To provide a method, device, terminal, and program for determining an automatic driving reference line.SOLUTION: The method includes: acquiring lane information of a current lane where a vehicle is located (S10); calculating an automatic driving reference line of the current lane based on the lane information of the current lane (S20); acquiring lane information of a candidate lane based on a topological relation between the current lane and another lane (S30); and calculating an automatic driving reference line of the candidate lane based on the automatic driving reference line of the current lane and the lane information of the candidate lane (S40). According to the present invention, the automatic driving reference lines of all auxiliary candidate lanes can be calculated before the road is switched, and the automatic driving reference lines of the candidate lanes can be determined in an orderly manner, so that an automatic driving vehicle can satisfy a request of switching the road freely with changes of a surrounding traffic flow and an environment in a diverse and complicated road network environment.SELECTED DRAWING: Figure 1

    【課題】自動運転参照経路の確定方法、装置、端末、及びプログラムを提供する。【解決手段】方法は車両の所在する現在車線の車線情報を取得すること(S10)と、現在車線の車線情報に基づき、現在車線に対する自動運転参照経路を算出すること(S20)と、現在車線と他の車線間のトポロジー関係に基づき、候補車線の車線情報を取得すること(S30)と、現在車線に対する自動運転参照経路と候補車線の車線情報に基づき、候補車線に対する自動運転参照経路を算出すること(S40)と、を含む。本発明によれば、自動運転車両は、車道変更する前に、すべての予備の候補車線の自動運転参照経路を算出し、候補車線の自動運転参照経路を秩序的に取得することで、多様で複雑な道路ネットワーク環境においても、周囲の車の流れの変化及び環境の変化に応じて、自由に車道変更する要求を満たすことができる。【選択図】図1


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    Title :

    METHOD, DEVICE, TERMINAL, STORAGE MEDIUM, AND PROGRAM FOR DETERMINING AUTOMATIC DRIVING REFERENCE LINE


    Additional title:

    自動運転参照経路の確定方法、装置、端末、記憶媒体、及びプログラム


    Contributors:
    ZHU ZHENGUANG (author) / LI HONGYE (author) / FU XIAOXIN (author) / CHEN ZHIYUAN (author)

    Publication date :

    2021-10-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    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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