The embodiment of the invention provides an identification method and device for a lane changing intention of an own vehicle, computer equipment and a medium, and relates to the technical field of automatic driving, and the method comprises the following steps: collecting own vehicle information through a vehicle-mounted sensor; when a lane line exists in the image data acquired by the vehicle-mounted image acquisition equipment in front of the vehicle, acquiring lane line information; the potential lane changing direction of the vehicle is judged through the lane line transverse deviation C0 and the course angle C1; according to the actual vehicle speed vego of the vehicle, the lane line transverse deviation C0 in the potential lane changing direction and the course angle C1 in the potential lane changing direction, the lane changing intention probability P of the vehicle is determined; and when the lane changing intention probability P is greater than or equal to the probability threshold P3, judging that the own vehicle has the lane changing intention. According to the scheme, the lane changing intention probability is calculated by using the lane line parameters provided by the vehicle-mounted sensor, the lane changing intention recognition accuracy is improved, and meanwhile calculation resources are saved.
本发明实施例提供了自车变道意图的识别方法、装置、计算机设备及介质,涉及自动驾驶技术领域,其中,该方法包括以下步骤:通过车载传感器采集自车信息;当自车前方的车载图像采集设备采集的图像数据中存在车道线时,则采集车道线信息;通过车道线横偏C0和航向角C1判断自车的潜在变道方向;根据自车实际车速νego、在潜在变道方向上的车道线横偏C0和在潜在变道方向上的航向角C1,确定自车的变道意图概率P;在变道意图概率P大于等于概率阈值P3时,判断自车存在变道意图。该方案通过使用车载传感器提供的车道线参数计算变道意图概率,提高了变道意图识别准确性的同时节约了计算资源。
Self-vehicle lane changing intention identification method and device, computer equipment and medium
自车变道意图的识别方法、装置、计算机设备及介质
2023-12-08
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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