The invention discloses a vehicle target tracking method and device, and the method comprises the steps: obtaining the longitudinal distance, longitudinal speed and longitudinal acceleration of a target vehicle of a vehicle when the vehicle changes a lane; the target vehicles comprise a first target vehicle in front of the vehicle and a left front or right front second target vehicle corresponding to the lane changing direction of the vehicle; respectively obtaining a first dynamic weight coefficient of the first target vehicle and a second dynamic weight coefficient of the second target vehicle according to the speed and the expected vehicle following distance of the vehicle and the longitudinal speed and the longitudinal distance of each target vehicle; according to the first dynamic weight coefficient of the first target vehicle and the second dynamic weight coefficient of the second target vehicle, the longitudinal distance, the longitudinal speed and the longitudinal acceleration of the vehicle following target of the vehicle are obtained. The information of the vehicle in front of the vehicle and the information of the vehicle in front of the target lane are comprehensively considered, more reasonable vehicle-following target information can be obtained, and the safety and comfort of the intelligent driving system are improved.
本申请公开了一种车辆目标跟踪的方法及装置,该方法包括:本车变道时,分别获得本车的目标车辆的纵向距离、纵向速度和纵向加速度;目标车辆包括本车前方的第一目标车辆和本车变道方向对应的左前方或右前方的第二目标车辆;根据本车的速度和期望跟车距离,以及每个目标车辆的纵向速度和纵向距离,分别获得第一目标车辆的第一动态权重系数和第二目标车辆的第二动态权重系数;根据第一目标车辆的第一动态权重系数和第二目标车辆的第二动态权重系数,获得本车跟车目标的纵向距离、纵向速度和纵向加速度。综合考虑本车前方车辆信息与目标车道的前方车辆信息,能够获得更合理的跟车目标信息,提高智能驾驶系统的安全性和舒适性。
Vehicle target tracking method and device
一种车辆目标跟踪的方法及装置
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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