The invention belongs to the technical field of automatic driving, and particularly relates to a lane-level automatic driving method and device and automatic driving equipment. The method comprises the steps that image data of a plurality of preset view angles of a target vehicle are acquired respectively, and the target vehicle is located on a lane; the method comprises the steps of obtaining image data of a lane, generating lane attribute characteristics of the lane and corresponding lane attributes based on the image data, fusing the lane attribute characteristics to generate lane planning characteristics and predict lane planning attributes, and integrating the lane planning attributes and the lane attributes to generate a planning path, the lane attributes at least comprise a lane 3D position attribute, a lane intersection attribute, a lane direction attribute and a lane occupation attribute; and acquiring control parameters, generating a control command for the target vehicle based on the control parameters and the planned path, and executing the control command.
本公开属于自动驾驶技术领域,具体涉及一种车道级别的自动驾驶方法和装置及自动驾驶设备。其中所述方法包括:分别获取目标车辆多个预设视角的图像数据,其中,所述目标车辆位于车道;基于所述图像数据生成所述车道的车道属性特征及对应的车道属性,融合所述车道属性特征生成车道规划特征并预测车道规划属性,整合所述车道规划属性和所述车道属性生成规划路径,其中,所述车道属性至少包括车道3D位置属性、车道交叉路口属性、车道方向属性和车道占用属性;获取控制参数,基于所述控制参数和所述规划路径生成对目标车辆的控制命令并执行所述控制命令。
Lane-level automatic driving method and device and automatic driving equipment
一种车道级别的自动驾驶方法和装置及自动驾驶设备
2024-09-24
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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