The invention provides an intersection passing method and device, equipment and a storage medium. According to the invention, after a sanitation vehicle passes through a traffic light stop line of an intersection, under the condition that the traffic light is detected to be switched from a green light state to other states except the green light state, a first virtual stop line is re-determined according to a left side through lane parallel to the traffic light stop line; if the sanitation vehicle does not cross the first virtual stop line, the sanitation vehicle is controlled to stop along the first virtual stop line; and if the sanitation vehicle crosses the first virtual stop line, controlling the sanitation vehicle to accelerate to pass through the intersection according to the driving conditions of other vehicles sensed by the sanitation vehicle.
本公开提供一种路口通行方法、装置、设备及存储介质。通过本公开,环卫车在通过路口的红绿灯停止线后,检测到红绿灯从绿灯状态切换为除所述绿灯状态之外的其他状态的情况下,根据与所述红绿灯停止线平行的左侧直行车道重新确定第一虚拟停止线;若所述环卫车未越过所述第一虚拟停止线,则控制所述环卫车沿所述第一虚拟停止线停止;若所述环卫车越过所述第一虚拟停止线,则根据所述环卫车感知到的其他车辆的行驶情况,控制所述环卫车加速通过所述路口。
Intersection passing method, device and equipment and storage medium
一种路口通行方法、装置、设备及存储介质
2023-07-25
Patent
Electronic Resource
Chinese
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