The invention discloses a mode switching method, device and equipment for an automatic driving sanitation vehicle and a medium. The method comprises the following steps: acquiring a current position and a non-cleaning area of the automatic driving sanitation vehicle from a semantic map in real time through an automatic driving system in the automatic driving sanitation vehicle; whether the to-be-driven distance between the current position and the non-sweeping area is smaller than or equal to a preset switching threshold value or not is judged; if yes, continuously acquiring surrounding environment information and green light countdown; according to the surrounding environment information, the current position and the green light countdown, whether the automatic driving sanitation vehicle meets a mode switching condition or not is judged; if the condition is met, the driving mode of the automatic driving sanitation vehicle is switched from the low-speed sweeping mode to the transition mode until the automatic driving sanitation vehicle passes through the non-sweeping area, so that the probability that the automatic driving sanitation vehicle stops due to the change of traffic lights when passing through the intersection, and the passing probability of other social vehicles and traffic participants is influenced is reduced; and the capability of automatically driving the sanitation vehicle to pass through the intersection is obviously improved.
本发明公开了一种自动驾驶环卫车的模式切换方法、装置、设备和介质。方法包括通过自动驾驶环卫车内的自动驾驶系统从语义地图实时获取自动驾驶环卫车的当前位置和非清扫区域;判断当前位置与非清扫区域之间的待行驶距离是否小于或等于预设切换阈值;若是,则持续获取周边环境信息和绿灯倒计时;根据周边环境信息、当前位置和绿灯倒计时,判断自动驾驶环卫车是否满足模式切换条件;若满足,则将自动驾驶环卫车的行驶模式从低速清扫模式切换至转场模式,直至自动驾驶环卫车通过非清扫区域,从而降低自动驾驶环卫车在通过路口时由于红绿灯变更出现停止,影响其他社会车辆和交通参与者的通行几率,显著提升自动驾驶环卫车通过路口的能力。
Mode switching method, device and equipment for automatic driving sanitation vehicle and medium
一种自动驾驶环卫车的模式切换方法、装置、设备和介质
2023-06-23
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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