The invention discloses an intersection following method and system based on a vehicle track and a vehicle, and the method specifically comprises the following steps: S1, collecting an image in front of the vehicle in real time, taking the vehicle in the same direction in the image as a target vehicle, and fitting the motion track of the target vehicle; s2, searching a target motion trail with the minimum deviation from the motion trail of the vehicle in the motion trails of the target vehicle; and S3, when it is detected that the lane line disappears, the vehicle closest to the vehicle in the lane serves as a pre-following vehicle, following detection is conducted based on the transverse deviation C0'of the motion trail of the pre-following vehicle and the motion trail of the target vehicle, and if the pre-following vehicle meets the following condition, the pre-following vehicle serves as a following vehicle. According to the invention, automatic following of the vehicle at the intersection is realized, guidance is provided for driving at the intersection, and the driving safety at the intersection is improved.
本发明公开一种于车辆轨迹的路口跟随方法、系统及车辆,该方法具体包括如下步骤:S1、实时采集车辆行驶前方的图像,将图像中的同向行驶车辆作为目标车辆,并拟合目标车辆的运动轨迹;S2、在目标车辆的运动轨迹中查找与本车运动轨迹偏差最小的目标运动轨迹;S3、在检测到车道线消失时,将本车道内距本车最近的车辆作为预跟随车辆,基于预跟随车辆与目标车运动轨迹的横向偏差C0′进行跟随检测,若预跟随车辆满足跟随条件,则将预跟随车辆作为跟随车辆。本发明实现了路口处的车辆自动跟随,为路口处的驾车提供引导,提高路口处驾车的安全性。
Intersection following method and system based on vehicle track, and vehicle
基于车辆轨迹的路口跟随方法、系统及车辆
2024-04-05
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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