The invention discloses a lane-line-free automatic vehicle following track determination method. The method comprises the steps: determining at least one target vehicle in front of a vehicle; acquiring first motion data of the vehicle and second motion data of each target vehicle; determining a first driving track of the vehicle based on the first motion data, and determining a second driving track of each target vehicle based on each second motion data; determining the driving direction of the target vehicle according to the second motion track corresponding to the target vehicle; based on the driving direction of the target vehicle, screening all the target vehicles, and determining at least one to-be-followed vehicle; and determining the following track of the vehicle according to the second driving track and the first driving track corresponding to each to-be-followed vehicle. According to the implementation of the method, on the premise that no lane line exists, the road track which can be most followed can be selected by judging and selecting the tracks of other traffic participants, and thus the practicability and the safety of automatic driving without the lane line can be improved.

    本发明公开了一种无车道线自动跟车轨迹确定方法,包括:确定本车前方的至少一个目标车辆;获取本车的第一运动数据以及每一目标车辆的第二运动数据;基于第一运动数据确定出本车的第一行驶轨迹,并基于每一第二运动数据确定每一目标车辆的第二行驶轨迹;根据目标车辆对应的第二运动轨迹,确定目标车辆的行驶方向;基于目标车辆的行驶方向,对全部目标车辆进行筛选,确定至少一个待跟随车辆;根据每一个待跟随车辆对应的第二行驶轨迹以及第一行驶轨迹,确定出本车的跟车轨迹。本发明的实施能够在没有车道线的前提下,通过对其他交通参与者轨迹的评判选择,可以挑选出最可被追随的道路轨迹,从而提升在无车道线是自动驾驶的实用性和安全性。


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    Titel :

    Lane-line-free automatic vehicle following track determination method and device


    Weitere Titelangaben:

    一种无车道线自动跟车轨迹确定方法及装置


    Beteiligte:
    LI FENGJUN (Autor:in) / ZHOU JIANGUANG (Autor:in) / QIN HONGZHOU (Autor:in) / LI HAIPENG (Autor:in)

    Erscheinungsdatum :

    2021-09-07


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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