Method and device for planning right turning of autonomous vehicle and terminal equipment

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Method and device for planning right turning of autonomous vehicle and terminal equipment

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PENG BINGSHUN / HE TIANYI / QUE QIUGEN

The invention provides a planning method and device for right turning of an automatic driving automobile and terminal equipment, and the method comprises the steps: obtaining the map information of a turning intersection, and recognizing the states of obstacles on all zebra crossings through which the automobile needs to pass when the automobile passes through the turning intersection according to a preset route; the method comprises the following steps: determining a position where a vehicle acquires relevant information of surrounding obstacles according to the obstacle state, acquiring the relevant information and each piece of road information every first preset period when the vehicle is located at the position, and predicting action tracks of the surrounding obstacles based on each piece of road information, map information and the relevant information, and planning a right turning track of the vehicle based on the road information, the map information and the action track, and controlling the vehicle to run according to the right turning track. According to the method, the safety and the stability of the automatic driving vehicle during driving on complex road conditions can be improved, the safety of the vehicle and passengers can be further guaranteed, and the comfort of the passengers is improved.

本申请提供一种自动驾驶汽车右转弯的规划方法、装置和终端设备，该自动驾驶汽车右转弯的规划方法通过获取转弯路口的地图信息，识别车辆按照预设路线行驶通过转弯路口时需经过的各个斑马线上的障碍物状态，根据障碍物状态确定车辆获取周围障碍物的相关信息的位置，当车辆位于该位置时，每间隔第一预设周期获取相关信息和各个道路信息，并基于各个道路信息、地图信息和相关信息预测周围障碍物的行动轨迹，基于各个道路信息、地图信息和行动轨迹规划车辆的右转弯轨迹，并控制车辆按照右转弯轨迹行驶。本申请不仅可以提高自动驾驶车辆在复杂路况行驶时的安全性和稳定性，还可以进一步保障车辆和乘客的安全，提高乘客的舒适性。

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Document information

Title :

Method and device for planning right turning of autonomous vehicle and terminal equipment

Additional title:

一种自动驾驶汽车右转弯的规划方法、装置和终端设备

Contributors:

PENG BINGSHUN (author) / HE TIANYI (author) / QUE QIUGEN (author)

Publication date :

2022-11-01

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