The invention provides an intersection vehicle following method based on multi-sensor fusion. The intersection vehicle following method comprises steps S1 to S3. In the step S1, information such as the distance between a vehicle and a front target vehicle, the distance between the vehicle and a traffic light and the state of a steering lamp of the target vehicle is obtained through a radar and a camera, and whether the intersection following mode is started or not is judged according to the distance and the state of the steering lamp. In the step S2, different following modes are selected according to steering lamp signals and traffic light colors of the vehicle and the target vehicle, the relative position and speed of the target vehicle are obtained through a radar and a camera, the real-time collision time is calculated, and the speed of the vehicle and the steering angle of a steering wheel are controlled to automatically follow the vehicle on the premise that collision at the intersection is avoided. In the step S3, the exit of the intersection following mode is judged according to the road identification identified by the camera. The method can improve the safety and stability of vehicle driving, and is suitable for an automatic driving system.

    本发明提供一种基于多传感器融合的路口车辆跟随方法,包括步骤S1~S3。在步骤S1中,通过雷达和摄像头获取自车与前方目标车之间的距离、自车与红绿灯之间的距离以及目标车转向灯状态等信息,并根据距离和转向灯状态判断是否进入路口跟随模式。在步骤S2中,根据本车和目标车的转向灯信号以及红绿灯颜色选择不同的跟随模式,并利用雷达和摄像头获取目标车相对位置和速度计算实时碰撞时间,控制自车速度和方向盘转角来达到在路口避免碰撞的前提下自动跟随车辆。在步骤S3中,根据摄像头识别的路面标识来判断退出路口跟随模式。该发明能够提高车辆行驶的安全性和稳定性,适用于自动驾驶系统。


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    Titel :

    Intersection vehicle following method based on multi-sensor fusion


    Weitere Titelangaben:

    基于多传感器融合的路口车辆跟随方法


    Beteiligte:
    XIONG PANPAN (Autor:in) / WANG FANGQUAN (Autor:in) / YU CHEN (Autor:in) / YU HAO (Autor:in) / YAN YIXIONG (Autor:in)

    Erscheinungsdatum :

    2023-06-30


    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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