The invention relates to a decision-making method for an automatic driving vehicle passing through an intersection yellow light. The method comprises the following steps: S1, acquiring a signal light state of an intersection; s2, if it is detected that the signal lamp is changed from green to yellow, whether a slow brake can stop driving at the position in front of an intersection stop line or not is judged, and the speed of the slow brake is smaller than or equal to a preset acceleration threshold value; s3, if slow braking can make the vehicle stop driving at the position in front of the intersection stop line, a slow braking decision is given; and S4, if the slow brake cannot enable the vehicle to stop driving at the position in front of the intersection stop line, judging whether the vehicle can be accelerated to pass through the intersection stop line within the specified time, and if so, issuing a decision of accelerating to pass through the intersection stop line. By adopting the steps, under the condition that the signal lamp is a yellow lamp, the current road condition and the vehicle condition are comprehensively analyzed and judged, a reasonable driving strategy is given, the accident occurrence probability is reduced, and the driving of the automatic driving vehicle is safer and smoother.
本发明涉及一种自动驾驶车辆通过路口黄灯时的决策方法,包括:S1:获取路口的信号灯状态;S2:若检测到信号灯为绿色转为黄色,则判断缓刹车能否在路口停止线前的位置停止行驶,该缓刹车的速度小于或等于预设的加速度阈值;S3:若缓刹车能够使得车在路口停止线前面的位置停止行驶,则下达缓刹车决策;S4:若缓刹车不能使得车在路口停止线前面的位置停止行驶,则判断本车能否在规定时间内加速通过路口停止线,若能,则下达加速通过路口停止线的决策。通过采用上述步骤,在信号灯为黄灯的情况下,对当时的路况以及本车情况做综合分析判断,给出合理的行驶策略,减少事故的发生概率,使得自动驾驶车辆的行驶更加安全畅通。
Decision-making method for automatic driving vehicle passing through yellow light at intersection
一种自动驾驶车辆通过路口黄灯时的决策方法
2025-02-18
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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