The invention provides an automatic driving vehicle intersection passing method and device, and the method comprises the steps: 1, controlling a vehicle to enter a front vehicle congestion mode afterthe condition that a front vehicle meets a preset fault condition is monitored; 2, determining a lane where the vehicle is located; 3, determining the driving direction of each lane at the current intersection; 4, judging whether the driving direction of the lane where the vehicle is located is the same as the driving direction of the adjacent lane or not, if yes, executing a normal lane changingpreparation program, and otherwise, executing a preparation program for controlling the vehicle to drive into the adjacent lane; 5, judging whether a lane changing condition is met or not, if yes, executing the preset lane changing program in the step 4, and otherwise, circularly executing the step; and 6, judging whether the original lane of the current intersection meets the passing condition ornot, if so, controlling the vehicle to drive through the current intersection on the current lane according to the driving direction of the original lane, and otherwise, circularly executing the step. When the front vehicle breaks down, the vehicle can smoothly leave the intersection, and traffic smoothness is kept.
本发明提供自动驾驶车辆路口通行方法及装置,方法包括:步骤1、当监测到前车满足预设故障条件后,控制本车进入前车堵塞模式;步骤2、确定本车所处车道;步骤3、确定当前路口各车道的行车方向;步骤4、判断本车所处车道的行车方向与相邻车道的行车方向是否相同,是则进入执行正常变道准备程序,否则进入执行控制本车驶入相邻车道准备程序;步骤5、判断是否满足变道条件,是则执行步骤4中预设变道程序,否则循环执行本步骤;步骤6、判断当前路口的原车道是否满足通行条件,是则控制本车在当前车道按照原车道的行车方向行驶通过当前路口,否则循环执行本步骤。本发明实现了在前车出现故障时,本车可以顺利离开路口,保持交通顺畅。
Automatic driving vehicle intersection passing method and device
一种自动驾驶车辆路口通行方法及装置
2021-03-26
Patent
Electronic Resource
Chinese
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