The invention discloses a traffic control method and device in an automatic driving environment, equipment and a medium. The method comprises the steps of obtaining the number of vehicles in a first control area of to-be-adjusted vehicles in an intersection detection area and vehicle driving data of each to-be-adjusted vehicle; under the condition that the number of vehicles in the first control area is greater than a vehicle number threshold value, determining a control information tree of a plurality of candidate intersection phases of the intersection detection area in the prediction time period based on vehicle driving data of to-be-adjusted vehicles in the first control area corresponding to a plurality of intersections of the intersection detection area; generating a signal control scheme for signal equipment in the intersection detection area in the prediction time period based on the control information tree, and determining driving track data of the to-be-adjusted vehicle in the prediction time period based on the signal control scheme; and controlling signal equipment based on the signal control scheme, and sending the driving track data to the to-be-adjusted vehicle. According to the embodiment of the invention, the signal control scheme and the driving track data can be planned at the same time, and the driving efficiency and safety of the autonomous vehicle are improved.
本发明公开了一种自动驾驶环境下的交通控制方法、装置、设备及介质。通过获取路口检测区域内待调整车辆的第一控制区中车辆数量,以及每一待调整车辆的车辆行驶数据;在第一控制区中车辆数量大于车辆数量阈值的情况下,基于路口检测区域的多个路口分别对应的第一控制区中待调整车辆的车辆行驶数据,确定路口检测区域的多个候选路口相位在预测时间段内的控制信息树;基于控制信息树生成预测时间段内对路口检测区域内信号设备的信号控制方案,基于信号控制方案确定预测时间段内的待调整车辆的行驶轨迹数据;基于信号控制方案控制信号设备,并将行驶轨迹数据发送至待调整车辆。本发明实施例可以同时规划信号控制方案和行驶轨迹数据,提高自动驾驶车辆行驶效率和安全性。
Traffic control method and device in automatic driving environment, equipment and medium
一种自动驾驶环境下的交通控制方法、装置、设备及介质
2024-04-19
Patent
Electronic Resource
Chinese
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