The invention discloses a method and device for judging whether a target invades into a self-lane or not. The method for judging whether the target invades into the self-lane or not comprises the following steps that a self-vehicle estimated track is constructed according to collected self-vehicle information; predicting a relative position point set of the target according to the acquired target information, and sequentially performing fitting for a plurality of times according to the relative position point set to correspondingly obtain a plurality of beams of target estimation tracks; wherein after each fitting is finished, the relative position point set is corrected firstly, and then the next fitting is carried out; and determining the invasion state of the target invading into the self-lane according to the self-vehicle pre-estimated trajectory and the plurality of target pre-estimated trajectories. According to the method, a correction method is designed during target trajectory prediction, multiple times of correction are carried out, the possibility of more target estimated trajectories and target moving routes is considered, and the accuracy of judging whether the target intrudes into the lane or not can be improved.

    本发明公开一种目标侵入自车道的判断方法及装置,其中的目标侵入自车道的判断方法包括如下步骤:根据采集得到的自车车辆信息构建自车预估轨迹;根据采集得到的目标信息预测目标的相对位置点集,并根据所述相对位置点集依次进行若干次拟合,对应得到若干束目标预估轨迹;其中,在每次拟合结束后,先对所述相对位置点集进行修正,再进行下一次拟合;根据所述自车预估轨迹以及所述若干束目标预估轨迹确定目标侵入自车道的侵入状态。本发明在预测目标轨迹时设计了修正方法并进行多次修正,考虑更多条目标预估轨迹和目标移动路线的可能性,能够提高对目标是否会侵入自车道的判断准确性。


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    Title :

    Method and device for judging target invading from lane


    Additional title:

    一种目标侵入自车道的判断方法及装置


    Contributors:
    ZHONG FEI (author) / PENG YUANDUO (author) / DENG QIHUI (author)

    Publication date :

    2024-03-29


    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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