The embodiment of the invention discloses an intersection lane selection method, device and equipment and a readable storage medium. The method comprises the following steps: acquiring map data corresponding to a current intersection, navigation information, own vehicle state information and obstacle state information; based on the map data, the navigation information, the self-vehicle state information and the obstacle state information, lane evaluation values of candidate lanes corresponding to the intersection where the self-vehicle is driven out are determined, and for each candidate lane, a passing evaluation value of the candidate lane is determined based on the lane evaluation value of the candidate lane; determining the regulation and control cost of each candidate lane based on a current trajectory planning algorithm and a control tracking algorithm; and determining an optimal lane in the candidate lanes according to the traffic evaluation value and the regulation and control cost of each candidate lane. By applying the scheme provided by the embodiment of the invention, the accuracy of intersection lane selection of the automatic driving vehicle can be improved, and the driving safety of the automatic driving vehicle is further ensured.

    本申请实施例公开一种路口车道选择方法、装置、设备及可读存储介质。该方法包括:获取当前路口对应的地图数据,以及导航信息、自车状态信息和障碍物状态信息;基于所述地图数据、所述导航信息、所述自车状态信息以及所述障碍物状态信息,确定自车驶出所述路口对应的各候选车道的车道评估值,并针对每个所述候选车道,基于该候选车道的车道评估值确定该候选车道的通行评估值;基于当前的轨迹规划算法和控制跟踪算法,确定各所述候选车道的规控代价;根据各所述候选车道的通行评估值和规控代价,在各所述候选车道中确定最优车道。应用本申请实施例提供的方案,能够提高自动驾驶车辆路口车道选择的准确性,进而保证自动驾驶车辆的行驶安全。


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    Title :

    Intersection lane selection method, device and equipment and readable storage medium


    Additional title:

    一种路口车道选择方法、装置、设备及可读存储介质


    Contributors:
    YU NING (author)

    Publication date :

    2025-05-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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