The invention provides an enhanced target trajectory prediction and target screening method, which comprises the following steps of: acquiring target information in a current environment, and determining an effective target set; establishing a vehicle trajectory prediction model and an effective target trajectory prediction model, and determining a relative motion relationship between the effective target and the vehicle; and on the basis of the relative motion relationship and a dangerous area definition model, screening effective targets in the effective target set to obtain a road target set which can be used for transverse and longitudinal control of the vehicle. According to the method, the motion trail of the vehicle and four position relations between the targets and the motion trail of the vehicle are predicted in real time, so that the nearest distance between each target and the vehicle trail is accurately calculated, and the risk of misrecognition or missed recognition of dangerous targets is eliminated.
本发明提供一种增强型目标轨迹预测与目标筛选方法,其包含:采集当前环境下的目标信息,确定有效目标集;建立车辆轨迹预测模型以及有效目标轨迹预测模型,确定有效目标与车辆的相对运动关系;基于相对运动关系以及危险区域界定模型,对有效目标集中的有效目标进行筛选,得到可用于车辆横向与纵向控制的道路目标集。本发明实时预测车辆自身运动轨迹以及目标与车辆运动轨迹的4种位置关系,从而准确计算各个目标离车辆轨迹最近的距离,消除对危险目标误识别或漏识别的风险。
Enhanced target trajectory prediction and target screening method
一种增强型目标轨迹预测与目标筛选方法
2024-05-28
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 |