CN111192468A - Automatic driving method and system based on acceleration and deceleration in intersection, server and medium - Google Patents
Automatic driving method and system based on acceleration and deceleration in intersection, server and medium Download PDFInfo
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Abstract
The invention discloses an automatic driving method and system based on acceleration and deceleration in an intersection, a server and a storage medium, wherein the automatic acceleration and deceleration driving rule of a vehicle in a transition lane is set through the transition lane morphological characteristics of the intersection, so that the automatic acceleration and deceleration driving rule of the vehicle in the transition lane is automatically matched according to the transitional lane morphological characteristics of the intersection in front of the vehicle, the driving path of the vehicle is avoided and pre-judged by combining the moving forms of other moving obstacles in the intersection, the acceleration and deceleration operation of the vehicle is completed in the intersection range, and the vehicle can safely and stably drive in and out of the driving lane; the problem that the traditional navigation map cannot provide effective reference for automatic driving speed control of vehicles at the intersection position is solved.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to an automatic driving method and system based on acceleration and deceleration in an intersection, a server and a storage medium.
Background
The automatic driving is the development trend of future automobiles, the automatic speed control is particularly critical in the automatic driving process of the vehicles, particularly, the vehicles smoothly, comfortably and safely enter or exit a high-speed traffic flow in a complex traffic scene at an intersection, and the automatic driving method has important significance for improving the user experience of the automatic driving and realizing the active safety.
The precision of the data of the traditional navigation map and the richness of information can not meet the requirements of automatic driving application; in the high-precision map, the attribute expression of the lanes and the design of the intersection model lack the comprehensive consideration of vehicle speed control.
Disclosure of Invention
In view of this, embodiments of the present invention provide an automatic driving method and system based on acceleration and deceleration in an intersection, a server, and a storage medium, so as to solve the technical problem that the existing navigation map cannot provide an effective reference for automatic driving speed control of vehicles at an intersection position.
In a first aspect of the embodiments of the present invention, an automatic driving method based on acceleration and deceleration in an intersection is provided, where the automatic driving method based on acceleration and deceleration in an intersection includes the following steps:
setting an automatic acceleration and deceleration driving rule of the vehicle in the transition lane based on the morphological characteristics of the transition lane;
acquiring current position information of an automatic driving vehicle, matching the current position information with the position information of the road junction in the high-precision map, and acquiring the morphological characteristics of a transition lane at the road junction in front of the vehicle;
the automatic acceleration and deceleration driving rule of the vehicle on the transition lane is automatically matched according to the form characteristics of the transition lane at the intersection in front of the vehicle, the avoidance and prejudgment of the driving path of the vehicle are carried out by combining the moving forms of other moving obstacles in the intersection, the acceleration and deceleration operation of the vehicle is completed in the range of the intersection, and the vehicle can safely and stably drive in and out of the driving lane.
In a second aspect of the embodiments of the present invention, an automatic traveling system based on acceleration and deceleration in a road junction is provided, where the automatic traveling system based on acceleration and deceleration in a road junction includes the following functional modules:
the rule setting module is configured to set an automatic acceleration and deceleration driving rule of the vehicle in the transition lane based on the morphological characteristics of the transition lane;
the characteristic acquisition module is configured to acquire the current position information of the automatic driving vehicle, match the current position information with the position information of the road junction in the high-precision map and acquire the morphological characteristics of the transition lane of the road junction in front of the vehicle;
the matching avoidance module is configured to automatically match the automatic acceleration and deceleration driving rule of the vehicle on the transition lane according to the transition lane form characteristics of the intersection in front of the vehicle, avoid and prejudge the driving path of the vehicle by combining the moving forms of other moving obstacles in the intersection, complete the acceleration and deceleration operation of the vehicle in the intersection range, and safely and stably drive in and out of the driving lane.
In a third aspect of the embodiments of the present invention, a server is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the steps of the automatic driving method based on acceleration and deceleration in an intersection are implemented.
