公开(公告)号：US20230138704A1

公开(公告)日：2023-05-04

申请号：US18090743

申请日：2022-12-29

申请人： Apollo Intelligent Driving Technology (Beijing) Co., Ltd.

发明人： Qiyu LIU ,  Zhongpu XIA

IPC分类号： B60W60/00 ,  B60W30/09 ,  B60W30/095 ,  B60W30/18

摘要： A method for automatic driving at an intersection, an electronic device, storage medium, and an automatic driving vehicle, which relate to a field of a data processing technology, in particular to a field of automatic driving. The method includes: determining a first initial convergence location information between an obstacle and a vehicle, a current location information of the obstacle, and an orientation information of the obstacle; determining a target convergence location information between the obstacle and the vehicle according to the first initial convergence location information, the current location information of the obstacle and the orientation information of the obstacle; determining a target travelling plan from a plurality of candidate travelling plans for the vehicle according to the target convergence location information and a current travelling parameter of the obstacle; and controlling the automatic driving of the vehicle according to the target travelling plan.