The invention provides a vehicle speed limiting method and device in a U-turn scene and an automatic driving vehicle, relates to the technical field of automatic driving, and can be applied to vehicle U-turn, vehicle speed control and other scenes. The specific implementation scheme comprises the following steps: according to map information, determining whether a static shielding area exists in an opposite lane of a U-turn road section; when the static shielding area exists, determining at least one opposite-direction associated lane and an interaction point of the first associated lane and the vehicle expected path according to the map information and the vehicle expected path; according to the interaction point and a preset length, determining a starting point of a reference line of the opposite-direction associated lane; when at least one intersection point exists between the connecting line of the starting point and the interaction point and the edge line of the static shielding area, the vehicle speed limit value is determined according to the distance between the at least one intersection point and the interaction point; and limiting the speed of the vehicle according to the vehicle speed limiting value. The accuracy of limiting the speed of the vehicle when the vehicle turns around can be improved.
本公开提供了一种掉头场景下车辆限速方法、设备及自动驾驶车辆,涉及自动驾驶技术领域,可应用于车辆掉头、车速控制等场景下。具体实现方案包括:根据地图信息,确定掉头路段的对向车道是否存在静态遮挡区;当存在静态遮挡区时,根据地图信息及车辆预期路径,确定至少一个对向关联车道,以及第一关联车道与车辆预期路径的交互点;根据交互点和预设长度,确定对向关联车道的参考线的起始点;当起始点与交互点的连线与静态遮挡区的边缘线存在至少一个交点时,根据至少一个交点与交互点的距离,确定车辆限速值;根据车辆限速值,进行车辆限速。本公开能够提高车辆掉头时对车辆进行限速的准确性。
Vehicle speed limiting method and device in U-turn scene and automatic driving vehicle
掉头场景下车辆限速方法、设备及自动驾驶车辆
2024-04-26
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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