In a fourth aspect of the embodiments of the present invention, there is provided a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the automatic traveling method based on acceleration and deceleration in an intersection as described above.
The invention provides an automatic driving method and system based on acceleration and deceleration in an intersection, a server and a storage medium, wherein the automatic acceleration and deceleration driving rule of a vehicle in a transition lane is set through the transition lane morphological characteristics of the intersection, so that the automatic acceleration and deceleration driving rule of the vehicle in the transition lane is automatically matched according to the morphological characteristics of the transition lane of the intersection in front of the vehicle, the driving route of the vehicle is avoided and pre-judged by combining the moving forms of other moving obstacles in the intersection, the acceleration and deceleration operations of the vehicle are completed in the range of the intersection, and the vehicle can safely and stably drive in and out of the driving lane; the problem that the traditional navigation map cannot provide effective reference for automatic driving speed control of vehicles at the intersection position is solved.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a block flow diagram of an automatic driving method based on acceleration and deceleration in an intersection according to an embodiment of the present invention;
FIG. 2 is a block diagram of the flow of step S1 in FIG. 1;
fig. 3 is a functional block diagram of an automatic traveling system based on acceleration and deceleration in a road junction according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a server according to an embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an automatic driving method based on acceleration and deceleration in an intersection according to an embodiment of the present invention includes the following steps:
and S1, setting an automatic acceleration and deceleration driving rule of the vehicle in the transition lane based on the form characteristics of the transition lane.
As shown in fig. 2, the step S1 includes the following sub-steps:
and S11, preliminarily classifying the diverging and converging intersections of the high-precision driving map based on the morphological characteristics of the transition lane. The method comprises the following specific steps:
the preliminary classification of the bifurcation and confluence road junction of the high-precision driving map based on the morphological characteristics of the transition lane comprises the following contents:
if there is a transition lane and the width of the transition lane is stable, it is a parallel divergence and parallel convergence;
if a transition lane exists and the transition lane becomes wider and narrower gradually, the lane is a gradual divergence and gradual convergence;
if no transition lane exists, the split type divergence and combination type convergence is performed.
If the lane width at the start or end of the lane is smaller than the width of a vehicle body and there is no section of stable width, the type is considered to be a gradual change.
The method comprises the steps of acquiring shape point information of a lane central line and a lane sideline from high-precision map data, further calculating lane width, and then judging whether the width is stable and gradually widened or narrowed according to the change of the width of the whole lane; if the lane width of most of the lanes is larger than the width of one vehicle body and is close to the national standard width value, the lane width is considered to be stable.
And S12, determining the intersection area and the range of the acceleration lane and the deceleration lane based on the intersection classification. The method comprises the following specific steps:
the intersection classification includes two categories, a bifurcation intersection and a confluence intersection, wherein,
aiming at the bifurcation junction:
1) if the lane is a parallel bifurcation, the area between the appearance of the transition lane and the disappearance of the transition lane and the appearance of the ramp is the bifurcation range;
2) if the lane is a direct bifurcation, the area between the appearance of the transition lane and the disappearance of the transition lane and the appearance of the ramp is the bifurcation range;
3) if the lane is a separated bifurcation, the total number of lanes is unchanged in a certain distance range at the upstream of the bifurcation junction in a separated mode, and the lane at the outer side is directly connected with the ramp;
aiming at the confluence road junction:
1) if the parallel convergence is adopted, the intersection region is the region between the end of the ramp and the convergence of the transition lane and the local line and the disappearance of the transition lane;
2) if the direct convergence is adopted, the intersection region is the region between the end of the ramp and the convergence of the transition lane and the local line and the disappearance of the transition lane;
3) if the merging type confluence is adopted, the total number of lanes is unchanged within a certain distance range at the downstream of the confluence junction, and the end point of the straight lane outer line of the entering road is connected with the start point of the lane boundary line of the exiting road.
