Abstract: A decision method, device, equipment in a lane changing process and storage medium are provided. The method includes: acquiring a first planned track of a driverless vehicle for travelling to a first lane and a second planned track of the driverless vehicle for travelling to a second lane within a preset time period, in a lane changing process of the driverless vehicle; predicting a predicted track of at least one obstacle within the preset time period according to a travelling state of the obstacle, wherein the obstacle is in a preset range around the driverless vehicle; and determining a travelling motion of the driverless vehicle according to the first planned track, the second planned track and the predicted track of the obstacle.

Abstract: A method and apparatus for planning a travelling path, and a vehicle are provided. The method includes: determining at least one reference curve covering a first length range, and selecting a target reference curve covering the first length range from the at least one reference curve covering the first length range; extracting a curve to be adjusted covering a second length range from the target reference curve covering the first length range; processing the curve to be adjusted based on a safety parameter within the second length range, to obtain an adjusted curve; and determining a travelling path covering the first length range based on the adjusted curve and the target reference curve. The complexity of an actual traffic scene is taken into account, and a travelling path planning is not affected by the accuracy of sampling points.

Abstract: A method and apparatus for processing a driving reference line, and a vehicle are provided. The method comprises: acquiring position information of at least one obstacle in a range covered by an original driving reference line; determining a safety range parameter based on the position information of the at least one obstacle; adjusting a coefficient of a polynomial curve corresponding to the original driving reference line based on the safety range parameter, to obtain an adjusted polynomial curve; and determining an adjusted driving reference line based on the updated polynomial curve. The safety problem of the driving reference line caused by the insufficient obstacle avoidance ability of the driving reference line is solved.

Abstract: A method, a device and an apparatus for generating a defensive driving strategy and a storage medium are provided. The method includes: detecting a type of each obstacle of a plurality of obstacles in a sensible range of an autonomous vehicle; determining whether there is a collision risk of the autonomous vehicle with the obstacle by using a collision risk detection method corresponding to the type; and determining the defensive driving strategy for the autonomous vehicle when the obstacle has a collision risk with the autonomous vehicle in the sensible range. According to the embodiments, an occurrence probability of a dangerous condition on a road may be reduced.

Abstract: A method for detecting safety of a driving behavior, an apparatus, a device and a storage medium are provided. The method includes acquiring current driving data of a vehicle during a driving process of the vehicle; determining current driving behavior feature data of the vehicle according to the current driving data of the vehicle; inputting the current driving behavior feature data of the vehicle into a real-time safety detection model and calculating a security score corresponding to current driving behavior of the vehicle; and determining whether the current driving behavior of the vehicle is safe according to the security score corresponding to the current driving behavior of the vehicle. The method can assist an optimization of a vehicle driving system, reduce a safety risk of vehicle driving, and improve a riding experience of the user.

Abstract: A method, a device and an apparatus for generating a defensive driving strategy and a storage medium are provided. The method includes: detecting a type of each obstacle of a plurality of obstacles in a sensible range of an autonomous vehicle; determining whether there is a collision risk of the autonomous vehicle with the obstacle by using a collision risk detection method corresponding to the type; and determining the defensive driving strategy for the autonomous vehicle when the obstacle has a collision risk with the autonomous vehicle in the sensible range. According to the embodiments, an occurrence probability of a dangerous condition on a road may be reduced.

Abstract: A method and apparatus for planning a travelling path, and a vehicle are provided. The method includes: determining at least one reference curve covering a first length range, and selecting a target reference curve covering the first length range from the at least one reference curve covering the first length range; extracting a curve to be adjusted covering a second length range from the target reference curve covering the first length range; processing the curve to be adjusted based on a safety parameter within the second length range, to obtain an adjusted curve; and determining a travelling path covering the first length range based on the adjusted curve and the target reference curve. The complexity of an actual traffic scene is taken into account, and a travelling path planning is not affected by the accuracy of sampling points.

Abstract: A method and apparatus for processing a driving reference line, and a vehicle are provided. The method comprises: acquiring position information of at least one obstacle in a range covered by an original driving reference line; determining a safety range parameter based on the position information of the at least one obstacle; adjusting a coefficient of a polynomial curve corresponding to the original driving reference line based on the safety range parameter, to obtain an adjusted polynomial curve; and determining an adjusted driving reference line based on the updated polynomial curve. The safety problem of the driving reference line caused by the insufficient obstacle avoidance ability of the driving reference line is solved.

Abstract: A decision method, device, equipment in a lane changing process and storage medium are provided. The method includes: acquiring a first planned track of a driverless vehicle for travelling to a first lane and a second planned track of the driverless vehicle for travelling to a second lane within a preset time period, in a lane changing process of the driverless vehicle; predicting a predicted track of at least one obstacle within the preset time period according to a travelling state of the obstacle, wherein the obstacle is in a preset range around the driverless vehicle; and determining a travelling motion of the driverless vehicle according to the first planned track, the second planned track and the predicted track of the obstacle.

Abstract: A method for detecting safety of a driving behavior, an apparatus, a device and a storage medium are provided. The method includes acquiring current driving data of a vehicle during a driving process of the vehicle; determining current driving behavior feature data of the vehicle according to the current driving data of the vehicle; inputting the current driving behavior feature data of the vehicle into a real-time safety detection model and calculating a security score corresponding to current driving behavior of the vehicle; and determining whether the current driving behavior of the vehicle is safe according to the security score corresponding to the current driving behavior of the vehicle. The method can assist an optimization of a vehicle driving system, reduce a safety risk of vehicle driving, and improve a riding experience of the user.