The invention discloses a long-distance target lane distribution method, which comprises the following steps of: performing position correction on a y coordinate of a target according to a road model and target information input by a sensing system, and converting the y coordinate into a geodetic coordinate system; the target information is converted into a Frenet coordinate system; calculating a position state covariance after the Cartesian coordinate system is converted into the Frenet coordinate system by utilizing a relation between a long axis and a short axis of a confidence ellipse and eigenvalues and eigenvectors of a covariance matrix; respectively calculating the probabilities that the target falls in all lanes by using the probability of normal distribution; and selecting the lane with the maximum probability as the lane where the target is located. According to the method, the position of the target is converted from a vehicle body coordinate system to a geodetic coordinate system through Frenet coordinate conversion, the influence of the lane curvature on lane distribution is solved, then the uncertainty of a long-distance target output by a sensing system is solved based on a probability statistics method, on the basis, the robustness of target lane distribution is increased by using a hysteretic interval, and the accuracy of lane distribution is improved. Therefore, reliable lane distribution of the long-distance target in a low-cost scheme is realized.

    本发明公开了一种远距离目标车道分配方法,包括:依据道路模型和感知系统输入的目标信息,对目标的y坐标进行位置修正转换到大地坐标系;将目标信息转换到Frenet坐标系;利用置信椭圆的长短轴与协方差矩阵的特征值和特征向量的关系,计算由笛卡尔坐标系转换到Frenet坐标系后位置状态协方差;利用正太分布的概率分别计算目标落在所有车道内的概率;选择概率最大的车道作为目标所在车道。本发明通过Frenet坐标转换将目标的位置由车身坐标系转换到大地坐标系,解决车道曲率对车道分配的影响,然后基于概率统计的方法解决感知系统输出的远距离目标的不确定性,再此基础上再使用滞回区间增加目标车道分配的鲁棒性,从而实现低成本方案的远距离目标可靠的车道分配。


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    Title :

    Long-distance target lane allocation method and system and storage medium


    Additional title:

    远距离目标车道分配方法、系统及存储介质


    Contributors:
    YANG JINGNING (author) / KOU SHENGJIE (author) / XU YING (author) / GUAN DENGSHI (author) / TIAN HE (author) / LU CHANG (author)

    Publication date :

    2023-04-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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