The invention discloses a self-vehicle driving path identification method used for ACC and AEB and fusing multi-sensor information. Comprising the following steps: (1) establishing a two-degree-of-freedom vehicle model based on a vehicle filter and driving path prediction, and predicting a driving path through an estimation and hypothesis model of a current state of a vehicle; (2) establishing a road geometric estimation model based on a visual sensor; (3) establishing a driver steering intention recognition method; (4) fusing the driving path predicted by the two-degree-of-freedom vehicle model and the driving path estimated by the road geometric estimation model based on the driving mode obtained by the steering intention recognition method established in the step (3); and (5) estimating the comprehensive path. According to the method, the multiple vehicle-mounted sensors and Kalman filtering are utilized, different fusion modes are selected under different conditions under the condition that the intention of a driver is considered, and therefore accurate path prediction is achieved.
本发明公开一种用于ACC与AEB的融合多传感器信息的自车行驶路径识别方法。包括如下步骤:(1)建立基于车辆滤波器和行车路径预测的二自由度车辆模型,通过对车辆当前状态的估计和假设的模型来预测行驶路径;(2)建立基于视觉传感器的道路几何估计模型;(3)建立驾驶员转向意图识别方法;(4)基于步骤(3)建立的转向意图识别方法得到的驾驶模式,将二自由度车辆模型预测的行驶路径和道路几何估计模型估计的行驶路径进行融合;(5)对综合路径进行估计。本发明通过利用多车载传感器和卡尔曼滤波,在考虑驾驶员意图的情况下,于不同情况下选择不同融合方式,从而达到较为精准的路径预测。
Self-vehicle driving path identification method fusing multi-sensor information for ACC and AEB
用于ACC与AEB的融合多传感器信息的自车行驶路径识别方法
2022-03-15
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 |
Europäisches Patentamt | 2022
|Driving decision-making system and method fusing vision and sensor information
Europäisches Patentamt | 2020
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