The invention provides an automatic driving method and device based on an obstacle intention and an automatic driving vehicle. The method comprises the following steps: acquiring local map data corresponding to a current position based on the current position of the vehicle; determining a target obstacle according to the current position and the position relationship between the target driving area of the vehicle and each obstacle; lane screening is carried out on the local map data based on the current position and the position of the target obstacle, and a target lane of the obstacle is determined; based on the communication relationship between the target lane and other lanes, establishing a lane driving path sequence of the target obstacle; predicting an intention track of the target obstacle based on the lane driving path sequence and the collected feature data of the target obstacle; and performing path planning updating on the vehicle based on the association relationship between the intention trajectory and the target driving area. Through the method, the predicted trajectory is more in line with a real complex scene, the problem of practical application of automatic driving in the complex scene is solved, and the adaptability of automatic driving to the environment is improved.

    本发明提供了基于障碍物意图的自动驾驶方法、装置及自动驾驶车辆,该方法包括:基于车辆的当前位置获取当前位置对应的局部地图数据;根据当前位置及车辆的目标行驶区域与各障碍物的位置关系,确定目标障碍物;基于当前位置及目标障碍物的位置在局部地图数据上进行车道筛选,确定障碍物的目标车道;基于目标车道与其他车道的连通关系,建立目标障碍物的车道行驶路径序列;基于车道行驶路径序列和采集到目标障碍物的特征数据,预测目标障碍物的意图轨迹;基于意图轨迹和目标行驶区域的关联关系,对车辆进行路径规划更新。通过该方法使得预测轨迹更加符合真实复杂场景,解决了自动驾驶在复杂场景中实际应用的问题,提高了自动驾驶对环境的适应性。


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    Title :

    Automatic driving method and device based on obstacle intention and automatic driving vehicle


    Additional title:

    基于障碍物意图的自动驾驶方法、装置及自动驾驶车辆


    Contributors:
    LIU XIYA (author) / AZAMI NAKAITSU (author) / LUO HENGRONG (author)

    Publication date :

    2022-09-30


    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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