The invention discloses a coordinate system conversion-based vehicle lateral driving condition identification method and system, and aims to simply and accurately identify the vehicle lateral driving condition. The method comprises the following steps: converting a vehicle driving track of a global Cartesian coordinate system into a Frenet coordinate system; calculating identification index data of the lateral driving condition of the vehicle, wherein the identification index data comprises a vehicle track slope absolute value based on a Frenet coordinate system, a vehicle track slope absolute value based on a global Cartesian coordinate system and a direction factor; and based on the calculated working condition identification index data, determining a vehicle lateral driving process to which the to-be-identified vehicle driving working condition belongs, including a lane keeping driving working condition and a lane changing driving working condition. The invention further provides a system for recognizing the lateral driving working condition of the vehicle based on coordinate system conversion. According to the method, the vehicle track slopes of the global Cartesian coordinate system and the Frenet coordinate system are adopted to identify the lateral working condition, so that the method has high applicability and is simpler and more direct.
本发明公开了一种基于坐标系转换的车辆侧向行驶工况识别方法及系统,旨在简明准确地进行车辆侧向工况识别。该方法包括:将全局Cartesian坐标系的车辆行驶轨迹转换至Frenet坐标系;对车辆侧向行驶工况的识别指标数据进行计算,包括基于Frenet坐标系的车辆轨迹斜率绝对值、基于全局Cartesian坐标系的车辆轨迹斜率绝对值和方向因子;基于计算的工况识别指标数据,确定待识别车辆行驶工况所属的车辆侧向行驶过程,包括车道保持行驶工况和换道行驶工况。本发明还提供了一种基于坐标系转换的车辆侧向行驶工况识别系统。本发明由于采用全局Cartesian坐标系和Frenet坐标系的车辆轨迹斜率进行侧向工况识别,具有较强的适用性,更简明直接。
Method and system for identifying lateral driving working condition of vehicle based on coordinate system conversion
一种基于坐标系转换的车辆侧向行驶工况识别方法及系统
2022-11-25
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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