The embodiment of the invention discloses a cut-in vehicle judgment method and device, electronic equipment and a storage medium. The method comprises the following steps: determining a lateral deviation transverse distance and a lateral deviation transverse speed of a front vehicle relative to a center line of a lane, wherein the relative longitudinal distance between the front vehicle and the vehicle is within an area length and the front vehicle is positioned on an adjacent lane of the vehicle; according to the lateral deviation transverse distance and the lateral deviation transverse speed, the area width is determined, and according to the area width and the area length, a judgment area for the front vehicle is determined in front of the vehicle; under the condition that the front vehicle is located in the judgment area and the duration meets a preset duration condition, judging that the front vehicle has a cut-in trend of cutting into an own vehicle lane where the own vehicle is located; wherein the area length is associated with the vehicle speed of the vehicle, and the preset duration condition is associated with the absolute value of the lateral deviation transverse speed. According to the technical scheme provided by the embodiment of the invention, the front vehicle with the cut-in trend can be identified in advance in a close-range cut-in scene.

    本发明实施例公开了一种切入车辆判别方法、装置、电子设备及存储介质。该方法包括:针对与自车之间的相对纵向距离在区域长度之内并且位于自车的相邻车道上的前车,确定前车相对车道中心线的侧偏横向距离和侧偏横向速度;根据侧偏横向距离和侧偏横向速度,确定区域宽度,并且根据区域宽度和区域长度,在自车的车前确定针对前车的判别区域;在前车位于判别区域内且持续时长满足预设时长条件的情况下,判别出前车存在切入到自车所在的自车车道上的切入趋势;其中,区域长度与自车的车速关联,预设时长条件与侧偏横向速度的绝对值关联。本发明实施例的技术方案,在近距离切入场景下,可提前识别出存在切入趋势的前车。


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    Title :

    Method and device for judging cut-in vehicle, electronic equipment and storage medium


    Additional title:

    一种切入车辆判别方法、装置、电子设备及存储介质


    Contributors:
    CAO HAIQIANG (author) / YANG SHOUCHEN (author) / HAO ZHI (author) / WANG YANG (author) / PAN JIAN (author) / ZHANG YUXUAN (author)

    Publication date :

    2023-08-22


    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



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