The invention discloses an intersection passing method, apparatus and device, and a storage medium. The method comprises the steps of obtaining state information of a target vehicle, state information of a VRU and environment information of an intersection; determining the intersection type of the intersection according to the environment information; based on the intersection type, performing prediction and deduction according to the state information of the vehicle, the state information of the target vehicle, the state information of the VRU and the environment information, and generating intersection passing decision information; and based on the intersection passing decision information, a control instruction is generated through the longitudinal planner to control passing or braking of the vehicle. Prediction and deduction are carried out based on the intersection type according to the state information of the vehicle, the state information of the target vehicle, the state information of the VRU and the environment information, and then the control instruction is generated through the longitudinal planner to control passing or braking of the vehicle based on the generated intersection passing decision information. And the driving safety and comfort of the vehicle at the urban intersection are effectively improved.

    本发明公开了一种路口通行方法、装置、设备及存储介质,该方法包括:获取目标车辆的状态信息、VRU的状态信息以及路口的环境信息;根据环境信息确定路口的路口类型;基于路口类型,根据自车的状态信息、目标车辆的状态信息、VRU的状态信息以及环境信息进行预测推演,生成路口通行决策信息;基于路口通行决策信息,通过纵向规划器生成控制指令控制自车通行或制动。由于本发明基于路口类型,根据自车的状态信息、目标车辆的状态信息、VRU的状态信息以及环境信息进行预测推演,然后基于生成的路口通行决策信息,通过纵向规划器生成控制指令控制自车通行或制动,相比于现有技术,有效提高了车辆在城区路口行驶的安全性和舒适性。


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    Title :

    Intersection passing method, device and equipment and storage medium


    Additional title:

    一种路口通行方法、装置、设备及存储介质


    Contributors:
    ZHOU HANG (author) / XUE YAN (author) / ZHANG LE (author) / SUN PEIJIAN (author) / ZOU XIN (author) / MA SHIJUN (author) / LIU LINGYU (author)

    Publication date :

    2025-02-11


    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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