The invention relates to an automatic driving control method and device, terminal equipment and an automobile, and relates to the technical field of automatic driving. If it is determined that the current driving state of the current vehicle meets the main road switching condition, first lane line information of a main road and second lane line information of a ramp are extracted through a real-time image, and a lane switching area where the current vehicle enters the main road is constructed; determining a first passable area of the lane switching area according to the point cloud data, and determining a second passable area of the lane switching area according to the real-time image; determining an overlapping area of the first passable area and the second passable area as a target passable area of the lane switching area; and determining a lane switching track of the current vehicle according to the target passable area, and if the lane switching track is determined to be effective, controlling the current vehicle to enter the main road according to the lane switching track. The method does not need to depend on a high-precision map and a high-precision positioning system, and is low in cost and wide in application range.

    本发明涉及一种自动驾驶控制方法、装置、终端设备及汽车,涉及自动驾驶技术领域,方法包括:获取当前车辆的当前行驶状态;若确定当前车辆的当前行驶状态满足主路切换条件的情况,通过实时图像提取主路的第一车道线信息及匝道的第二车道线信息,构建当前车辆进入主路的车道切换区域;依据点云数据确定车道切换区域的第一可通行区域,依据实时图像确定车道切换区域的第二可通行区域;确定第一可通行区域与第二可通行区域的重叠区域为车道切换区域的目标可通行区域;依据目标可通行区域确定当前车辆的车道切换轨迹,若确定车道切换轨迹有效,控制当前车辆按照车道切换轨迹进入主路。本发明无需依赖高精地图和高精定位系统,成本低,适用范围广。


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    Title :

    Automatic driving control method and device, terminal equipment and automobile


    Additional title:

    自动驾驶控制方法、装置、终端设备及汽车


    Contributors:
    WANG YUEQIANG (author) / HE YONG (author) / KONG JOO-WOO (author)

    Publication date :

    2023-06-09


    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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