The invention provides an intelligent vehicle following method. The method comprises the following steps: S1, acquiring an image obtained by shooting a front side by a visual camera at the head of a vehicle as to-be-analyzed image information; s2, analyzing whether there are vehicles in the current lane and the adjacent lane in front according to the to-be-analyzed image information, if there is a vehicle in the current lane, obtaining a historical driving track of the current vehicle through a tracking strategy as a safe driving track of the current vehicle, and if there is no vehicle in the current lane and there is a vehicle in the adjacent lane, obtaining a safe driving track of the current vehicle; if yes, obtaining an estimated driving track as a safe driving track of the vehicle through a preprocessing strategy; s3, identifying a vehicle model providing a safe driving track according to the to-be-analyzed image information, calling a wheel size value of the vehicle according to the vehicle model, and obtaining a wheel rolling track area of the vehicle through an expansion strategy according to the wheel size value and the safe driving track; the method has the advantages that the vehicle following track which complies with traffic rules and is free of collision risks can be pre-judged and planned according to the driving track of the front vehicle.

    本发明提供一种车辆智慧跟车方法,步骤S1,获取本车车头处的视觉相机拍摄前方得到的图像作为待分析图像信息;步骤S2,根据待分析图像信息分析前方本车道内及相邻车道内是否有车辆,若本车道内有车辆,则通过跟踪策略得到前车的历史行驶轨迹作为本车的安全行驶轨迹,若本车道内无车辆,相邻车道到有车辆,则通过预处理策略得到预估行驶轨迹作为本车的安全行驶轨迹;步骤S3,根据待分析图像信息识别提供安全行驶轨迹的车辆型号,根据车辆型号调取该车辆的车轮尺寸值,根据车轮尺寸值和安全行驶轨迹通过拓展策略得到本车的车轮滚动轨迹区域;本发明的优点是能够根据前车的行驶轨迹进行预判规划出既遵守交通规则又无碰撞风险的跟车轨迹。


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    Title :

    Intelligent vehicle following method


    Additional title:

    一种车辆智慧跟车方法


    Contributors:
    GENG LAIZHI (author) / TIAN FENG (author) / HE XINGSHI (author) / LI HONGBIN (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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