The invention relates to the field of automatic driving, and provides a self-adaptive speed regulation preceding vehicle following method, which comprises the following steps of: acquiring a target vehicle tail image which keeps a safe distance with a target vehicle at the previous moment and a target vehicle tail image at the current moment; obtaining a first region of interest and a second region of interest; obtaining all first feature points and all second feature points; actual vehicle distances between every two first feature points and every two second feature points in all the feature point pairs are obtained; calculating the variance of all actual vehicle distances, and when the variance is greater than a variance threshold value, determining that the target vehicle is turning at the current moment; calculating a turning angle of the target vehicle; the vehicle speed of the following vehicle is adjusted; and when it is judged that the target vehicle does not have the turning state, the vehicle speed of the following vehicle is adjusted. According to the invention, following of the front vehicle can be realized under the condition that the front vehicle turns.
本发明涉及自动驾驶领域,提出了一种自适应速度调节的前车跟随方法,包括:获取前一时刻与目标车辆保持安全距离的目标车辆车尾图像和当前时刻的目标车辆车尾图像;获取第一和第二感兴趣区域;获取所有第一特征点和所有第二特征点;获取所有特征点对中两两第一特征点和两两第二特征点之间的实际车距;计算得到的所有实际车距的方差,当该方差大于方差阈值时,则目标车辆在当前时刻正在转弯;计算目标车辆的转弯角度;对跟车的车辆速度进行调整;当判断目标车辆不存在拐弯状态,对跟车的车辆速度进行调整。本发明能够在前车转弯情况下实现对前车的跟随。
Front vehicle following method for self-adaptive speed adjustment
一种自适应速度调节的前车跟随方法
2022-11-01
Patent
Electronic Resource
Chinese
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