The invention is suitable for the technical field of auxiliary driving, and provides a vehicle passing method and system for an intersection without traffic lights, and the method comprises the following steps: determining a target vehicle through the sensing data fusion processing of a laser radar and a camera, and obtaining the speed of vehicles at two sides of the vehicle, the length of the target vehicle, and the course angle of the target vehicle; acquiring vehicle speed information and vehicle length of the vehicle; front road working conditions and left and right vehicle passing conditions of a crossroad are obtained through a self-vehicle camera; identifying the distance between the head of the vehicle and the tail of the target vehicle through a laser radar and a camera; the straight moving state of the target vehicle is obtained through comprehensive judgment of track prediction and target motion prediction; calculating the longitudinal overlapping ratio of the own vehicle and the target vehicle; comprehensively judging whether to activate an intersection vehicle passing method or not according to the longitudinal overlapping ratio and the motion state of the target vehicle; and controlling the longitudinal control of the vehicle. The functional integrity of the intelligent driving vehicle and the scene applicability are improved, and the riding comfort is improved.

    本发明适用于辅助驾驶技术领域,提供了一种无交通信号灯路口的车辆通行方法及系统,包括以下步骤:通过激光雷达和摄像头的感知数据融合处理,确定目标车辆,获取自车两侧车辆的车速、目标车辆长度以及目标车辆航向角;获取自车车速信息和自车车辆长度;通过自车摄像头获取前方道路工况和十字路口左右车辆通行情况;通过激光雷达和摄像头识别自车车头距离目标车辆车尾的距离;通过轨迹预测和目标运动预测综合判断得出目标车辆直行状态;计算自车与目标车辆的纵向重叠率;根据纵向重叠率和目标车辆的运动状态综合判断是否激活路口车辆通行方法;控制自车纵向控制。提升了智能驾驶车辆的功能完整性和场景的适用性,提升了乘坐舒适性。


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    Title :

    Vehicle passing method and system for intersection without traffic lights


    Additional title:

    一种无交通信号灯路口的车辆通行方法及系统


    Contributors:
    ZHANG HONGLIANG (author) / WANG XI (author) / WANG JIAXING (author) / ZHU LIANG (author) / ZHANG LIANGLIANG (author) / LUO JINTAO (author)

    Publication date :

    2024-08-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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