| abstract |
The invention discloses a method and system for multi-vehicle cooperative passing at an intersection in an unstructured scene, which includes: step 1, starting from the center of the intersection in the unstructured scene, setting a collaborative area from inside to outside, approaching area and diversion area; Step 2, set a virtual road centerline in the approaching area, take the intersection of the virtual road centerline and the outer boundary line of the coordination area as a turning point, starting from the turning point, at the virtual road centerline The diversion target points are selected at intervals on the road centerline; step 3, determine the vehicle priority within each area and between different areas; step 4, according to the vehicle priority, sequentially carry out diversion trajectory planning for vehicles in the diversion area , make the vehicle drive on the virtual road centerline before entering the coordination area; step 5, take the vehicle entering the coordination area as a vehicle waiting for coordinated trajectory planning, and carry out coordinated trajectory planning according to the vehicle priority . |