The invention discloses a narrow road planning method and device for an automatic driving vehicle. The method comprises the following steps: determining a working mode of a target vehicle at a previous moment; under the condition that the working mode at the last moment is a non-narrow road, generating a low-precision track, and performing automatic driving based on the low-precision track; under the condition that the collision risk exists in the low-precision track, the working mode of the target vehicle at the current moment is switched to narrow road detection; under the condition that the working mode at the last moment is narrow road detection, generating a low-precision track and a high-precision track, and performing automatic driving based on the low-precision track; under the condition that the collision risk does not exist in the low-precision track, the working mode of the target vehicle at the current moment is switched to a non-narrow road mode; under the condition that the collision risk does not exist in the high-precision track, the working mode of the target vehicle at the current moment is switched to narrow road passing; and generating a low-precision track and a high-precision track under the condition that the working mode at the last moment is narrow road passing, and performing automatic driving based on the high-precision track.
本申请公开了一种自动驾驶车辆窄路规划方法和装置。该方法包括:确定目标车辆在上一时刻的工作模式;在上一时刻的工作模式为非窄路的情况下,生成低精度轨迹,基于低精度轨迹进行自动驾驶;在低精度轨迹存在碰撞风险的情况下,目标车辆在当前时刻的工作模式切换为窄路检测;在上一时刻工作模式为窄路检测的情况下,生成低精度轨迹和高精度轨迹,基于低精度轨迹进行自动驾驶;在低精度轨迹不存在碰撞风险的情况下,目标车辆在当前时刻的工作模式切换为非窄路;在高精度轨迹不存在碰撞风险的情况下,目标车辆在当前时刻的工作模式切换为窄路通行;在上一时刻工作模式为窄路通行的情况下,生成低精度轨迹和高精度轨迹,基于高精度轨迹进行自动驾驶。
Narrow road planning method and device for automatic driving vehicle
一种自动驾驶车辆窄路规划方法和装置
2023-10-10
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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