The invention belongs to the technical field of vehicle driving, and discloses an obstacle avoidance target recognition method and system applied to a parallel auxiliary driving system, and the method comprises the steps: recognizing a plurality of pieces of obstacle information through a millimeter wave radar, and transmitting the information to a parallel driving terminal controller; the forward obstacle avoidance target recognition software performs first-round screening on the obstacle information by the road surface information classifier by calculating the occurrence probability of an obstacle dangerous event; performing a second round of screening through a driver information classifier; a third round of screening is carried out through the vehicle information classifier; dividing the obstacle targets used for executing obstacle avoidance and output by the third round of screening into static obstacle targets and moving obstacle targets; based on the relative position information of the obstacle target identified by the radar sensor and the relative position condition of the actual road surface, judging whether the vehicle is a curve or not, and judging whether the transverse and longitudinal coordinates need to be corrected or not; and outputting a forward obstacle avoidance target under different working conditions. According to the invention, the problem of correctly identifying the obstacle avoidance target in multiple obstacle targets and multiple working conditions is solved.
本发明属于车辆驾驶技术领域,公开了一种应用于平行辅助驾驶系统的避障目标识别方法及系统,毫米波雷达识别出多个障碍物信息,传输至平行驾驶终端控制器;前向避障目标识别软件将障碍物信息由路面信息分类器通过计算障碍物危险事件的发生概率进行第一轮筛选;通过驾驶员信息分类器进行第二轮筛选;通过车辆信息分类器进行第三轮筛选;将第三轮筛选输出的用于执行避障的障碍物目标分为静止障碍物目标与运动障碍物目标;基于雷达传感器识别出的障碍物目标相对位置信息与实际路面相对位置情况,判断是否为弯道,判断是否要对横纵向坐标进行修正;不同工况下输出前向避障目标。本发明解决了在多障碍物目标、多工况中正确识别出避障目标的问题。
Obstacle avoidance target identification method and system applied to parallel auxiliary driving system
一种应用于平行辅助驾驶系统的避障目标识别方法及系统
2022-12-20
Patent
Electronic Resource
Chinese
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