The invention relates to a target obstacle vehicle determination method and device, a vehicle and a medium. The target obstacle vehicle determination method comprises the steps of obtaining a vehicle planning path of the vehicle and predicted trajectories of multiple obstacle vehicles around the vehicle; determining a speed planning curve of the vehicle according to the vehicle planning path and the predicted trajectory, and obtaining target vehicle following distances of the vehicle at different moments based on the speed planning curve; for each moment in different moments, according to the target vehicle following distance corresponding to the moment and the actual distance between the vehicle and the multiple obstacle vehicles at the moment, a total loss value corresponding to the moment is obtained, and the total loss value is determined according to loss values between the vehicle and the multiple obstacle vehicles; and determining the maximum total loss value from the total loss values at different moments, and determining the obstacle vehicle corresponding to the loss value with the maximum proportion in the maximum total loss value as a target obstacle vehicle. According to the invention, better interaction experience can be brought to the driver of the vehicle and the driver of the obstacle vehicle.
本公开涉及一种目标障碍车确定方法、装置、车辆及介质,包括获取车辆的自车规划路径以及车辆周围的多个障碍车的预测轨迹;根据自车规划路径以及预测轨迹,确定车辆的速度规划曲线,并基于速度规划曲线得到不同时刻下的车辆的目标跟车距离;针对不同时刻中的每一时刻,根据该时刻对应的目标跟车距离,以及该时刻下车辆与多个障碍车的实际距离,获得对应该时刻的总损失值,总损失值根据车辆与多个障碍车之间的损失值确定;从不同时刻下的总损失值中确定最大的总损失值,并将最大的总损失值中占比最大的损失值对应的障碍车确定为目标障碍车。本公开可以给车辆驾驶员和障碍车驾驶员之间带来更好的交互体验。
Target obstacle vehicle determination method and device, vehicle and medium
目标障碍车确定方法、装置、车辆及介质
2022-11-11
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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