The invention discloses a novel front moving vehicle track identification method, which comprises the following steps of: S1, sampling the track of a front moving vehicle to form a plurality of groups of track sampling points of each front vehicle; and S2, firstly fitting each front vehicle track into a track curve based on track sampling points of the front vehicle, then evaluating the effectiveness of each front vehicle track curve, judging whether the front vehicle track curve can be used for final track fusion or not, and finally optimizing a plurality of tracks by using a particle swarm optimization algorithm to obtain a final track fusion result. And finally, an optimized moving front vehicle track curve is obtained. The invention provides a novel front moving vehicle track identification method, which optimizes the motion tracks of a plurality of front moving vehicles based on a particle swarm optimization algorithm, and finally obtains a front vehicle track curve which accords with the actual curvature of a road. The method solves the problem of how to optimize a plurality of space trajectories of a front vehicle and obtain an optimal driving curvature under the condition that a plurality of moving vehicles exist in front of the vehicle.
本发明公开了一种新型前方移动车辆轨迹识别方法,它包括:步骤S1、对前方移动车辆的轨迹进行采样,形成若干组各个前车的轨迹采样点;步骤S2、首先基于前车的轨迹采样点,将每条前车轨迹均拟合成一条轨迹曲线,然后对每条前车轨迹曲线的有效性进行评估,判断是否可以用于最终的轨迹融合,最后利用粒子群算法对多条轨迹进行优化,最终得到一条优化后的移动前车轨迹曲线。本发明提供一种新型前方移动车辆轨迹识别方法,基于粒子群优化算法对多条前方移动车辆的运动轨迹进行优化,最终得到一个比较符合道路实际曲率的前车轨迹曲线,解决了自车前方存在多个移动车辆的情况下如何对多个前车余地轨迹进行优化并得到一个最优行驶曲率的问题。
Novel front moving vehicle track identification method
一种新型前方移动车辆轨迹识别方法
2024-01-23
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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES |
Moving track simulation system and moving track simulation method thereof
European Patent Office | 2023
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