The embodiment of the invention provides a V2X-fused vehicle control method and device and a V2X message acquisition system, and relates to the technical field of intelligent driving. Determining intersection arrival time, green light starting time and green light ending time according to the V2X message; when the intersection arrival time is greater than the green light starting time and less than the green light ending time, determining a green wave speed by adopting a preset vehicle speed maintenance decision model; when the intersection arrival time is greater than or equal to the green light end time, determining a green wave speed by adopting a preset acceleration decision model; when the intersection arrival time is less than or equal to the green light starting time, determining a green wave speed by adopting a preset deceleration decision model; and controlling the vehicle to pass through the current intersection without stopping according to the green wave speed, thereby solving the problems urgently needing to be solved in the technical field of intelligent driving, such as how to break the limitation of the sensing performance of a vehicle-mounted sensor and how to deal with urban signal lamp intersections and similar long-tail scenes.
本申请实施例提供一种融合V2X的车辆控制方法、装置和V2X消息获取系统,涉及智能驾驶技术领域。根据V2X消息,确定到达路口时间、绿灯起始时间以及绿灯结束时间;在到达路口时间大于绿灯起始时间且小于绿灯结束时间时,采用预设车速维持决策模型确定绿波速度;在到达路口时间大于或等于绿灯结束时间时,采用预设加速决策模型确定绿波速度;在到达路口时间小于或等于绿灯起始时间时,采用预设减速决策模型确定绿波速度;根据绿波速度控制车辆不停车通过当前路口,可以解决如何打破车载传感器的感知性能的局限性以及如何应对城区信号灯路口及类似长尾场景等智能驾驶技术领域中亟待解决的问题。
V2X-fused vehicle control method and device and V2X message acquisition system
融合V2X的车辆控制方法、装置和V2X消息获取系统
2023-12-05
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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze |
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