Abstract: A method, device and system for controlling a vehicle passing through an intersection are provided. The method includes generating a reference running track based on coordinate of first road from which the vehicle is to leave and coordinate of second road into which the vehicle is to enter. The first road and the second road intersect at the intersection through which the vehicle is to pass. The method further includes generating, in real time, a preview track of vehicle based on coordinate of centroid of the vehicle, course of the vehicle and coordinate of the second road, comparing the preview track with the reference running track and acquiring running speed limit and turning angle of the vehicle based on the comparing, and controlling the vehicle to run at the turning angle and a running speed less than or equal to the running speed limit.

Abstract: A method and a device for detecting a road boundary are provided. The method includes: sending, at a current detection moment, multiple detection beams to a road where a target vehicle is located by using a detection device installed on the target vehicle; obtaining echo signals of the detection beams reflected by the road; determining target coordinates of detection points on the road corresponding to the detection beams in the same coordinate system based on the echo signals of the detection beams; and determining a road boundary on the road based on the target coordinates of the detection points.

Abstract: A method and a device for automatically reversing a vehicle are provided. A forward track of a target vehicle is recorded in a forward process of the target vehicle. The target vehicle is controlled to be reversed from a current position and the target vehicle is controlled to be reversed along the forward track by adjusting a steering wheel angle of the target vehicle at each reversing moment, when an automatic reversing instruction for the target vehicle is detected after the target vehicle stops moving forward. The target vehicle is controlled to stop being reversed when a reversing stop instruction for the target vehicle is detected in a reversing process.

Abstract: Provided are a vehicle lane-changing control method and a vehicle lane-changing control device. The method includes controlling a host vehicle to travel into a neighboring to-be-turned-into lane with a first control rule, acquiring a location relation between the host vehicle and a referential lane line in a real time manner. The referential lane line is located between the host vehicle and the to-be-turned-into lane. The method further includes determining whether the location relation meets a preset changing rule, and controlling an action of the host vehicle with a second control rule corresponding to the preset changing rule in a case that the location relation meets the preset changing rule.

Abstract: A method, a device and an apparatus for planning a vehicle speed are provided. The method includes: determining initial planning speeds at a target path point and a reference path point based on curvature radiuses of a target front road and a reference front road, such that first and second lateral accelerations are not greater than a lateral acceleration threshold; and determining a target longitudinal acceleration and a target planning speed at the target path point based on the initial planning speeds at the target path point and the reference path point and a reference journey, such that the target longitudinal acceleration is in a defined range. Therefore, a vehicle can drive based on the target planning speed and the target longitudinal acceleration at the target path point, thereby avoiding drastic deceleration and lateral offset, improving driving safety of the vehicle and riding comfort and saving energy.

Abstract: Provided is a method for generating target detection information, including detecting target objects around the vehicle by multiple different types of sensors, and determining the detection targets representing a same target object, detected by the different types of sensors, by spatial position and time tracing. With taking the target object as the detection result, the target detection information generated for the detection result includes a spatial matching confidence of the detection result in the current detection period, a time matching confidence of the detection result, and target detection information on each of the detection targets representing the detection result, collected by the sensor detecting the detection target in a dimension corresponding to the sensor.

Abstract: A method, an apparatus and a device for detecting lane boundaries are provided. The method includes: obtaining a current image of a lane, and extracting brightness jump points in the image by filtering the image; filtering out noise points from the brightness jump points, and determining remaining brightness jump points as edge points to form groups of the edge points, where a connection line of edge points in the same group forms one edge line; recognizing edge lines of the lane boundaries from edge lines; and grouping the edge lines of the lane boundaries, and recognizing edge lines in each group as edge lines of one lane boundary. Based on the method, a calculation for detecting the lane boundaries is simpler, and calculation resources and time consumed in detecting the lane boundaries are reduced to detect the lane boundaries accurately and quickly.

Abstract: A method, a device and an apparatus for planning a vehicle speed are provided. The method includes: determining initial planning speeds at a target path point and a reference path point based on curvature radiuses of a target front road and a reference front road, such that first and second lateral accelerations are not greater than a lateral acceleration threshold; and determining a target longitudinal acceleration and a target planning speed at the target path point based on the initial planning speeds at the target path point and the reference path point and a reference journey, such that the target longitudinal acceleration is in a defined range. Therefore, a vehicle can drive based on the target planning speed and the target longitudinal acceleration at the target path point, thereby avoiding drastic deceleration and lateral offset, improving driving safety of the vehicle and riding comfort and saving energy.