US 11,878,716 B2
Method and apparatus for planning autonomous vehicle, electronic device and storage medium
Zhongpu Xia, Beijing (CN); Yaqin Chen, Beijing (CN); Yifeng Pan, Beijing (CN); and Hongye Li, Beijing (CN)
Assigned to APOLLO INTELLIGENT DRIVING TECHNOLOGY (BEIJING) CO., LTD.
Filed by APOLLO INTELLIGENT DRIVING TECHNOLOGY (BEIJING) CO., LTD., Beijing (CN)
Filed on Dec. 16, 2020, as Appl. No. 17/123,651.
Claims priority of application No. 202010605381.1 (CN), filed on Jun. 29, 2020.
Prior Publication US 2021/0188317 A1, Jun. 24, 2021
Int. Cl. B60W 60/00 (2020.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 30/18 (2012.01); B60W 50/00 (2006.01)
CPC B60W 60/0015 (2020.02) [B60W 30/09 (2013.01); B60W 30/0956 (2013.01); B60W 30/18163 (2013.01); B60W 50/0097 (2013.01); B60W 60/0027 (2020.02); B60W 30/18154 (2013.01); B60W 30/18159 (2020.02); B60W 2520/10 (2013.01); B60W 2554/404 (2020.02)] 19 Claims
OG exemplary drawing
 
1. A method for planning an autonomous vehicle, comprising:
acquiring first traveling information of an autonomous vehicle, wherein the first traveling information comprises a traveling track and a traveling parameter of the autonomous vehicle;
acquiring second traveling information of at least one obstacle vehicle, wherein the second traveling information comprises position information and a traveling parameter of the obstacle vehicle;
predicting a driving intention of the obstacle vehicle according to the acquired second traveling information of the obstacle vehicle;
planning a vehicle-converging strategy for the autonomous vehicle according to the first traveling information and the driving intention of the obstacle vehicle upon determining that there is a possibility of vehicle-converging between the autonomous vehicle and the obstacle vehicle; and
controlling the autonomous vehicle to travel according to the vehicle-converging strategy;
wherein the predicting the driving intention of the obstacle vehicle according to the acquired second traveling information of the obstacle vehicle comprises:
computing, according to the acquired first traveling information of the autonomous vehicle, time when the autonomous vehicle enters a vehicle-converging area and time when the autonomous vehicle leaves the vehicle-converging area;
calculating an overtaking acceleration constraint and a yielding acceleration constraint of the obstacle vehicle according to the second traveling information of the obstacle vehicle and, at least one of the time when the autonomous vehicle enters the vehicle-converging area or the time when the autonomous vehicle leaves the vehicle-converging area; and
predicting the driving intention of the obstacle vehicle based on the overtaking acceleration constraint and the yielding acceleration constraint of the obstacle vehicle;
wherein the predicting the driving intention of the obstacle vehicle according to the acquired second traveling information of the obstacle vehicle further comprises: estimating acceleration distribution of the obstacle vehicle according to acquired position information of the obstacle vehicle at each moment; and the predicting the driving intention of the obstacle vehicle based on the overtaking acceleration constraint and the yielding acceleration constraint of the obstacle vehicle comprises: predicting the driving intention of the obstacle vehicle by comparing the acceleration distribution with the overtaking acceleration constraint and the yielding acceleration constraint of the obstacle vehicle;
wherein the predicting the driving intention of the obstacle vehicle according to the acquired second traveling information of the obstacle vehicle comprises: dividing, according to the acquired second traveling information of the obstacle vehicle and a maximum value and a minimum value within a preset acceleration range, traveling of the obstacle vehicle before entering the vehicle-converging area into a preparation stage and a game stage, wherein an area corresponding to the game stage locates between the vehicle-converging area and an area corresponding to the preparation stage, and the area corresponding to the preparation stage is determined according to a speed of the obstacle vehicle; and predicting the driving intention of the obstacle vehicle according to the traveling parameter of the obstacle vehicle after entering the game stage.