Method and device for automatically driving based on intersection model

Abstract

The invention discloses a method and a device for automatically driving based on an intersection model. The method comprises the following steps: pre-matching the intersection type of all the intersections by an intersection model on a high precision map; confirming planar geometrical scope and intersection attribute of the intersections on the high precision map on the basis of the intersection type and the morphological characteristics of the intersections; matching a current position of a vehicle on the high precision map through a locating module and confirming a practical intersection atwhich the vehicle is located according to the current position; confirming the planar geometrical scope and intersection attribute according to the practical intersection; retrieving all the traffic elements in the planar geometrical scope by a collecting unit; supplying a strategy reference to the driving of the vehicle at the practical intersection through the combination of planar geometrical scope, intersection attribute and traffic elements. The method disclosed by the invention is used for supplying reference to the driving strategy of the vehicle at the practical intersection through the high precision map, reducing the risk of automatic driving of the vehicle and promoting the safety.

Description

technical field [0001] The present invention relates to the technical field of automatic driving, in particular to an automatic driving method and device based on an intersection model. Background technique [0002] Vehicles will encounter a variety of scenarios in the process of autonomous driving, among which intersections are important scenarios where traffic flows in multiple directions and pedestrians converge and diverge. Vehicles are prone to road right conflicts and avoidance at intersections, so it is important to verify the maturity, stability, and safety of autonomous driving technology at intersections. [0003] The depiction of intersections by traditional navigation maps cannot meet the needs of automatic driving in terms of accuracy and richness of information; in current high-precision maps, there is a lack of influencing factors such as intelligent transportation and vehicle control in terms of classification and model design of intersections comprehensive ...

AI Technical Summary

Problems solved by technology

[0004] Embodiments of the present invention at least provide an automatic driving method based on an intersection model, which can solve the problem that traditional navigation maps cannot provide effective reference for automatic driving of vehicles at intersections ahead

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