本发明公开了一种自动驾驶车辆通过交通灯路口速度及加速度规划方法,包括以下信息判断:对是否驶入交通灯路段进行判断;对本车驶入停车线前的状态进行判断;对目标车辆与本车的纵向距离进行判断;对目标车辆与本车的相对速度进行判断;对斑马线行人是否处于本车左右前方区域内进行判断;对当前交通灯状态进行判断;对通过交通灯路口条件进行判断;对紧急制停条件进行判断。综合以上的判断结果,对当前时刻通过交通灯路口的速度及加速度进行规划及状态决策,若决策条件满足,则进行相应速度及加速度的规划,并输出相应参数给车辆。本方法可以在确保安全的前提下,快速通过交通灯路口,提高了路口的通行效率。

    The invention discloses a method for planning the speed and acceleration of an automatic driving vehicle passing through a traffic light intersection. The method comprises the following information judgment steps: judging whether the vehicle drives into a traffic light road section or not; judging the state of the vehicle before driving into the parking line; judging the longitudinal distance between the target vehicle and the vehicle; the relative speed of the target vehicle and the vehicle is judged; judging whether the zebra crossing pedestrians are in the left-right front area of the vehicle or not; judging the current traffic light state; judging the conditions of the intersection passing through the traffic light; and the emergency braking condition is judged. And performing planning and state decision-making on the speed and the acceleration passing through the traffic light intersection at the current moment by combining the judgment results, and if decision-making conditions are met, performing planning of the corresponding speed and the acceleration, and outputting corresponding parameters to the vehicle. According to the method, the traffic light intersection can be quickly passed on the premise of ensuring safety, and the traffic efficiency of the intersection is improved.


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    Titel :

    一种自动驾驶车辆通过交通灯路口速度及加速度规划方法


    Erscheinungsdatum :

    2024-02-13


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS