The invention discloses an automatic driving dragon-drawing detection method based on a yaw angle, whether a vehicle is a dragon-drawing behavior or not is detected through the performance of the yaw angle in the automatic driving process, the yaw angle is directly obtained by a vehicle sensor, the obtaining mode is simple and accurate, and the detection precision can be improved by combining the cooperation of a yaw angle error threshold value and a time threshold value. Meanwhile, the yaw angle error threshold value can be adaptively adjusted according to the road and vehicle conditions, the detection flexibility and adaptability are improved, the method is suitable for various scenes, the sliding window principle and segmented detection are applied to data, and the detection efficiency and precision are improved.

    本发明公开一种基于偏航角的自动驾驶画龙检测方法,通过自动驾驶过程中偏航角的表现进行检测车辆是否为画龙行为,偏航角为车辆传感器直接获取,获取方式简单且准确,结合偏航角误差阈值与时间阈值的配合,能够提高检测精度,避免误检,同时,偏航角误差阈值能够根据道路及车辆情况进行自适应调整,提高了检测的灵活性及适配性,适用于多种场景,对数据运用了滑动窗原理,分段检测,提高了检测效率及精度。


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    Title :

    Automatic driving painting dragon detection method based on yaw angle


    Additional title:

    一种基于偏航角的自动驾驶画龙检测方法


    Contributors:
    SUN GUANGYU (author) / YANG JUN (author) / BAEK BYOUNG-IN (author) / LI XIAOBO (author) / LIU WEI (author) / LIU ZHENBIN (author) / MA JIANCHENG (author) / WANG SHENGJIE (author) / WANG ZHENG (author) / XUN HANG (author)

    Publication date :

    2023-03-14


    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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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