The invention aims to provide a method and equipment for determining an intersection passing scene of a road intersection. The method comprises the following steps: acquiring a driving track of an unmanned vehicle at the road intersection; determining one or more observation lanes intersecting with the driving track according to the driving track; determining at least one intentional parking position on the driving track based on the lane area of the at least one observation lane and the driving track, and constructing the at least one intersection sub-scene; and determining real-time road right information of the unmanned vehicle at the road intersection based on the intersection obstacle information and the traffic state of the traffic signal lamp, if the real-time road right information is a priority road right, continuously driving the unmanned vehicle at the road intersection, and temporarily parking the unmanned vehicle until the real-time road right information is adjusted to be a non-priority road right. According to the invention, an accurate and effective scene decision is provided for the unmanned vehicle, and a safe and ordered road driving environment is created.
本申请的目的是提供一种用于确定道路路口的路口通行场景的方法与设备,包括:获取无人驾驶车辆在道路路口的行驶轨迹;根据所述行驶轨迹确定与所述行驶轨迹交汇的一个或多个观测车道;基于所述至少一个观测车道的车道区域及所述行驶轨迹,确定处于所述行驶轨迹上的至少一个意向停车位置,并构建所述至少一个路口子场景;基于路口障碍信息以及交通信号灯的通行状态,确定无人驾驶车辆在道路路口的实时路权信息,若所述实时路权信息为优先路权,在所述道路路口继续行驶,直至所述实时路权信息调整为非优先路权时进行临时停车。本申请为无人驾驶车辆提供了精准有效的场景决策,营造了安全有序的道路驾驶环境。
Method and equipment for determining intersection passing scene of road intersection
一种用于确定道路路口的路口通行场景的方法与设备
2023-08-11
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
Passing method and system for vehicle-road cooperation road intersection
European Patent Office | 2021
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