The invention discloses a vehicle meeting control method and device, vehicle control equipment and a storage medium, and the method comprises the steps: determining whether a driving road condition of a main vehicle is a preset driving road condition or not according to environment data sensed by the main vehicle when the main vehicle runs; the preset driving road condition is that the width of a driving area between a first obstacle on a lane where a vehicle is located and a second obstacle on an opposite lane is smaller than a preset width; according to the environment data, the first state data of the main vehicle and the second state data of the reverse vehicle, calculating the yielding time difference of the main vehicle yielding the reverse vehicle as a first yielding cost, calculating the yielding time difference of the reverse vehicle yielding the main vehicle as a second yielding cost, and controlling the meeting of the main vehicles according to the first yielding cost and the second yielding cost. The main vehicle calculates the first way-giving cost and the second way-giving cost and decides whether to give way to the reverse vehicle or not, so that the main vehicle is prevented from being stuck during meeting, and the main vehicle and the reverse vehicle can meet safely.

    本发明公开了一种会车控制方法、装置、车辆控制设备和存储介质,在主车行驶时,根据主车所感知的环境数据确定主车所处的行驶路况是否为预设行驶路况,预设行驶路况为主车所在车道上的第一障碍物与位于对向车道上的第二障碍物之间的可行驶区域的宽度小于预设宽度,在检测到有逆向车向可行驶区域行驶时,根据环境数据、主车的第一状态数据、逆向车的第二状态数据计算主车让行逆向车的让行时间差作为第一让行代价,计算逆向车让行主车的让行时间差作为第二让行代价,根据第一让行代价和第二让行代价控制主车会车,实现了主车计算第一让行代价和第二让行代价并决策是否让行逆向车,避免主车在会车时卡死,使得主车和逆向车能够安全会车。


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    Title :

    Vehicle meeting control method and device, vehicle control equipment and storage medium


    Additional title:

    会车控制方法、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 :

    2023-01-13


    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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