The invention relates to the field of automatic driving, and discloses a vehicle detection method and device based on a roadside unit, and a vehicle driving control method and device, and the method comprises the steps: detecting the first environment information of a target vehicle in an automatic driving state within the detection range of the roadside unit; the first environment information is analyzed, a driving conflict analysis result of the target vehicle on the current driving path is obtained, and the driving conflict analysis result comprises a target object having a driving conflict with the target vehicle and a corresponding conflict probability; fusing the target object, the conflict probability and preset preceding vehicle experience data to obtain perception fusion data, and obtaining risk assessment information corresponding to the perception fusion data; and generating a broadcast signal based on the sensing fusion data and the risk assessment information, and sending the broadcast signal to enable the target vehicle to monitor the broadcast signal and determine an automatic driving decision. The problems of safety and efficiency caused by the fact that the vehicle is limited by the sensor performance and the ODD range in the automatic driving process are solved.
本发明涉及自动驾驶领域,公开了基于路侧单元的车辆检测方法、车辆驾驶控制方法及装置,方法包括:在路侧单元的检测范围内,检测处于自动驾驶状态的目标车辆的第一环境信息;分析第一环境信息,得到目标车辆在当前行驶路径上的行驶冲突分析结果,行驶冲突分析结果包括:与目标车辆存在行驶冲突的目标对象,以及对应的冲突概率;将目标对象、冲突概率与预设前车经验数据进行融合,得到感知融合数据,并获取感知融合数据对应的风险评估信息;基于感知融合数据以及风险评估信息生成广播信号,并发送广播信号,以使目标车辆监听广播信号,并确定自动驾驶决策。本发明解决了车辆在自动驾驶中受限于传感器性能和ODD范围导致的安全性和效率的问题。
Vehicle detection method and device based on road side unit, and vehicle driving control method and device based on road side unit
基于路侧单元的车辆检测方法、车辆驾驶控制方法及装置
2024-09-10
Patent
Electronic Resource
Chinese
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