The invention provides a non-transitory machine-readable storage medium and a computing device. The storage medium includes instructions to cause processor circuitry of the computing device to: obtain a planned driving action for achieving a navigation target of a host vehicle; receiving, from the sensor device, sensor data representative of an environment around the host vehicle; identifying a target vehicle moving in the environment and a current speed of the target vehicle from the sensor data; on the basis of the current speed of the target vehicle and the maximum deceleration of the target vehicle, calculating a stopping distance when the target vehicle is completely stopped; calculating a prediction track when the target vehicle is completely stopped; calculating a planned trajectory of the host vehicle corresponding to the planned driving action; identifying that the planned trajectory of the host vehicle intersects the predicted trajectory of the target vehicle; determining a braking action of the host vehicle to meet safety requirements; and in response to identifying that the planned trajectory of the host vehicle intersects the predicted trajectory of the target vehicle, causing a braking action to be applied in the host vehicle.
本公开提供了非暂时性机器可读存储介质和计算装置。该存储介质包括指令,以使得计算设备的处理器电路执行以下操作:获得用于实现主车辆的导航目标的规划驾驶动作;从传感器设备接收代表主车辆周围的环境的传感器数据;从传感器数据中识别在环境中移动的目标车辆和目标车辆的当前速度;基于目标车辆的当前速度和目标车辆的最大减速度,计算目标车辆达到完全停止的停止距离;计算目标车辆达到完全停止的预测轨迹;计算对应于规划驾驶动作的主车辆的规划轨迹;识别主车辆的规划轨迹与目标车辆的预测轨迹相交;确定主车辆的制动动作以符合安全要求;以及响应于识别主车辆的规划轨迹与目标车辆的预测轨迹相交,使得在主车辆中施加制动动作。
Non-transitory machine readable storage medium and computing device
非暂时性机器可读存储介质和计算装置
2023-11-10
Patent
Electronic Resource
Chinese
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 / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / G01S RADIO DIRECTION-FINDING , Funkpeilung |
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