Embodiments for assisting steering of a vehicle responsive to detecting an object in a proximity of a vehicle are described. Embodiments described include: receiving an image of a lane indicator corresponding to a lane of travel of the vehicle from an image capturing device; determining, based on the image, reference values corresponding to a position of the lane indicator relative to the vehicle; associating each of the reference values to values used to locate a point within a reference frame related to a direction the vehicle is traveling; receiving position information of an object in an environment external to the vehicle from a radar sensor; determining, based on the values and the position information, an assigned lane of the object; detecting an impending change of the lane of travel of the vehicle to the assigned lane of the object; generating a steering control value based on the impending change.
描述了用于响应于检测到车辆附近的对象而辅助车辆转向的实施例。描述的实施例包括:从图像捕获装置接收与车辆的行驶车道相对应的车道指示符的图像;基于该图像,确定与车道指示符相对于车辆的位置相对应的参考值;将每个参考值与用于定位在与车辆行驶方向相关的参考系中的点的值相关联;从雷达传感器接收车辆外部环境中对象的位置信息;基于值和位置信息,确定对象的分配车道;检测车辆的行驶车道到对象的分配车道的即将发生的改变;基于即将发生的改变生成转向控制值。
SYSTEMS AND METHODS FOR OBSTACLE PROXIMITY DETECTION
用于障碍物接近检测的系统和方法
2021-08-20
Patent
Elektronische Ressource
Chinesisch