The embodiment of the invention provides an automobile running track determination method and device, an automobile and a storage medium. Collision time is determined according to the current position of the automobile, the position of an obstacle, the length of the automobile, the current speed of the automobile and the moving speed of the obstacle; when the collision time is smaller than the collision time threshold value, a prediction area is determined according to the collision time, the current speed of the vehicle and the current driving lane; according to the risk loss parameter and the standard risk index of the prediction area, determining a prediction risk value; according to the predicted risk value, the risk threshold value, the current speed of the vehicle and the speed threshold value, the running track of the vehicle is determined; the moving track comprises the adjusted speed and steering angle. According to the method, the risk of automatic driving is jointly predicted based on the total traffic elements of the signalized intersection and the risk index sensed by the driver in the standard driving process, and the running speed and the steering angle of the vehicle are adjusted according to the predicted risk value, so that the vehicle is guided to pass through the signalized intersection more safely, efficiently and comfortably.
本发明实施例提出一种汽车运行轨迹确定方法、装置、汽车和存储介质,根据车辆当前位置、障碍物位置、车辆长度、车辆当前速度和障碍物移动速度,确定碰撞时间;当碰撞时间小于碰撞时间阈值时,根据碰撞时间、车辆当前速度和当前行驶车道,确定预测区域;根据预测区域的风险损失参数和标准风险指标,确定预测风险值;根据预测风险值、风险阈值、车辆当前速度和速度阈值,确定汽车的运行轨迹;运行轨迹包括调整后的速度和转向角。本发明基于信号交叉口的全量交通要素和驾驶员在标准驾驶过程中感知风险指标共同预测自动驾驶的风险,并根据预测风险值调整车辆运行速度和转向角,从而引导车辆更安全、高效且舒适的通过信号交叉口。
Automobile running track determination method and device, automobile and storage medium
汽车运行轨迹确定方法、装置、汽车和存储介质
2023-09-29
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 |
European Patent Office | 2024
|Automobile starting method and device, automobile system, automobile and storage medium
European Patent Office | 2022
|Automobile control method and device, storage medium and automobile
European Patent Office | 2020
|