The embodiment of the invention provides an automatic driving dangerous target determination method and device. The method comprises the steps of determining a dangerous region and a track prediction period through the motion state data of a first vehicle, predicting the motion track of a target around the first vehicle in a track prediction period, and determining whether the target is a potential dangerous target by using the motion track and the dangerous region. The potential dangerous target is determined from the targets around the first vehicle according to the kinetic parameters of the first vehicle, and dependence on lane lines is avoided. Meanwhile, false triggering and missed triggering of safety measures are avoided, and the driving safety and comfort of automatic driving are both considered.
本申请实施例提供一种自动驾驶危险目标确定方法及装置,该方法中,利用第一车辆的运动状态数据确定出危险区域和轨迹预测周期,然后,预测第一车辆周边的目标在一个轨迹预测周期内的运动轨迹,进而利用该运动轨迹和危险区域确定目标是否为潜在危险目标。本申请利用第一车辆的动力学参数从第一车辆周边的目标中确定潜在危险目标,摆脱对车道线的依赖性。同时,避免安全措施的误触发和漏触发,兼顾了自动驾驶的行车安全性和舒适性。
Automatic driving dangerous target determination method and device
自动驾驶危险目标确定方法及装置
2021-10-22
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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