The invention provides a vehicle track prediction and dangerous target selection method, a medium and equipment. The method comprises the following steps: when a lane line reference line equation is available, constructing a first transverse distance between a vehicle and a target vehicle based on a lane line; when the lane line reference line equation is unavailable, constructing a second transverse distance between the vehicle and the target vehicle based on the vehicle driving curvature; fusing the first transverse spacing and the second transverse spacing to obtain a fused transverse spacing; and configuring target transverse thresholds of the lane, the left lane and the right lane based on the fused transverse spacing, so as to screen out dangerous target vehicles closest to different lanes in front. According to the method, the lane line information and the vehicle driving curvature are combined to estimate the transverse distance between the vehicle and the target object, and a curve compensation algorithm is added during estimation, so that the scene adaptability is improved, and the technical problems of track prediction and target selection of the vehicle in a complex scene are effectively solved.
本申请提供一种车辆轨迹的预测与危险目标的选择方法、介质及设备。所述方法包括:包括:在车道线参考线方程可用时,基于车道线构建本车与目标车辆之间的第一横向间距;在车道线参考线方程不可用时,基于车辆行驶曲率构建本车与目标车辆之间的第二横向间距;将所述第一横向间距和所述第二横向间距进行融合,获得融合横向间距;基于所述融合横向间距配置本车道与左右车道的目标横向阈值,以筛选出前方不同车道距离最近的危险目标车辆。本申请结合了车道线信息以及车辆行驶曲率融合估算本车与目标对象之间的横向间距,并且在估算时增加了弯道补偿算法,提高了场景适应性,有效解决车辆在复杂场景下轨迹预测和目标选择的技术问题。
Vehicle track prediction and dangerous target selection method, medium and equipment
车辆轨迹的预测与危险目标的选择方法、介质及设备
2024-04-09
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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