The invention relates to a vehicle-following target selection method and device and a computer readable storage medium, and aims to solve or relieve the problem that an ideal vehicle-following target cannot be effectively selected when a lane changing intention of a vehicle is recognized. The vehicle-following target selection method comprises the following steps: determining whether a vehicle has a lane changing intention or not, and determining a lane changing intersection point for each obstacle vehicle when the vehicle has the intention, namely, the intersection point of a virtual advancing route of the vehicle for the obstacle vehicle and the center line of a virtual adjacent lane; judging whether the obstacle vehicle is in front of or behind the lane changing intersection currently; if the obstacle vehicle is in front of the lane changing intersection point, determining the lateral deviation of the obstacle vehicle relative to the future advancing route of the vehicle according to the fitted virtual advancing route of the vehicle; and if after the lane changing intersection point, determining the lateral deviation of the obstacle vehicle relative to the future advancing route of the vehicle by fitting the center lines of the adjacent lanes. According to the invention, missed selection and wrong selection of the car following targets can be effectively reduced, and the accuracy and speed of target selection can be effectively improved.
本发明涉及跟车目标的选择方法和装置及计算机可读存储介质,用于解决或缓解识别到自车的变道意图时,无法有效选择理想的跟车目标的问题。该跟车目标的选择方法包括:确定自车是否有变道意图,在有意图时,针对各障碍车:确定变道交点,即针对该障碍车的自车虚拟前进路线与虚拟的相邻车道的中心线的交点;判断该障碍车当前在变道交点之前还是之后;如果在变道交点之前,针对拟合的自车虚拟前进路线,确定该障碍车相对于自车未来行进路线的横向偏移;以及如果在变道交点之后,则通过拟合相邻车道的中心线,确定该障碍车相对于自车未来行进路线的横向偏移。根据本发明,能够有效地减少漏选和误选跟车目标,可以有效提高目标选择正确率和速度。
Vehicle following target selection method and device and computer readable storage medium
跟车目标的选择方法和装置及计算机可读存储介质
06.02.2024
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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