The invention relates to a virtual lane line construction method and system depending on a following target, and the method comprises the following steps: judging whether a current lane line cannot beobtained by a camera or not, extracting all target detection information from a sensing result if the current lane line cannot be obtained by the camera, or else, carrying out the continuous judgment; calculating an initial target deviation of each target according to a pre-established sensing coordinate system; calculating the deviation compensation amount of each target; according to the initial target deviation and the deviation compensation amount of each target, calculating the target deviation of each target after deviation compensation; determining a drivable area between the vehicle and the following target according to the distance of the target center point relative to the origin of the sensing coordinate system and the target deviation of each target, and selecting the following target in the drivable area; and constructing a virtual lane line based on the following target center point and the vehicle center point. The method can be widely applied to the technical field ofadvanced driving assistance systems.
本发明涉及一种依赖跟随目标的虚拟车道线构造方法和系统,包括以下步骤:判断当前车道线是否不能由摄像头获取,若是,则从感知结果中提取所有目标检测信息,否则,持续判断;根据预先建立的感知坐标系,计算各个目标的初始目标偏差;计算各个目标的偏差补偿量;根据各个目标的初始目标偏差和偏差补偿量,计算各个目标进行偏差补偿之后的目标偏差;根据目标中心点相对于感知坐标系原点的距离及各个目标的目标偏差确定自车与跟随目标之间的可行驶区域,并在可行驶区域内选取跟随目标;基于跟随目标中心点及自车中心点构造虚拟车道线。本发明可以广泛应用于高级驾驶辅助系统技术领域。
Virtual lane line construction method and system depending on following target
一种依赖跟随目标的虚拟车道线构造方法和系统
2020-06-12
Patent
Electronic Resource
Chinese
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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