The invention discloses a method and a device for realizing wrong meeting of an automatic driving vehicle. Historical state information of a barrier vehicle is recorded by using a state container based on a key data frame. Moreover, the detection logic of the key data frame is further reasonably designed, the state information of the key moment is selected and recorded, and a large amount of invalid information is eliminated, so that more complete obstacle vehicle state information is recorded under the limitation of the same physical capacity, a guarantee is provided for better identifying a wrong meeting object, and the detection accuracy of the wrong meeting object is improved. And meanwhile, the safety of automatic driving is also ensured. Furthermore, the obstacle vehicle is determined to be a wrong meeting object through three levels of judgment, so that the problems of false detection and missing detection caused by dynamic and static false detection and incomplete historical information are eliminated, the wrong meeting object is identified more accurately, and the safety of automatic driving is better guaranteed.

    本申请公开了一种自动驾驶车辆实现错会车的方法及装置,使用基于关键数据帧的状态容器记录了障碍物车辆的历史状态信息。而且,进一步通过合理设计关键数据帧的检测逻辑,选择记录了关键时刻的状态信息,剔除了大量无效信息,这样,在相同物理容量的限制下,记录了更完整的障碍物车辆状态信息,为更好地识别错会车对象提供了保障,同时也保障了自动驾驶的安全性。进一步地,通过三个层次的判断,确定出障碍物车辆为错会车对象的方式,排除了由动静态误检、历史信息不全导致的误检和漏检的问题,更准地识别出了错会车对象,更好地保障了自动驾驶的安全性。


    Access

    Download


    Export, share and cite



    Title :

    Method and device for realizing wrong meeting of automatic driving vehicles


    Additional title:

    一种自动驾驶车辆实现错会车的方法及装置


    Contributors:
    LU YIFAN (author) / HU JIN (author) / LIU YUNFU (author)

    Publication date :

    2022-03-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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






    WRONG-WAY DRIVING DETECTING DEVICE, AND WRONG-WAY DRIVING DETECTING METHOD

    OISHI YASUO / IIHOSHI AKIRA / KAKINUMA ATSUKI et al. | European Patent Office | 2021

    Free access

    WRONG DRIVING DETERMINATION DEVICE

    WATABE TOMOHIRO / KANEKO YUTAKA | European Patent Office | 2019

    Free access