The invention discloses a curve scene local lane nearest preceding vehicle screening method, which comprises the following steps: S1, based on target information, calculating an overlapping rate of a target and a local vehicle and a target lane attribution, selecting a target with the nearest distance in a local lane as a nearest preceding vehicle, and recording a distance Xc between the nearest preceding vehicle and the local vehicle; s2, judging whether the vehicle is located at a curve of the vehicle or not; if the vehicle is in the curve, executing the step S3, otherwise, executing the step S4; s3, according to the curvature mean value T of the left and right lane lines and the vehicle speed V, obtaining a longitudinal distance threshold Xt for avoiding error screening through two-dimensional table look-up; if Xc is greater than Xt, correcting the target as a vehicle which is not closest to the lane; and S4, transmitting the screened information of the nearest preceding vehicle on the lane to an expected acceleration planning module of the adaptive cruise control system. According to the invention, the situation that vehicles in other lanes are wrongly identified as the nearest preceding vehicle in the lane in the curve scene can be avoided, the accuracy of identifying the nearest preceding vehicle in the lane in the curve scene can be improved, and mass production is easy to realize and popularize.

    本发明公开了一种弯道场景本车道最近前车筛选方法,包括:S1,基于目标信息,计算目标与自车的重叠率及目标车道归属,选择本车道内距离最近的目标作为最近前车,记录最近前车与自车距离Xc;S2,判断是否处于自车弯道;若自车处于弯道则执行步骤S3,否则执行步骤S4;S3,根据左右侧车道线的曲率均值T和自车速度V,通过二维查表获取避免误筛选的纵向距离阈值Xt;若Xc大于Xt将该目标修正为非本车道最近前车;S4,将筛选后的本车道最近前车信息传递给自适应巡航控制系统的期望加速度规划模块。本发明能避免在弯道场景下错误将其他车道的车辆识别为本车道内的最近前车的情况,能够提升弯道场景下本车道最近前车识别的准确度,易于量产实现和推广。


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    Titel :

    Curve scene lane nearest preceding vehicle screening method and storage medium


    Weitere Titelangaben:

    弯道场景本车道最近前车筛选方法及存储介质


    Beteiligte:
    TIAN HE (Autor:in) / LIANG YONGBIN (Autor:in) / LI TIANHUI (Autor:in) / LIN ZHIGUI (Autor:in) / LI YAN (Autor:in) / YU LIDONG (Autor:in) / LI HAO (Autor:in)

    Erscheinungsdatum :

    21.02.2025


    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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