And S13, setting an automatic acceleration and deceleration driving rule of the vehicle in the transition lane according to the intersection area and the acceleration and deceleration lane range. The method comprises the following specific steps:
if the lane is a parallel bifurcation, the vehicle is parallel to the lane of the local lane in the bifurcation junction, and decelerates on the lane directly connected with the ramp lane, and then the vehicle is driven out of the local lane after the deceleration is finished;
if the divergence is direct, when the vehicle drives into the divergence road junction, the vehicle starts to decelerate from the local line and stops decelerating after driving into the ramp;
if the vehicle is separated, the vehicle starts to decelerate from the position 200 meters ahead of the branching end, and finishes decelerating at the branching end to drive into a ramp;
if the parallel convergence is adopted, the vehicle is parallel to the lane of the local line in the convergence intersection, and the lane directly connected with the ramp lane is accelerated and merged into the local line after the acceleration is finished;
if the direct confluence is adopted, the vehicle starts to accelerate when driving into the confluence road junction and gradually converges with the local line;
in the case of combined convergence, the vehicle accelerates from the convergence and stops accelerating 300 meters downstream.
And S2, acquiring the current position information of the automatic driving vehicle, matching the current position information with the position information of the road junction in the high-precision map, and acquiring the morphological characteristics of the transition lane of the road junction in front of the vehicle.
The high-precision positioning module of the automatic driving vehicle adopts a GNSS/INS/camera tight combination algorithm, so that the current position information of the vehicle can be obtained; meanwhile, a perception map can be generated in real time by combining a perception module, and element position matching is carried out by comparing the perception map with a vehicle-mounted preassembled high-precision map.
And when the automatic driving vehicle runs to the intersection, the real-time position of the vehicle is matched with the intersection position information of the high-precision map, and the transition lane form feature triggering module is triggered, namely the transition lane form feature of the intersection is sent to a control system of the vehicle.
S3, automatically matching the automatic acceleration and deceleration driving rule of the vehicle in the transition lane according to the transition lane form characteristics of the intersection in front of the vehicle, and carrying out avoidance and prejudgment on the driving path of the vehicle by combining the moving forms of other moving obstacles in the intersection, finishing the acceleration and deceleration operation of the vehicle in the intersection range, and safely and stably driving in and out of the driving lane.
The method comprises the following steps of combining the moving forms of other moving obstacles in the intersection to avoid and prejudge the vehicle running path, wherein the following contents are included:
firstly, acquiring real-time position information of other moving obstacles in the intersection; in other words, in the process that the automatic driving vehicle enters the intersection, all traffic elements in the plane geometric range of the intersection are retrieved through one or more of a plurality of acquisition devices such as a laser radar and a camera detection which are equipped in a perception module, wherein the traffic elements comprise various motor vehicles, non-motor vehicles, pedestrians, passengers, vehicle drivers and the like. Meanwhile, real-time position information of other moving obstacles in the intersection is obtained by combining the V2X technology, and the real-time position information of the moving obstacles is represented by a self-vehicle coordinate system and is used for planning a vehicle driving path.
Then dividing the middle area of the self-parking position and the destination into regular and uniform grids, assigning a value to each grid according to the position of the obstacle, wherein no obstacle is called as a free grid, and otherwise, the grid is an obstacle grid; the assignment of each grid is not fixed and unchanged, and the assignment of the grids is correspondingly changed according to the change of the real-time position information of the moving obstacle.
And finally, generating an optimal vehicle driving path between the grid where the self-vehicle position is located and the destination. The method comprises the steps of determining turning radius according to real-time position information of a moving obstacle sensed by a sensing module and considering the turning lateral stability in the obstacle avoidance process of a vehicle, determining a critical safety distance for preventing rear-end collision accidents of the vehicle, making a real-time vehicle running track and speed control, enabling the vehicle to complete acceleration and deceleration operations of the vehicle within the range of an intersection, and enabling the vehicle to safely and stably enter and leave a running lane. Wherein, the larger the turning radius, the better, and the larger the safety distance, the better.
