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Driverless intersection path planning method, system and device and storage medium

A path planning and driverless technology, applied to the traffic control system, traffic control system, instruments and other directions of road vehicles, which can solve the problem of not being able to follow the traffic police command to pass through the intersection.

Inactive Publication Date: 2019-02-26
AIWAYS AUTOMOBILE SHANGHAI CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In view of the problems in the prior art, the purpose of the present invention is to provide a driverless intersection path planning method, system, equipment and storage medium to overcome the failure to follow the traffic police command when the traffic lights at the intersection fail or are congested. Accurately identify traffic police gestures and plan appropriate routes based on traffic lights and traffic police gestures

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  • Driverless intersection path planning method, system and device and storage medium
  • Driverless intersection path planning method, system and device and storage medium
  • Driverless intersection path planning method, system and device and storage medium

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Embodiment Construction

[0088] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0089] Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus repeated descriptions thereof will be omitted. Some of the block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities ...

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Abstract

The invention provides a driverless intersection path planning method, system and device and a storage medium. The method comprises the steps: collecting an image in front of a vehicle, and determining a driving environment in front of the vehicle according to the image; detecting whether there is a traffic signal light and a traffic police in the image or not if the driving environment is an intersection environment; determining a traffic police command according to the gesture of the traffic police if the traffic police is detected in the image; determining a signal light command according to the image of the traffic signal light if the traffic signal light is detected in the image; determining the path planning of the vehicle at the intersection according to the traffic police command and / or the signal light command, and further performing the path planning decision making through a trained control model. By adopting the solution of the invention, when there is a road traffic signalfailure or congestion requiring the traffic police to direct traffic, the traffic police gesture can be accurately identified in real time and combined with traffic lights and traffic police gesturesto plan a suitable path to help the driverless vehicle pass the intersection smoothly.

Description

technical field [0001] The present invention relates to the technical field of unmanned driving, and in particular to a method, system, device and storage medium for unmanned intersection path planning. Background technique [0002] The unmanned driving system is divided into a perception system, a decision-making planning system, and an executive agency; among them, the perception and decision-making planning system, as the core system of the unmanned driving algorithm, plays a vital role. At present, the unmanned driving perception module in the intersection environment is mainly based on the recognition of traffic lights and traffic signs, and the driving path of unmanned vehicles is calculated based on traffic rules, but there is less path planning for intersections with traffic police command intervention. , when the intersection traffic signal failure or congestion need the traffic police command traffic, will not be able to follow the traffic police command through th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G08G1/09G08G1/0967G06K9/00
CPCG08G1/09G08G1/096725G06V40/113G06V40/28G06V20/584
Inventor 侯发伟
Owner AIWAYS AUTOMOBILE SHANGHAI CO LTD
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