The invention discloses an automatic driving control method for driving a vehicle out of a roundabout and related equipment. The method comprises the following steps: acquiring a current driving characteristic variable of a target vehicle; a shielding obstacle motion characteristic variable set in the first direction and a transverse obstacle motion characteristic variable set in the second direction are obtained, the first direction is not intersected with the driving direction of the target vehicle, and the second direction is intersected with the driving direction of the target vehicle; according to the shielding obstacle motion feature variable set and the traversing obstacle motion feature variable set, game analysis operation is carried out to acquire a key obstacle feature variable set, the game analysis operation is to screen feature variables which do not affect the crossing barrier in the crossing barrier feature variable set according to the shielding barrier motion feature variable set so as to obtain a key barrier feature variable set; and performing collision analysis according to the key obstacle feature variable set and the current driving feature variable to determine a roundabout driving-out strategy of the target vehicle.
本申请公开了一种车辆驶出环岛的自动驾驶控制方法及相关设备。该方法包括:获取目标车辆的当前行驶特征变量;获取第一方向上的遮挡障碍物运动特征变量集合和第二方向上的横穿障碍物运动特征变量集合,其中,第一方向与目标车辆的行驶方向不交叉,第二方向与目标车辆的行驶方向存在交叉;根据遮挡障碍物运动特征变量集合和横穿障碍物运动特征变量集合进行博弈分析操作以获取关键障碍物特征变量集合,其中,博弈分析操作是根据遮挡障碍物运动特征变量集合对横穿障碍物特征变量集合中的不受影响横穿障碍物的特征变量进行筛选以获取关键障碍物特征变量集合;根据关键障碍物特征变量集合和当前行驶特征变量进行碰撞分析以确定目标车辆的环岛驶出策略。
Automatic driving control method for vehicle driving out of roundabout and related equipment
一种车辆驶出环岛的自动驾驶控制方法及相关设备
2023-07-07
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 |
VEHICLE DRIVING CONTROL SYSTEM AND CONTROL METHOD THEREOF AT ROUNDABOUT
European Patent Office | 2022
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