The invention relates to an automatic driving method based on acceleration and deceleration in an intersection, which sets an automatic acceleration and deceleration driving rule of a vehicle in a transition lane through the transition lane morphological characteristics of the intersection, so that the automatic acceleration and deceleration driving rule of the vehicle in the transition lane is automatically matched according to the morphological characteristics of the transition lane of the intersection in front of the vehicle, and a driving path of the vehicle is avoided and pre-judged by combining the moving forms of other moving obstacles in the intersection, the acceleration and deceleration operations of the vehicle are completed in the range of the intersection, and the vehicle can safely and stably drive in and out of the driving lane; the problem that the traditional navigation map cannot provide effective reference for automatic driving speed control of vehicles at the intersection position is solved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
The above mainly describes an automatic driving method based on acceleration and deceleration in an intersection, and an automatic driving system based on acceleration and deceleration in an intersection will be described in detail below.
Fig. 3 shows a functional block diagram of an automatic driving system based on intra-road acceleration and deceleration according to an embodiment of the present invention. As shown in fig. 3, the automatic traveling system based on acceleration and deceleration in the road comprises the following functional modules:
the rule setting module 10 is configured to set an automatic acceleration and deceleration driving rule of the vehicle in the transition lane based on the morphological characteristics of the transition lane;
the characteristic acquisition module 20 is configured to acquire current position information of the automatic driving vehicle, match the current position information with the position information of the road junction in the high-precision map and acquire the morphological characteristics of the transition lane of the road junction in front of the vehicle;
the matching avoidance module 30 is configured to automatically match the automatic acceleration and deceleration driving rules of the vehicle in the transition lane according to the transition lane form characteristics of the intersection in front of the vehicle, perform avoidance and prejudgment on the driving path of the vehicle by combining the moving forms of other moving obstacles in the intersection, complete the acceleration and deceleration operation of the vehicle in the intersection range, and safely and stably drive in and out of the driving lane.
Fig. 4 is a schematic diagram of a server structure for automatic driving based on acceleration and deceleration in an intersection according to an embodiment of the present invention. The server is a device for providing computing services, and generally refers to a computer with high computing power, which is provided to a plurality of users through a network. As shown in fig. 4, the server 4 of this embodiment includes: a memory 41, a processor 42, and a system bus 43, the memory 41 including an executable program 411 stored thereon, it being understood by those skilled in the art that the terminal device configuration shown in fig. 4 does not constitute a limitation of the terminal device, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
The following specifically describes each constituent component of the terminal device with reference to fig. 4:
the memory 41 may be used to store software programs and modules, and the processor 42 executes various functional applications and data processing of the terminal by operating the software programs and modules stored in the memory 41. The memory 41 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the terminal, etc. Further, the memory 41 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
An executable program 411 of an automatic driving method based on acceleration and deceleration in an intersection is contained on a memory 41, the executable program 411 can be divided into one or more modules/units, the one or more modules/units are stored in the memory 41 and executed by a processor 42 to complete the transmission of the notice and obtain the notice implementation process, and the one or more modules/units can be a series of computer program instruction segments capable of completing specific functions and are used for describing the execution process of the computer program 411 in the server 4. For example, the computer program 411 may be divided into a rule setting module, a feature acquisition module, and a match avoidance module.
The processor 42 is a control center of the server, connects various parts of the entire terminal device with various interfaces and lines, performs various functions of the terminal and processes data by running or executing software programs and/or modules stored in the memory 41 and calling data stored in the memory 41, thereby monitoring the terminal as a whole. Alternatively, processor 42 may include one or more processing units; preferably, the processor 42 may integrate an application processor, which primarily handles operating systems, applications, etc., and a modem processor, which primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 42.
