Non-signalized intersection intelligent network connection vehicle collaborative decision planning method and device

The invention relates to a non-signalized intersection intelligent network connection vehicle collaborative decision planning method and device. The method comprises the following steps: for each vehicle in an intersection expansion range, performing grouping processing on each vehicle according to expected arrival time of each vehicle arriving at an intersection and a preset upper limit of the number of vehicles in a vehicle group to obtain a plurality of vehicle groups; and for any vehicle group, according to the initial direction and the destination direction of each vehicle in the vehicle group, determining a target vehicle track group corresponding to the vehicle group from each pre-generated vehicle track group, and performing control processing on each vehicle according to a target vehicle track corresponding to each vehicle in the target vehicle track group. By adopting the method, the vehicle trajectory planning efficiency can be improved. 本申请涉及一种无信号交叉口智能网联车辆协同决策规划方法及装置。所述方法包括：针对交叉口扩展范围内的各车辆，按照各车辆到达交