The invention provides a method and device for controlling a vehicle to turn left in automatic driving, electronic equipment, a readable storage medium and an automatic driving vehicle, and relates to the technical field of artificial intelligence such as automatic driving, intelligent transportation, deep learning and computer vision. The method for controlling the vehicle to turn left in automatic driving comprises the following steps: determining an avoidance position according to a left-turn reference line of the vehicle and a target lane line; planning an avoiding path according to the avoiding position, and controlling the vehicle to avoid; determining a target exit lane under the condition of determining that the current vehicle information of the opposite lane meets the left-turn passing condition; and planning a left-turn path according to the target exit lane, and controlling the vehicle to turn left. The traffic efficiency and the traffic flexibility when the vehicle is controlled to turn left in automatic driving can be improved, and the driving safety of the vehicle is further improved.

    本公开提供一种自动驾驶中控制车辆左转的方法、装置、电子设备、可读存储介质与自动驾驶车辆,涉及自动驾驶、智能交通、深度学习、计算机视觉等人工智能技术领域。其中,自动驾驶中控制车辆左转的方法包括:根据车辆的左转参考线与目标车道线,确定避让位置;根据所述避让位置规划避让路径,控制所述车辆进行避让;在确定对向车道当前的车辆信息满足左转通行条件的情况下,确定目标退出车道;根据所述目标退出车道规划左转路径,控制所述车辆进行左转。本公开能够提升自动驾驶中控制车辆左转时的通行效率与通行灵活性,并进一步提升车辆的行驶安全性。


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    Title :

    Method and device for controlling vehicle to turn left in automatic driving and automatic driving vehicle


    Additional title:

    自动驾驶中控制车辆左转的方法、装置与自动驾驶车辆


    Contributors:
    ZHANG KUAN (author)

    Publication date :

    2023-03-10


    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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