The invention relates to an automatic driving method and device and a computer readable storage medium, and the method comprises the steps: controlling a vehicle to run on a rightmost lane of a main road when navigation prompt information is received; the navigation prompt information is used for prompting that the vehicle is about to merge into the ramp; when the distance between the vehicle and the new lane point is smaller than or equal to a first preset threshold value, acquiring right side lane line information of the ramp, and generating left side lane line information of the ramp according to the right side lane line information and a preset lane width, according to the right side lane line information and the left side lane line information, carrying out driving track planning to obtain a planned track; wherein the new lane point is the joint of the main road and the ramp; the vehicle is controlled to run according to the planned track, so that the course angle of the vehicle is flush with the solid line on the right side of the ramp. By means of the method and device, the technical problem that the vehicle collides with the rear vehicle due to the fact that the lane changing action is not initiated in time when the automatic driving vehicle merges into the ramp from the main road can be solved.

    本申请涉及一种自动驾驶方法及其装置、计算机可读存储介质,包括:当接收到导航提示信息时,控制车辆行驶在主路的最右车道;所述导航提示信息用于提示车辆即将汇入匝道;当车辆与车道新生点之间的距离小于等于第一预设阈值时,获取所述匝道的右侧车道线信息,根据所述右侧车道线信息以及预设车道宽度生成所述匝道的左侧车道线信息,并根据所述右侧车道线信息和所述左侧车道线信息进行行驶轨迹规划得到规划轨迹;其中所述车道新生点为所述主路与所述匝道的连接处;控制车辆按所述规划轨迹行驶,使得车辆航向角与所述匝道右侧实线平齐。通过本申请,能够解决自动驾驶车辆从主路汇入匝道因变道动作发起不及时易导致车辆与后车发生碰撞的技术问题。


    Access

    Download


    Export, share and cite



    Title :

    Automatic driving method and device and computer readable storage medium


    Additional title:

    一种自动驾驶方法及其装置、计算机可读存储介质


    Contributors:
    YUAN YUZHANG (author) / SHANG JUNPING (author) / ZHANG FEN (author) / WANG SHI (author) / WANG LIGUO (author)

    Publication date :

    2023-12-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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




    Fault processing method for automatic driving, driving device and computer readable storage medium

    MEI YUANYUAN / YANG DONGSHENG / LIU KE et al. | European Patent Office | 2024

    Free access

    Automatic driving method, related equipment and computer readable storage medium

    LIU JIQIU / WU YONG / LIU JIANQIN | European Patent Office | 2021

    Free access