The invention discloses a crossroad opposite coming vehicle orientation and trajectory determination method and related equipment. The method comprises the following steps: acquiring image information of an opposite vehicle; obtaining opposite vehicle corner point information based on the opposite vehicle image information; taking an intersection point closer to the vehicle as a reference point; acquiring reference point speed information and course angle information based on the reference point position information corresponding to the at least two signal periods; acquiring predicted position information and predicted course angle information of the vehicle according to the reference point speed information, the course angle information and the course angular speed information based on the basic motion model; performing one-step prediction by using a first Kalman filter according to the predicted position information and the predicted course angle information of the vehicle to obtain a state value at the next moment and a covariance thereof; based on the state value at the next moment, the covariance of the state value and the measurement data of the sensor, a second Kalman filter is used for correcting the predicted value, and the state estimation value and the covariance at the current moment are calculated; and determining an orientation and a trajectory based on the state estimation value and the covariance at the current moment.

    本申请公开了一种十字路口对向来车方位及轨迹确定方法及相关设备,包括:获取对向车辆图像信息;基于对向车辆图像信息获取对向车辆角点信息;将距离本车辆较近的交点作为参考点;基于至少两个信号周期对应的参考点位置信息获取参考点速度信息和航向角信息;基于基本运动模型根据参考点速度信息、航向角信息和航向角速度信息获取车辆预测位置信息和预测航向角信息;根据车辆预测位置信息和预测航向角信息利用第一卡尔曼滤波器进行一步预测,获取下一时刻状态值及其协方差;基于下一时刻状态值及其协方差和传感器的测量数据,利用第二卡尔曼滤波器修正预测值,计算当前时刻的状态估计值和协方差;基于当前时刻的状态估计值和协方差确定方位及轨迹。


    Access

    Download


    Export, share and cite



    Title :

    Method for determining direction and track of vehicle coming in opposite direction at crossroad and related equipment


    Additional title:

    十字路口对向来车方位及轨迹确定方法及相关设备


    Contributors:
    WEN YI (author) / HE BANBEN (author) / CHEN JIAN (author) / DU SHAOXUAN (author) / LI RUNLI (author)

    Publication date :

    2025-01-10


    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



    Overtaking decision-making method considering vehicle coming in opposite direction

    GUAN XIN / CAI LEI / JIA XIN et al. | European Patent Office | 2023

    Free access

    Early warning method, device and equipment for vehicle coming in opposite direction and storage medium

    LI CAIWEI / YANG HANG / QU BAIXUE et al. | European Patent Office | 2024

    Free access


    Method for determining driving direction of vehicle

    ZHAO HONGDONG / ZHAO YAZHOU / HAN LIYING et al. | European Patent Office | 2024

    Free access