The invention provides a vehicle following target determination method and device, a vehicle and a program product, and relates to the technical field of automatic driving. The vehicle-following target determination method comprises the steps of determining a first candidate target set based on a vehicle track prediction strategy, determining a second candidate target set based on a vehicle lane where a vehicle is located, and comprehensively determining a vehicle-following target based on the first candidate target set and the second candidate target set. Therefore, when the vehicle-following target is determined, comprehensive determination based on the vehicle prediction track and the own vehicle lane is realized, so that the determined vehicle-following target is ensured to be matched with the vehicle prediction track and located on the own vehicle lane, and the determination precision of the vehicle-following target is improved. Especially, when the vehicle steers, the appropriate vehicle following target can be determined based on the vehicle prediction trajectory, the situation that the front vehicle is directly used as the vehicle following target when the vehicle steers is avoided, and the accuracy of the vehicle following target is further improved.
本申请提供一种跟车目标确定方法、设备、车辆及程序产品,涉及自动驾驶技术领域。跟车目标确定方法包括基于车辆轨迹预测策略确定第一候选目标集合,基于车辆所在的自车车道确定第二候选目标集合,基于第一候选目标集合以及第二候选目标集合综合确定跟车目标。由此,在确定跟车目标时,实现了基于车辆预测轨迹与自车车道的综合确定,以使保证确定的跟车目标既与车辆预测轨迹匹配又位于自车车道上,提高了跟车目标的确定精度。尤其是,当车辆在转向时,可以基于车辆预测轨迹确定合适的跟车目标,避免在车辆转向时将前方车辆直接作为跟车目标的情况,进一步提高了跟车目标的准确性。
Vehicle following target determination method and device, vehicle and program product
一种跟车目标确定方法、设备、车辆及程序产品
2024-05-14
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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