Beijing Jingdong Qianshi Technology Co., Ltd.

Bai Li

Xuepeng Bian

A method and apparatus for achieving vehicle-road coordination at an intersection without signal lights, the method comprising: acquiring information used for trajectory planning, and inputting the information used for trajectory planning into a model for planning a vehicle driving trajectory to obtain planned trajectory information, wherein the model used for planning the vehicle driving trajectory determines constraint conditions for avoiding collisions on the basis of road region width information in a plane coordinate system, the coordinates of obstacles, and the coordinates and traffic action types of each vehicle, and determines a loss function on the basis of motion state parameters of each vehicle and the coordinates of each vehicle; and on the basis of the planned trajectory information, driving each vehicle to drive.

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Beijing, China

Bai Li