The invention discloses an automatic driving decision-making method and an automatic driving decision-making device for borrowing and bypassing a reverse lane, and relates to the technical field of automatic driving. The method comprises the following steps: when a vehicle is in a cruise scene, determining whether the vehicle meets a tailgating and detouring condition or not based on first state information, first reference line information, first map information and first obstacle information of the vehicle; when the own vehicle meets the tailgating detour condition, whether the own vehicle meets a reverse tailgating detour condition or not is determined based on the first state information, the first map information and the first obstacle information of the own vehicle; when the vehicle meets the reverse tailgating detouring condition, whether the vehicle meets the leftward reverse tailgating condition or not is determined based on the first state information, the first map information and the first obstacle information of the vehicle; and when the vehicle meets the left reverse lane borrowing condition, the vehicle is controlled to bypass the left reverse lane by borrowing the left reverse lane. According to the embodiment, the vehicle can be controlled to bypass to the reverse lane, the driving safety of the vehicle is guaranteed, and the driving efficiency of the vehicle is improved.

    本发明公开了一种向逆向车道借道绕行的自动驾驶决策方法和装置,涉及自动驾驶技术领域。该方法包括:在自车处于巡航场景下,基于自车的第一状态信息、第一参考线信息、第一地图信息和第一障碍物信息,确定自车是否满足借道绕行条件;当自车满足借道绕行条件时,基于自车的第一状态信息、第一地图信息和第一障碍物信息,确定自车是否满足逆向借道绕行条件;当自车满足逆向借道绕行条件时,基于自车的第一状态信息、第一地图信息和第一障碍物信息,确定自车是否满足向左逆向借道条件;当自车满足向左逆向借道条件时,控制自车向左侧逆向车道借道绕行。该实施方式能够控制自车向逆向车道借道绕行,保证自车的行驶安全,并提高其行驶效率。


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    Title :

    Automatic driving decision-making method and device for borrowing and bypassing to reverse lane


    Additional title:

    一种向逆向车道借道绕行的自动驾驶决策方法和装置


    Contributors:
    LIU-WANG ZHIYI (author) / LYU QIANG (author) / MIAO QIANKUN (author)

    Publication date :

    2024-03-01


    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



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