The embodiment of the invention discloses a lane departure judgment method and device, equipment and a medium. The method comprises the steps that according to the current position and driving parameters of a target vehicle, the position of a target part on the target vehicle after a preset time interval is predicted, and a predicted position is obtained; determining the distance between the predicted position and a target intersection point as a target distance; the target intersection point is an intersection point of an extension line and a lane line, which is obtained by making the extension line at a prediction position along a target direction; the lane line is a lane line of a lane where the target vehicle is located; based on a Kalman filter, determining the deviation speed of the target part at the predicted position along the target direction; and judging whether the target vehicle is about to deviate from the lane according to the target distance and the deviation speed. According to the technical scheme, whether the vehicle deviates from the lane or not can be accurately judged under the conditions that the vehicle speed is high and sensor detection is delayed, and support is provided for driving assistance functions such as lane deviation early warning.
本申请实施例公开了一种车道偏离的判断方法、装置、设备及介质。其中,该方法包括:根据目标车辆的当前位置以及行驶参数,对预设时间间隔后目标车辆上的目标部位的位置进行预测,得到预测位置;将所述预测位置与目标交点之间的距离确定为目标距离;所述目标交点为在预测位置处沿目标方向做延长线,得到的所述延长线与车道线的交点;所述车道线为目标车辆所在车道的车道线;基于卡尔曼滤波器,确定目标部位在预测位置处沿目标方向的偏移速度;根据目标距离以及所述偏移速度,判断目标车辆是否即将偏离所在车道。本技术方案能够在车速较高、传感器检测存在延迟等情况下准确判断车辆是否偏离车道,为车道偏离预警等驾驶辅助功能提供支持。
Lane departure judgment method and device, equipment and medium
一种车道偏离的判断方法、装置、设备及介质
2023-11-03
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 |
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