The invention provides a vehicle afflux processing method and device, electronic equipment and an automatic driving vehicle, and relates to the technical field of artificial intelligence, in particular to the field of automatic driving. The method comprises the following steps: determining a candidate gap for an own vehicle from a lane to be converged, and determining a candidate track combination associated with the candidate gap based on the current driving states of the own vehicle and a barrier vehicle; the candidate track combination comprises a candidate track of the vehicle and a candidate track of the obstacle vehicle; based on the acceleration and deceleration trend of the obstacle vehicle, determining the vehicle avoidance confidence coefficient of the candidate track combination; the acceleration and deceleration trend is determined according to the acceleration of the obstacle vehicle in the to-be-converged time period; and selecting a target gap from the candidate gaps according to the vehicle avoidance confidence of the candidate track combination, and performing track planning on the own vehicle based on the candidate track of the own vehicle associated with the target gap. According to the invention, the method can improve the accurate estimation of the vehicle-making intention of the obstacle vehicle, facilitates the improvement of the accuracy of trajectory planning and the safety of vehicle afflux, and improves the accuracy and safety of afflux decision.

    本公开提供了一种车辆汇入处理方法、装置、电子设备及自动驾驶车辆,涉及人工智能技术领域,尤其涉及自动驾驶领域。方法包括:从待汇入车道为自车确定候选间隙,并基于自车和障碍车的当前行驶状态确定与候选间隙关联的候选轨迹组合;候选轨迹组合包括自车的候选轨迹和障碍车的候选轨迹;基于障碍车的加减速趋势,确定候选轨迹组合的让车置信度;加减速趋势根据障碍车在待汇入时间段中的加速度确定;根据候选轨迹组合的让车置信度,从候选间隙中选择目标间隙,并基于与目标间隙关联的自车的候选轨迹对自车进行轨迹规划。本公开能提升对障碍车的让车意图的准确估计,有利于提高轨迹规划的准确性和车辆汇入的安全性,提升汇入决策的准确性和安全性。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle afflux processing method and device, electronic equipment and automatic driving vehicle


    Additional title:

    车辆汇入处理方法、装置、电子设备及自动驾驶车辆


    Contributors:
    ZHANG BIN (author) / LI WENBO (author) / ZHOU YIBO (author)

    Publication date :

    2024-08-30


    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



    Vehicle ramp afflux-in and afflux-out cooperative control method

    SHAN PING | European Patent Office | 2022

    Free access

    Ramp vehicle afflux guiding method, electronic equipment and storage medium

    SONG JUNZI / YANG MING / WU YUHAN et al. | European Patent Office | 2024

    Free access

    DQN and CNN-based expressway automatic driving exclusive lane vehicle afflux method

    ZHANG JIAN / XIONG ZHUANG / JIANG HAN et al. | European Patent Office | 2024

    Free access

    Vehicle afflux decision-making method considering equality of afflux motivation

    LIU JINQIANG / ZHAO WANZHONG / WANG CHUNYAN et al. | European Patent Office | 2023

    Free access

    Automatic driving vehicle high-speed ramp intelligent afflux method based on reinforcement learning

    HU XIAOSONG / XIAO WENXUAN / YANG YUYOU et al. | European Patent Office | 2023

    Free access