The invention discloses a crossing tracking method based on a front vehicle track, and the method comprises the steps: determining the relative position information of at least one to-be-screened vehicle-following object corresponding to a target vehicle at the current moment when detecting that the target vehicle passes through a crossing, and determining candidate vehicle-following objects based on the relative position information; for each candidate vehicle following object, determining a current tracking trajectory of the current candidate vehicle following object based on the predicted variable quantity of the target vehicle, the current relative position information of the current candidate vehicle following object at the current moment and the corresponding historical relative position information; and determining a target tracking trajectory from the current tracking trajectory of each candidate vehicle following object based on a consistency judgment result between each candidate vehicle following object and a historical vehicle following object at a previous moment of the current moment, so as to control the target vehicle to run based on the target tracking trajectory. The safety and tracking smoothness of the vehicle are improved when the vehicle passes through the lane-free line opening based on the auxiliary driving function.
本发明公开了一种基于前车轨迹的过路口跟踪方法,当检测到目标车辆通过路口时,确定当前时刻目标车辆所对应的至少一个待筛选跟车对象的相对位置信息,以基于相对位置信息确定候选跟车对象;针对各候选跟车对象,基于目标车辆的预测变化量、当前候选跟车对象在当前时刻的当前相对位置信息以及相应的历史相对位置信息,确定当前候选跟车对象的当前跟踪轨迹;基于各所述候选跟车对象与所述当前时刻的上一时刻的历史跟车对象之间的一致性判断结果,从各所述候选跟车对象的所述当前跟踪轨迹中确定目标跟踪轨迹,以基于所述目标跟踪轨迹控制所述目标车辆行驶,提高了车辆基于辅助驾驶功能通过无车道线路口时,车辆的安全性和跟踪平顺性。
Crossing tracking method based on front vehicle track
一种基于前车轨迹的过路口跟踪方法
2024-04-09
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 |
European Patent Office | 2021
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