The invention discloses a following vehicle determination method, device and equipment and a storage medium, and the method comprises the steps: obtaining a center line of a lane where a current vehicle runs, and taking the center line as a reference line of a Frenet coordinate system, and building the Frenet coordinate system; determining predicted driving information of the obstacle vehicle under the Frenet coordinate system at the current moment based on historical driving information of the obstacle vehicle of the current vehicle at the previous moment; the current driving information of the obstacle vehicle at the current moment and the first lane changing probability of the obstacle vehicle at the previous moment are obtained; determining a second lane changing probability of the obstacle vehicle at the current moment based on a Gaussian distribution function, the predicted driving information, the current driving information and the first lane changing probability; and determining whether the obstacle vehicle is a following vehicle by using the second lane changing probability. Whether the obstacle vehicle is the following vehicle is predicted based on the driving information at the multiple moments in combination with the Gaussian distribution function, so that the accuracy of determining the following vehicle is relatively high.
本申请公开了一种跟随车辆确定方法、装置、设备及存储介质,方法为获取当前车辆行驶的车道的中心线,以中心线为Frenet坐标系的参考线,建立Frenet坐标系;基于当前车辆的障碍物车辆在前一时刻的历史行驶信息,确定障碍物车辆在当前时刻在Frenet坐标系下的预测行驶信息;获取障碍物车辆在当前时刻的当前行驶信息、障碍物车辆在前一时刻的第一变道概率;基于高斯分布函数、预测行驶信息、当前行驶信息、第一变道概率,确定障碍物车辆在当前时刻的第二变道概率;利用第二变道概率确定障碍物车辆是否为跟随车辆。基于多个时刻的行驶信息并结合高斯分布函数预测障碍物车辆是否为跟随车辆,使得确定跟随车辆的准确度较高。
Following vehicle determination method and device, equipment and storage medium
跟随车辆确定方法、装置、设备及存储介质
2025-05-06
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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