The invention discloses an automatic driving vehicle following track planning system and method, a vehicle and a storage medium. The method comprises steps of carrying out tracking fusion processing of a received vehicle target, carrying out position tracking of the processed vehicle target, obtaining the historical driving track of each vehicle, analyzing the historical driving track of each target vehicle, estimating an expected tracking traffic flow trajectory of the vehicle according to the driving trajectory information of each target vehicle, outputting a first target vehicle-following trajectory cut-in and cut-out flag bit at the same time, and planning an expected tracking trajectory of the first target when the first target has and does not have a cut-in and cut-out trend; when a good target track is effective, a first target track being outputted for transverse control tracking, otherwise, when the traffic flow track is effective, a traffic flow track being outputted for transverse tracking, and smooth transition being carried out when the first target track and the traffic flow track are switched. According to the method, cut-in and cut-off vehicles can be effectively eliminated, the vehicle following distance is prolonged, and the driving experience and the sense of safety are improved.
本发明公开了自动驾驶的跟车轨迹规划系统、方法、车辆及存储介质,包括:对接收到的车辆目标进行追踪融合处理,然后对于处理后的车辆目标进行位置跟踪得到各车辆的历史行驶轨迹,通过分析各个目标车辆的历史行驶轨迹,综合各个目标车辆的行驶轨迹信息估计出本车预期跟踪的车流轨迹线,同时输出1号目标跟车轨迹切入切出标志位,当1号目标存在且不存在切入切趋势时规划出1号目标预期跟踪的轨迹,当一好目标轨迹有效则输出1号目标轨迹用于横向控制跟踪,否则当车流轨迹有效时输出车流轨迹用于横向跟踪,其中在1号目标轨迹与车流轨迹切换时进行平滑过渡。本发明能够有效地剔除切入切除车辆,延长跟车距离,提高了驾驶体验与安全感。
Vehicle following track planning system and method for automatic driving, vehicle and storage medium
自动驾驶的跟车轨迹规划系统、方法、车辆及存储介质
2021-09-21
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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