The invention discloses an unprotected left-turn track generation method and device for an automatic driving vehicle and a storage medium, and the method comprises the steps: calculating and obtaining a to-be-left-turn path when the vehicle executes unprotected left-turn at an intersection based on the global path information of the automatic driving vehicle; according to the driving data of the human driver, screening out a plurality of alternative left-turn points from the to-be-left-turn path; generating a plurality of alternative track paths corresponding to each alternative left turning point based on the multi-order curve; selecting an alternative left turning point and an alternative track path according to the real-time road condition; and the automatic driving vehicle accelerates to pass through the intersection according to the alternative track path of the actual left turning point. According to the driving data of the human driver, the alternative trajectory path is generated based on the multi-order curve, the intersection feature of the open space is better met, and the driving habit of the human driver is met. According to the invention, a plurality of unprotected left-turn alternative track paths are provided, so that the behavior of the autonomous vehicle in front of the intersection is more intelligent, the traffic capacity is improved, and the influence on traffic due to unreasonable retardation is avoided.

    本发明公开一种自动驾驶车辆无保护左转轨迹生成方法、设备及存储介质,包括:基于自动驾驶车辆的全局路径信息,计算获取车辆在路口执行无保护左转时的待左转路径;根据人类驾驶员的驾驶数据,从待左转路径中筛选出若干备选左转点;基于多阶曲线生成与每个备选左转点对应的若干备选轨迹路径;根据实时路况选择备选左转点及备选轨迹路径;自动驾驶车辆根据实际左转点的备选轨迹路径加速通过路口。本发明根据人类驾驶员的驾驶数据,基于多阶曲线生成备选轨迹路径,更符合开放空间的路口特征,符合人类驾驶员的驾驶习惯。本发明提供多条无保护左转备选轨迹路径,使自动驾驶车辆在路口前行为更为智能,提升了通行能力,避免不合理阻滞而影响交通。


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    Title :

    Unprotected left-turn trajectory generation method and device for autonomous vehicle and storage medium


    Additional title:

    自动驾驶车辆无保护左转轨迹生成方法、设备及存储介质


    Contributors:
    HE TAO (author) / LIAO WENLONG (author) / WANG DI (author) / ZHANG RUNXI (author)

    Publication date :

    2024-06-07


    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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