The invention belongs to the technical field of intelligent auxiliary driving, and provides a radar-based target tracking method and system in a curve scene in order to improve the stability of target tracking, and the system comprises a radar, a working condition recognition module, a curve optimization module and a self-adaptive cruise module. According to the curvature, detected by the radar, of the strip-shaped building arranged along the road and the steering angle of the vehicle, whether the working condition is a turning working condition or not is judged; when it is judged that the working condition is the turning working condition, a curve curve is optimized according to the curvature of the strip-shaped building; and tracking a front target according to the optimized curve. According to the method, the curve of the curve is optimized by utilizing the curvature of the strip-shaped building, the curve more conforms to the curve of a real scene, and the motion trails of the vehicle and the target vehicle tend to be consistent, so that the following vehicle in the curve is not easy to lose the front target vehicle or generate target jump, and the stability of target tracking is improved. According to the method, the stability of target tracking is improved, so that the acceleration and deceleration switching frequency can be reduced, and the comfort is improved.
本发明属于智能辅助驾驶技术领域,为了提高目标跟踪的稳定性,提供一种基于雷达的弯道场景下的目标跟踪方法与系统,包括雷达、工况识别模块、弯道曲线优化模块以及自适应巡航模块;根据雷达探测到的沿道路设置的带状建筑的曲率以及自车的转向角判断是否为转弯工况;当判断为转弯工况时,则根据所述带状建筑的曲率优化弯道曲线;根据优化后的弯道曲线跟踪前方目标。本发明利用带状建筑物的曲率来优化弯道曲线,更加符合现实场景的弯道,自车与目标车辆的运动轨迹更趋于一致,因此弯道中跟车不容易丢失前方目标车辆或发生目标跳变,提高了目标跟踪的稳定性。本发明由于提高了目标跟踪的稳定性,就能降低加减速切换频率,提高舒适度。
Radar-based target tracking method and system in curve scene
基于雷达的弯道场景下的目标跟踪方法与系统
2023-09-29
Patent
Electronic Resource
Chinese
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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