The invention discloses a parking method and device before converging into a main road, equipment and a medium, and relates to the technical field of intelligent driving, and the method comprises the steps: judging whether a take-over alarm needs to be triggered or not at present through a driving scene and perception information; if the driving scene is an afflux main road scene, the vehicle on the branch lane has a collision risk with the other vehicle on the main road lane, and the distance between the vehicle and the terminal point is smaller than a preset threshold value, a takeover alarm is triggered; wherein the end point is a merging point of the branch lane and the main lane; a plurality of center point coordinates on the lane center line of the branch lane are obtained, and a target parking position is determined according to the course angle between every two continuous center point coordinates; the target acceleration of the vehicle is determined through a model corresponding to the jerk of the vehicle, and the target parking position and the target acceleration are sent to a vehicle control module, so that the vehicle control module controls the vehicle to run to the target parking position according to the target acceleration. According to the invention, the smoothness and safety of the parking track are ensured.

    本申请公开了一种汇入主路前的停车方法、装置、设备及介质,涉及智能驾驶技术领域,包括:利用行驶场景以及感知信息判断当前是否需要触发接管报警;若行驶场景为汇入主路场景、分支车道上的自车与主路车道上的他车存在碰撞风险且自车与终点的距离小于预设阈值,则触发接管报警;其中,终点为分支车道与主路车道的合并点;获取分支车道的车道中心线上的多个中心点坐标,并根据每连续的两个中心点坐标之间的航向角确定目标停车位置;利用自车的急动度对应的模型确定自车的目标加速度,并将目标停车位置与目标加速度发送至车辆控制模块,以便车辆控制模块按照目标加速度控制自车行驶至目标停车位置。本申请保证了停车轨迹的平滑性与安全性。


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    Title :

    Parking method, device and equipment before converging into main road and medium


    Additional title:

    一种汇入主路前的停车方法、装置、设备及介质


    Contributors:
    CUI RANRAN (author) / LIU JIAQI (author) / HAN JIN (author) / LU YUKUN (author) / LI SHUANGJIANG (author)

    Publication date :

    2024-10-18


    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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