The invention discloses a track estimation method and device for a vehicle turning at the center of an intersection. The method comprises the steps that the initial position of a target vehicle and the lane position of a target entrance lane are acquired; the initial position is a position where the target vehicle is monitored at the intersection for the last time, and the target entrance lane is an entrance lane where the target vehicle enters the intersection; determining at least one turning track between the at least one exit lane and the target entrance lane according to the lane position of the at least one exit lane associated with the target entrance lane and the lane position of the target entrance lane; the at least one turning track is in one-to-one correspondence with the at least one exit lane; the lane position is a set position on a stop line of the corresponding lane; determining a target exit lane of the target vehicle according to the initial position and the at least one turning track; and determining a target trajectory of the target vehicle according to the lane position of the target exit lane and the initial position. And the track estimation precision of the turning vehicle at the intersection is improved.
本申请公开了一种交叉口中心转弯车辆的轨迹估计方法和设备,该方法包括:获取目标车辆的初始位置和目标入口车道的车道位置;初始位置为目标车辆在交叉口最后一次被监控到的位置,目标入口车道为目标车辆驶入交叉口的入口车道;根据目标入口车道关联的至少一个出口车道的车道位置,以及,目标入口车道的车道位置,确定至少一个出口车道与目标入口车道之间的至少一个转弯轨迹;至少一个转弯轨迹和至少一个出口车道一一对应;车道位置为相应车道的停止线上的设定位置;根据初始位置和至少一个转弯轨迹,确定目标车辆的目标出口车道;根据目标出口车道的车道位置和初始位置,确定目标车辆的目标轨迹。提高对交叉口的转弯车辆的轨迹估计精度。
Trajectory estimation method and device for vehicles turning at center of intersection
一种交叉口中心转弯车辆的轨迹估计方法和设备
24.12.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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