The invention discloses a narrow road meeting method, device and equipment and a storage medium, and the method comprises the steps: predicting the track of a first dynamic obstacle based on the current state information of the first dynamic obstacle, enabling the first dynamic obstacle to be located in front of a vehicle and in a lane where the vehicle is located, and enabling the first dynamic obstacle to be located in front of the vehicle based on the track of the first dynamic obstacle and the current state information of the vehicle; the method comprises the steps of planning a track of a vehicle, enabling the vehicle to avoid a first dynamic obstacle in time and space, predicting a track of an opposite vehicle based on current state information of the opposite vehicle, determining passing priorities of the vehicle and the opposite vehicle based on the track of the vehicle and the track of the opposite vehicle, and determining a vehicle meeting strategy based on the passing priorities of the vehicle and the opposite vehicle. The vehicle meeting efficiency in a narrow road vehicle meeting scene with dynamic obstacles is improved, and traffic jam or collision accidents are avoided.
本发明公开了一种窄路会车方法、装置、设备及存储介质,基于第一动态障碍物当前的状态信息,预测第一动态障碍物的轨迹,第一动态障碍物处于自车前方,且位于自车所在的车道内,基于第一动态障碍物的轨迹和自车当前的状态信息,规划自车的轨迹,使得自车在时空上避让第一动态障碍物,基于对向车当前的状态信息预测对向车的轨迹,基于自车的轨迹和对向车的轨迹确定自车和对向车的通行优先级,基于自车和对向车的通行优先级确定会车策略,提高存在动态障碍物的窄路会车场景下的会车效率,避免出现交通堵塞或碰撞事故。
Narrow road meeting method, device and equipment and storage medium
一种窄路会车方法、装置、设备及存储介质
2022-12-09
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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