The invention relates to automatic driving. A time alignment method used in a vehicle state tracking process comprises the following steps: taking a plurality of or a single vehicle around a vehicle as a target vehicle, wherein the step A1 comprises a sub-step A1.0, a sub-step A1.1 and a sub-step A1.2; the sub-step A1.0, acquiring a tracking state of a target vehicle at a previous moment K-1; the sub-step A1.1, converting the relative speed contained in the tracking state obtained in the sub-step A1.0 into an absolute speed, and obtaining an intermediate state of the target vehicle; the sub-step A1.2, taking the intermediate state obtained in the A1.1 as all parameters or partial parameters for prediction, and obtaining the prediction state of the target vehicle at the current moment K; step A2, calculating the motion trail of the vehicle within the period from the previous moment K-1 to the current moment K (including the previous moment K-1 and the current moment K); and step A3, through translation of the origin of coordinates and rotation of the coordinate system, recombining the motion trail of the vehicle obtained in the step A2 and the prediction state of the target vehicle obtained in the step A1.2 to the coordinate system at the current moment, and completing the time alignment process. The method is ingenious in design, high in sensing precision, high in sensitivity, low in cost, easy to popularize, safer and high in adaptability.
本发明涉及自动驾驶。用于车辆状态跟踪过程中的时间对齐方法:以自车周围的多个或单个车辆作为目标车辆;步骤A1、包含子步骤A1.0、子步骤A1.1和子步骤A1.2:子步骤A1.0、获取上一时刻K‑1目标车辆的跟踪状态;子步骤A1.1、将子步骤A1.0获得的跟踪状态所包含的相对速度转换为绝对速度,获得目标车辆的中间状态;子步骤A1.2、以A1.1获得的中间状态作为全部参数或部分参数进行预测,获得当前时刻K目标车辆的预测状态;步骤A2、计算自车从上一时刻K‑1到当前时刻K(含上一时刻K‑1和当前时刻K),这段时间内的自车运动轨迹;步骤A3、通过坐标原点的平移和坐标系的旋转,将步骤A2获得的自车运动轨迹和步骤A1.2获得的目标车辆的预测状态,重新结合到当前时刻的坐标系下,完成时间对齐的过程。设计巧妙,感知精度高,灵敏度高,成本低廉,容易推广,更安全,适应性高。
Time alignment method used in vehicle state tracking process
用于车辆状态跟踪过程中的时间对齐方法
2021-12-07
Patent
Elektronische Ressource
Chinesisch
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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