The invention provides a target tracking path selection method and device for an intelligent driving vehicle. The method comprises the following steps that: the variation quantities of the relative lateral distances between a vehicle center line and a right lane line, a left lane line and a lane center line after preview time are separately calculated; when the relative lateral variation quantitybetween the vehicle center line and the lane center line does not exceed the smaller value in the other two variation quantities, the lane center line equation is selected as a target tracking path, so that frequent switching for tracking between lane lines are avoided; when the relative lateral variation quantity of the vehicle center line and the lane center line exceeds the relatively smaller value in the other two variation quantities, the non-zero-order coefficient of a lane line equation corresponding to the smaller value in the other two variation quantities is selected as the corresponding order coefficient of the target tracking path to perform trajectory tracking, so that the variable quantity of the line driving state of a vehicle is reduced, the driving risk is reduced, more response time is provided for a driver, and the driving safety is improved.

    本发明提供了一种智能驾驶车辆的目标跟踪路径选择方法及装置,方法包括分别计算经过预瞄时间后本车中线与右侧车道线、左侧车道线以及车道中线的相对侧向距离的变化量,在本车中线与车道中线的相对侧向的变化量未超过其它两个变化量中较小值太多时,选择车道中线方程作为目标跟踪路径,避免了频繁在各个道线之间切换跟踪;在本车中线与车道中线的相对侧向的变化量,超过其它两个变化量中较小值太多时,选择其它两个变化量中较小值对应的道线方程的非零阶系数作为目标跟踪路径的对应阶系数进行轨迹跟踪,进而减小本车中线行驶状态的变化量,减小行驶风险,给予驾驶员更多的反应时间,增加了行驶安全性。


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    Title :

    Target tracking path selection method and device for intelligent driving vehicle


    Additional title:

    智能驾驶车辆的目标跟踪路径选择方法及装置


    Contributors:
    DONG WENLONG (author) / CAI ZHIKAI (author)

    Publication date :

    2020-09-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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