The invention provides a method for determining a drivable area of intelligent driving, and belongs to the technical field of intelligent driving data fusion. The method for determining the drivable area of intelligent driving comprises the steps that the curvature of a vehicle at the current position of the vehicle on a driving path and a plurality of driving reference lines are obtained, wherein the driving reference lines comprise dynamic reference lines; determining the size of a drivable area of the vehicle; calculating the parallelism between each driving reference line and other driving reference lines; judging whether the driving reference line is abnormal or not according to the parallelism; if yes, deleting the driving reference lines with abnormal parallelism; determining a drivable path according to the measured value of the target driving reference line with the unabnormal curvature and parallelism of the vehicle; and determining the travelable area according to the size of the travelable area and the travelable path. According to the method for determining the drivable area of intelligent driving, the accuracy of the determined drivable area can be improved, and normal operation of the intelligent driving function is ensured.
本发明提供了一种智能驾驶可行驶区域的确定方法,属于智能驾驶数据融合技术领域。该智能驾驶可行驶区域的确定方法包括:获取车辆的当前位置在行驶路径上的自车曲率以及多条行驶参照线,多条行驶参照线包括动态的参照线;确定车辆的可行驶区域的尺寸;计算每条行驶参照线与其余行驶参照线之间的平行度;根据平行度判断行驶参照线是否异常;若是,删除平行度异常的行驶参照线;根据自车曲率和平行度不异常的目标行驶参照线的测量值确定可行驶路径;根据可行驶区域的尺寸和可行驶路径确定可行驶区域。本发明的智能驾驶可行驶区域的确定方法能够提高所确定出的可行驶区域的准确性,保证智能驾驶功能的正常运行。
Method for determining drivable area of intelligent driving
一种智能驾驶可行驶区域的确定方法
2023-06-09
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 |