The invention discloses a method for detecting a curve lane to which a vehicle belongs through a traffic radar, and the method comprises the steps: calculating the coordinate information of each lane line on a straight lane according to the number of lanes, the width of the lanes and the distance of a starting line of the curve, and enabling the distance of the starting line of the curve to be the vertical distance between the starting part of each curve and the radar; on the curve lanes, the radius of each curve lane and the coordinates of the curve end point are calculated according to the curve angle and the curve length; and judging whether the vehicle is in a straight road or a curve according to the vehicle driving track position coordinates, if the vehicle is in the curve, calculating the straight-line distance between the vehicle position and the circle center of the curve, and comparing the straight-line distance with the radius of each curve lane so as to judge the lane to which the vehicle belongs. According to the invention, the lane of the vehicle can be accurately judged when the curve exists in the intersection or the expressway, the problem that the traffic radar can only judge the lane of the vehicle on the straight road is solved, and the application effect of the traffic radar on the intersection or the expressway can be improved.
本发明公开了一种交通雷达检测车辆所属弯道车道方法,在直道上,根据车道数量、车道宽度以及弯道起始线距离计算出各个车道线的坐标信息,所述弯道起始线距离即为各个弯道起始处与雷达的垂直距离;在弯道车道上,根据弯道角度、弯道长度计算出每条弯道车道半径和弯道终点处坐标;根据车辆行驶轨迹位置坐标判断车辆处于直道还是弯道,若车辆处于弯道,则计算车辆位置与弯道圆心的直线距离,再与各条弯道车道半径相比较,从而判断出车辆所属车道。本发明可以对路口或高速道路中存在弯道时准确判断车辆所属车道,解决交通雷达只能判断车辆在直行道路时所属车道,可提升交通雷达在路口或高速道路上的应用效果。
Method for detecting curve lane to which vehicle belongs through traffic radar
一种交通雷达检测车辆所属弯道车道方法
2023-06-13
Patent
Electronic Resource
Chinese
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