The system bus 43 is used to connect functional units inside the computer, and can transmit data information, address information, and control information, and may be, for example, a PCI bus, an ISA bus, a VESA bus, or the like. The instructions of the processor 42 are transmitted to the memory 41 through the bus, the memory 41 feeds back data to the processor 42, and the system bus 43 is responsible for data and instruction interaction between the processor 42 and the memory 41. Of course, the system bus 43 may also access other devices such as network interfaces, display devices, etc.
The server at least includes a CPU, a chipset, a memory, a disk system, and the like, and other components are not described herein again.
In the embodiment of the present invention, the executable program executed by the processor 42 included in the terminal specifically includes: an automatic driving method based on acceleration and deceleration in an intersection comprises the following steps:
analyzing the automatically driven live-action video stream according to frames to obtain field attributes of the picture frames, and extracting relevant key field attributes of data required by the simulation scene from the field attributes of the picture frames;
analyzing a data structure form required by simulation software, and performing data calculation conversion and analysis on related key data to obtain data matched with the simulation software;
importing the obtained matching data into simulation software to generate a simulation scene;
and comparing the generated simulation scene with the automatic driving live-action video, and outputting a correct simulation scene.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art would appreciate that the modules, elements, and/or method steps of the various embodiments described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An automatic driving method based on acceleration and deceleration in an intersection is characterized by comprising the following steps:
setting an automatic acceleration and deceleration driving rule of the vehicle in the transition lane based on the morphological characteristics of the transition lane;
acquiring current position information of an automatic driving vehicle, matching the current position information with the position information of the road junction in the high-precision map, and acquiring the morphological characteristics of a transition lane at the road junction in front of the vehicle;
the automatic acceleration and deceleration driving rule of the vehicle on the transition lane is automatically matched according to the form characteristics of the transition lane at the intersection in front of the vehicle, the avoidance and prejudgment of the driving path of the vehicle are carried out by combining the moving forms of other moving obstacles in the intersection, the acceleration and deceleration operation of the vehicle is completed in the range of the intersection, and the vehicle can safely and stably drive in and out of the driving lane.
2. The automatic driving method based on acceleration and deceleration at the intersection as claimed in claim 1, wherein the setting of the automatic acceleration and deceleration driving rule of the vehicle in the transition lane based on the morphological characteristics of the transition lane comprises the following steps:
preliminarily classifying the diverging and converging intersections of the high-precision driving map based on the morphological characteristics of the transition lanes;
determining intersection areas and acceleration and deceleration lane ranges based on the intersection classification;
and setting the automatic acceleration and deceleration driving rule of the vehicle in the transition lane according to the intersection area and the acceleration and deceleration lane range.
3. The automatic driving method based on acceleration and deceleration in the intersection according to claim 1, wherein the preliminary classification of the bifurcation and confluence intersection of the high-precision driving map based on the morphological characteristics of the transition lane comprises the following steps:
if there is a transition lane and the width of the transition lane is stable, it is a parallel divergence and parallel convergence;
if a transition lane exists and the transition lane becomes wider and narrower gradually, the lane is a gradual divergence and gradual convergence;
if no transition lane exists, the split type divergence and combination type convergence is performed.
4. The automatic driving method based on acceleration and deceleration at the intersection according to claim 1, wherein the intersection region and the acceleration and deceleration lane range are determined based on the intersection classification, and the method comprises the following steps:
the intersection classification includes two categories, a bifurcation intersection and a confluence intersection, wherein,
aiming at the bifurcation junction:
1) if the lane is a parallel bifurcation, the area between the appearance of the transition lane and the disappearance of the transition lane and the appearance of the ramp is the bifurcation range;
2) if the lane is a direct bifurcation, the area between the appearance of the transition lane and the disappearance of the transition lane and the appearance of the ramp is the bifurcation range;
3) if the lane is a separated bifurcation, the total number of lanes is unchanged in a certain distance range at the upstream of the bifurcation junction in a separated mode, and the lane at the outer side is directly connected with the ramp;
aiming at the confluence road junction:
1) if the parallel convergence is adopted, the intersection region is the region between the end of the ramp and the convergence of the transition lane and the local line and the disappearance of the transition lane;
2) if the direct convergence is adopted, the intersection region is the region between the end of the ramp and the convergence of the transition lane and the local line and the disappearance of the transition lane;
3) if the merging type confluence is adopted, the total number of lanes is unchanged within a certain distance range at the downstream of the confluence junction, and the end point of the straight lane outer line of the entering road is connected with the start point of the lane boundary line of the exiting road.
