The invention discloses a method and a device for determining a driving lane of an automatic driving vehicle. The method comprises: obtaining a plurality of scattering points detected by a millimeter-wave radar in the driving process of the automatic driving vehicle, and the scattering points being points scattered back when electromagnetic wave signals emitted by the millimeter-wave radar encounter the vehicle on a road and spacers in the middle or on the two sides of the road; screening out points scattered by the spacers in the middle or on the two sides of the road from the plurality of scattering points to serve as target scattering points; according to the coordinate values of the target scattering points under the vehicle body coordinate system of the automatic driving vehicle, fitting a curve where the spacer is located; and determining a driving lane where the automatic driving vehicle is located according to the distance from the automatic driving vehicle to the curve. The technical problem that when the GPS signal is poor, it is difficult for an automatic driving vehicle to locate the driving lane where the vehicle is located in real time only by means of the GPS signalcan be solved.
本申请公开了一种确定自动驾驶车辆的行驶车道的方法及装置。其中,该方法包括:在自动驾驶车辆行驶过程中获取毫米波雷达检测到的多个散射点,其中,多个散射点是由毫米波雷达发射的电磁波信号遇到道路上的车辆以及道路中间或两侧的隔离物散射回来的点;从多个散射点中筛选出由道路中间或两侧的隔离物散射回来的点,作为目标散射点;依据目标散射点在自动驾驶车辆的车身坐标系下的坐标值拟合出隔离物所在的曲线;依据自动驾驶车辆到曲线的距离确定自动驾驶车辆所在的行驶车道。本申请可以解决当GPS信号较差时,自动驾驶车辆仅仅依靠GPS信号难以实时定位车辆所在的行驶车道的技术问题。
Method and device for determining driving lane of automatic driving vehicle
确定自动驾驶车辆的行驶车道的方法及装置
2020-11-20
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / 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 / G01S RADIO DIRECTION-FINDING , Funkpeilung |
DRIVING LANE DETERMINING DEVICE AND DRIVING LANE DETERMINING METHOD
European Patent Office | 2016
|Lane-level automatic driving method and device and automatic driving equipment
European Patent Office | 2024
|European Patent Office | 2023
|Automatic driving vehicle toll station lane selection method
European Patent Office | 2020
|