The invention discloses a reference lane center line generation method, a vehicle cruise control method and application. The method comprises the steps that the initial motion state quantity of a front vehicle is acquired; performing motion state prediction based on the initial motion state quantity of the front vehicle to obtain a current motion state prediction quantity of the front vehicle; the current motion state observed quantity of the front vehicle is obtained to correct the current motion state predicted quantity of the front vehicle, and the current motion state correction quantity of the front vehicle is obtained; and fitting to generate a reference lane center line based on the current motion state correction of the front vehicle at multiple moments and the track of the vehicle. Therefore, when the lane center line is lost, the reference lane center line generated by fitting can be used as a basis for adaptive cruise control and lane keeping control.
本申请公开了一种参考车道中心线生成方法、车辆巡航控制方法和应用,其中该方法包括获取前车初始运动状态量;基于前车初始运动状态量进行运动状态预测,获得前车当前运动状态预测量;获取前车当前运动状态观测量以修正前车当前运动状态预测量,获得前车当前运动状态修正量;基于多个时刻的前车当前运动状态修正量和本车轨迹,拟合生成参考车道中心线。这样,在车道中心线丢失时,可以以拟合生成的参考车道中心线作为自适应巡航控制和车道保持控制的依据。
Reference lane center line generation method, vehicle cruise control method and application
参考车道中心线生成方法、车辆巡航控制方法和应用
2023-06-02
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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