The invention discloses an automatic driving vehicle meeting control method and device, vehicle control equipment and a medium, and the method comprises the steps: respectively generating a first prediction track and a second prediction track of a target vehicle from an intersection to a main vehicle lane and an opposite lane when detecting that the main vehicle lane is far away from one side of the opposite lane and the target vehicle exists at the intersection in front of the main vehicle, calculating a first similarity between the driving track of the target vehicle and the first predicted track, calculating a second similarity between the driving track of the target vehicle and the second predicted track, determining a driving intention of the target vehicle according to the first similarity and the second similarity, and controlling the main vehicle according to the driving intention. The problem that the automatic driving vehicle cannot predict the driving intention of the target vehicle driving out of the intersection, so that the collision risk exists in emergency braking of the automatic driving vehicle is solved, the automatic driving vehicle decelerates and avoids in advance when predicting the driving intention of the target vehicle, collision caused by emergency braking is avoided, and the driving safety of the automatic driving vehicle is improved. And the meeting safety of the automatic driving vehicle at the intersection is improved.
本发明公开了一种自动驾驶车辆会车控制方法、装置、车辆控制设备和介质,包括:在检测到主车车道远离对向车道一侧、主车前方的路口有目标车辆时,分别生成目标车辆从路口行驶至主车车道和对向车道的第一预测轨迹和第二预测轨迹,计算目标车辆的行驶轨迹与第一预测轨迹的第一相似度,计算目标车辆的行驶轨迹与第二预测轨迹的第二相似度,根据第一相似度和第二相似度确定目标车辆的行驶意图,根据行驶意图控制主车,解决了自动驾驶车辆无法预测从路口行驶出的目标车辆的行驶意图,导致自动驾驶车辆急刹存在碰撞风险的问题,使得自动驾驶车辆在预测到目标车辆的行驶意图时提前减速避让,避免急刹发生碰撞,提高了自动驾驶车辆在路口会车的安全性。
Automatic driving vehicle meeting control method and device, vehicle control equipment and medium
自动驾驶车辆会车控制方法、装置、车辆控制设备和介质
2023-01-10
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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