。
Vehicle driving control method, device, equipment, medium, chip and vehicle
车辆行驶控制方法、装置、设备、介质、芯片及车辆
2022-07-22
Patent
Electronic Resource
Chinese
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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