The invention discloses an intersection parking method, device and equipment and a computer readable storage medium, and is applied to the field of intelligent driving, and the method comprises the steps: determining a target traffic light according to a traffic light recognition result and a traffic light decision rule; when the target traffic light is red and the stop line is not recognized, obtaining a predicted distance between the vehicle and the stop line according to a stop line prediction rule, and performing speed planning based on the predicted distance; and when the target traffic light is red and the stop line is identified, acquiring a real distance between the vehicle and the stop line, and carrying out braking processing based on the real distance. Therefore, according to the method, when the target traffic light is the red light, the stop line is predicted in advance, speed planning is carried out, the safety and reliability of parking at the intersection are guaranteed, dependence on a map is avoided, dependence on visual perception is low, and safe braking at the intersection can be achieved in a special environment or under the working condition that the stop line is fuzzy.
本发明公开了一种路口停车方法、装置、设备及计算机可读存储介质,应用于智能驾驶领域,包括:根据交通灯识别结果和交通灯决策规则确定目标交通灯;当目标交通灯为红灯且未识别到停止线时,根据停止线预测规则得到自车与停止线之间的预测距离,并基于预测距离进行速度规划;当目标交通灯为红灯且识别到停止线时,获取自车与停止线之间的真实距离,并基于真实距离进行刹停处理。可见,本方法在目标交通灯为红灯时,提前预测停止线并进行速度规划,保证路口停车的安全性和可靠性,并且不依赖于地图,对视觉感知的依赖性较低,使得在特殊环境下或停止线模糊的工况下也能够在路口安全刹停。
Intersection parking method, device and equipment and computer readable storage medium
一种路口停车方法、装置、设备及计算机可读存储介质
2025-02-28
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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