5. The automatic driving method based on acceleration and deceleration at the intersection as claimed in claim 1, wherein the automatic acceleration and deceleration driving rule of the vehicle in the transition lane is as follows:
if the lane is a parallel bifurcation, the vehicle is parallel to the lane of the local lane in the bifurcation junction, and decelerates on the lane directly connected with the ramp lane, and then the vehicle is driven out of the local lane after the deceleration is finished;
if the divergence is direct, when the vehicle drives into the divergence road junction, the vehicle starts to decelerate from the local line and stops decelerating after driving into the ramp;
if the vehicle is separated, the vehicle starts to decelerate from the position 200 meters ahead of the branching end, and finishes decelerating at the branching end to drive into a ramp;
if the parallel convergence is adopted, the vehicle is parallel to the lane of the local line in the convergence intersection, and the lane directly connected with the ramp lane is accelerated and merged into the local line after the acceleration is finished;
if the direct confluence is adopted, the vehicle starts to accelerate when driving into the confluence road junction and gradually converges with the local line;
in the case of combined convergence, the vehicle accelerates from the convergence and stops accelerating 300 meters downstream.
6. The automatic driving method based on acceleration and deceleration in the intersection according to claim 1, wherein the avoidance and prejudgment of the driving path of the vehicle in combination with the movement form of other moving obstacles in the intersection comprises the following steps:
acquiring real-time position information of other moving obstacles in the intersection;
dividing the middle area of the self-parking position and the destination into regular and uniform grids, assigning a value to each grid according to the position of an obstacle, wherein no obstacle is called as a free grid, and otherwise, the grid is an obstacle grid;
and generating an optimal vehicle running path between the starting point and the destination by taking the grid where the self-vehicle position is located as the starting point.
7. The automatic driving method based on acceleration and deceleration in the intersection as claimed in claim 1, wherein the information of the moving obstacles is represented by a vehicle coordinate system after the real-time position information of other moving obstacles in the intersection is acquired.
8. The automatic driving system based on acceleration and deceleration in the intersection is characterized by comprising the following functional modules:
the rule setting module is configured to set an automatic acceleration and deceleration driving rule of the vehicle in the transition lane based on the morphological characteristics of the transition lane;
the characteristic acquisition module is configured to acquire the current position information of the automatic driving vehicle, match the current position information with the position information of the road junction in the high-precision map and acquire the morphological characteristics of the transition lane of the road junction in front of the vehicle;
the matching avoidance module is configured to automatically match the automatic acceleration and deceleration driving rule of the vehicle on the transition lane according to the transition lane form characteristics of the intersection in front of the vehicle, avoid and prejudge the driving path of the vehicle by combining the moving forms of other moving obstacles in the intersection, complete the acceleration and deceleration operation of the vehicle in the intersection range, and safely and stably drive in and out of the driving lane.
9. A server comprising a memory, a processor and a computer program stored in the memory and operable on the processor, wherein the processor when executing the computer program implements the steps of the automatic traveling method based on acceleration and deceleration in an intersection according to any one of claims 1 to 7.
10. A computer-readable storage medium storing a computer program, wherein the computer program when executed by a processor implements the steps of the automatic travel method based on acceleration and deceleration in an intersection according to any one of claims 1 to 7.
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