The invention relates to a vehicle following target decision method, a vehicle and a storage medium. According to the method, global path information is adopted as prior, a motion model is established in combination with vehicle positioning information and state information, obstacle data information is sensed, under the condition that extra lane line detection is not needed, a grid space is utilized to describe a lane model more accurately compared with a cubic fitting curve of lane line detection, and the lane line detection accuracy is improved. And completing the preliminary modeling of the lane and the environment where the vehicle is located. And further screening out a car following target according to the spatial position relationship. According to the scheme, in the low-speed driving environment such as parking, the safety and stability of the vehicle are guaranteed when the front vehicle is cut in and cut out. By adopting the method, the influence of scene complexity and real-time performance can be avoided on the basis of considering the cost, so that the safety and the riding comfort of the automatic driving vehicle are effectively improved.

    本发明涉及一种跟车目标决策方法、车辆及存储介质。本发明采用全局路径信息作为先验,结合自车定位信息和状态信息建立运动模型,以及感知障碍物数据信息,在不需要额外车道线检测的情况下,利用栅格空间比车道线检测的三次拟合曲线更准确地描述了车道模型,完成车道和本车所处环境的初略建模。进一步根据空间位置关系筛选出跟车目标。该方案在泊车等低速行驶环境,保证了前车切入切出时本车的安全性和平稳性跟车。采用此方法可以在考虑成本的基础上,不受场景复杂性和实时性的影响,从而有效提高了自动驾驶车辆的安全性和乘坐舒适性。


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    Titel :

    Vehicle following target decision-making method, vehicle and storage medium


    Weitere Titelangaben:

    一种跟车目标决策方法、车辆及存储介质


    Beteiligte:
    WEN TAO (Autor:in) / KONG ZHOUWEI (Autor:in) / YOU HONG (Autor:in)

    Erscheinungsdatum :

    2022-06-24


    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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