The invention relates to a method, device and equipment for a vehicle to pass through an intersection, a storage medium and the vehicle. The projection positions of the current position of the vehicle on the lane lines on the two sides of the current lane and the initial positions of the lane lines on the two sides of the exit are determined, so that basic data are provided for determining the trajectory planning point; according to the projection positions of the current position of the vehicle on the lane lines on the two sides of the current lane and the starting positions of the lane lines on the two sides of the opposite exit, a trajectory planning end point is determined, and basic data are provided for the driving trajectory of the vehicle; the terminal point is planned according to the current position of the vehicle and the trajectory, the driving trajectory of the vehicle in the current lane is planned, the vehicle can be controlled to pass through the intersection according to the planned driving trajectory, the problem that the lane keeps auxiliary exit and cannot drive to the target lane of the opposite intersection when the vehicle drives into the intersection is avoided, and the driving safety of the vehicle is improved.
本公开涉及一种车辆通过路口的方法、装置、设备、存储介质及车辆。本公开通过确定车辆当前位置在当前车道两侧车道线上的投影位置、对向出口两侧车道线的起始位置,为确定轨迹规划点提供了基础数据;根据车辆当前位置在当前车道两侧车道线上的投影位置与所述对向出口两侧车道线的起始位置,确定轨迹规划终点,为车辆的行驶轨迹提供了基础数据;根据车辆当前位置、轨迹规划终点,规划车辆在当前车道的行驶轨迹,按照规划的行驶轨迹可以控制车辆通过路口,避免车辆驶入路口时,车道保持辅助退出,无法行驶到对向路口目标车道的问题,提高了车辆行驶的安全性。
Method, device and equipment for enabling vehicle to pass through intersection, storage medium and vehicle
车辆通过路口的方法、装置、设备、存储介质及车辆
2024-01-05
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 |
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