Intersection driving path planning method and device, processor and automatic driving vehicle

Abstract

The invention provides an intersection driving path planning method and device, a processor and an automatic driving vehicle, and the method comprises the steps: obtaining a first prediction track anda second prediction track, the first prediction track being an intersection prediction track of an obstacle vehicle, and the second prediction track being an intersection prediction track of the automatic driving vehicle; determining a collision area according to the first prediction track and the second prediction track; and determining an intersection driving path of the automatic driving vehicle according to the collision area. According to the method, one intersection driving path can be planned, so that the automatic driving vehicle can pass through the collision area later than the obstacle vehicle, and the other intersection driving path can also be planned, so that the automatic driving vehicle can pass through the collision area earlier than the obstacle vehicle. Only the intersection driving path enabling the automatic driving vehicle to pass through the collision area later than the obstacle vehicle can be selected, and the flexibility of the intersection driving path planning method is improved.

Description

technical field [0001] The present application relates to the technical field of automatic driving, and in particular, relates to a planning method, device, computer-readable storage medium, processor and automatic driving vehicle for an intersection driving route. Background technique [0002] With the development of automatic driving, the left turn of automatic driving, which is recognized in the industry as one of the difficulties of automatic driving, is part of the planning of automatic driving at intersections. How to make a reasonable prediction and plan a reasonable path for an autonomous vehicle at an intersection is not only based on traffic rules, but also needs to be combined with the characteristics of human driving and the semantic information of the intersection. At present, the behavior planning of self-driving vehicles at intersections is generally conservative, which is not conducive to improving the efficiency of intersections. With the development of veh...

AI Technical Summary

Problems solved by technology

[0005] The main purpose of the present application is to provide a planning method, device, computer-readable storage medium, processor and self-driving vehicle for a road junction planning method, so as to solve the inflexible problem of the planning method of the road crossing road in the prior art

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