The invention discloses a foggy day highway vehicle lane changing driving lane positioning method, which specifically comprises the following steps: a lane determination module obtains vehicle steering state information by using a steering switch, obtains current driving information of a vehicle center through a high-precision BDS module, calls vehicle driving highway information stored in a high-precision map module, and sends the vehicle driving information to a high-precision map module; projecting the vehicle center BDS data to a high-precision map module to obtain the real-time position and course angle of the vehicle center on the high-precision map, measuring the distance between the vehicle center on the high-precision map and the lane center line closest to the lanes on the left side and the right side by using a vertical iteration method, comparing the distance with a set threshold value, and determining the position of the vehicle center on the high-precision map. And judging the lane number of the driving vehicle or the lane changing driving state of the vehicle. According to the method, advanced technologies such as a high-precision BDS and a high-precision electronic map are integrated and applied, the method does not depend on environment sensing technologies such as a camera, and real-time accurate positioning of vehicle lane-changing driving on a highway lane in a foggy day is achieved.

    本发明公开了一种雾天高速公路车辆换道行驶车道定位方法,具体包括:车道判定模块利用转向开关获取车辆转向状态信息,通过高精度BDS模块获取车辆中心的当前行驶信息,调取高精度地图模块中存储的车辆行驶所在高速公路信息,然后将车辆中心BDS数据投影到高精度地图模块上,获得车辆中心在高精度地图上的实时位置和航向角,运用垂直迭代法测量出高精度地图上车辆中心与左右两侧最接近车道的车道中心线的距离,与设定阈值对比,判定行驶车辆所处车道号或车辆换道行驶状态。该方法集成应用高精度BDS与高精度电子地图等先进技术,不依赖于相机等环境感知技术,实现车辆在雾天高速公路车道上换道行驶的实时准确定位。


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    Titel :

    Method for positioning lane changing driving lane of highway in foggy days


    Weitere Titelangaben:

    雾天高速公路车辆换道行驶车道定位方法


    Beteiligte:
    SUN WENJIN (Autor:in) / MIN YONGJUN (Autor:in) / LIN YUFAN (Autor:in)

    Erscheinungsdatum :

    2022-03-22


    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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