The invention discloses an automatic driving vehicle control method and device, vehicle control equipment and a storage medium. In the driving process of a main vehicle, it is determined that the width of a drivable area of the main vehicle is smaller than a preset width, the length of the drivable area is larger than a preset length, and when there is an opposite coming vehicle on a road, the vehicle can be driven by the main vehicle; according to the road data and the vehicle data, a first back-off cost of the main vehicle and a second back-off cost of the opposite coming vehicle are calculated, the main vehicle is controlled according to the first back-off cost and the second back-off cost, and the back-off cost represents the difficulty degree of back-off of the vehicle to the opposite coming vehicle; therefore, a vehicle with relatively low back-off avoidance cost can be used as a back-off driving vehicle, the problem that an automatic driving vehicle cannot decide whether to give way to an opposite coming vehicle to cause sudden brake jamming is solved, and whether to give way to the opposite coming vehicle or not is decided after the avoidance cost is calculated according to road data and vehicle data; and meeting of the automatic driving vehicle and the social vehicle on a long and narrow road is ensured.

    本发明公开了一种自动驾驶车辆控制方法、装置、车辆控制设备和存储介质,本发明实施例在主车行驶的过程中确定主车的可行驶区域的宽度小于预设宽度,且可行驶区域的长度大于预设长度,以及道路中存在对向来车时,根据道路数据和车辆数据计算主车的第一后退让行代价和对向来车的第二后退让行代价,根据第一后退让行代价和第二后退让行代价控制主车,后退让行代价表示车辆后退让行对向来车的困难程度,从而可以将后退让行代价较小的车辆作为后退让行车,解决了自动驾驶车辆无法决策是否让行对向来车导致急刹卡死的问题,实现了根据道路数据和车辆数据来计算让行代价后决策是否让行对向来车,保证了自动驾驶车辆与社会车辆在狭长道路上会车。


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    Title :

    Automatic driving vehicle control method and device, vehicle control equipment and storage medium


    Additional title:

    自动驾驶车辆控制方法、装置、车辆控制设备和存储介质


    Contributors:
    LU TIANMING (author) / LIN TENGBO (author) / HAN XU (author)

    Publication date :

    2022-12-06


    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 / B60Q ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL , Anordnung von Signal- oder Beleuchtungsvorrichtungen, deren Einbau oder Halterung oder deren Schaltkreise bei Fahrzeugen allgemein



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