The invention relates to a vehicle track pattern recognition method based on FRENET coordinate system features. The method comprises the steps that road left side boundary coordinate data, road right side boundary coordinate data, road center line coordinate data and a road deflection angle are obtained through a map; based on the road data information, establishing a Frenet coordinate system by taking the road right side boundary coordinate data information as a reference line; acquiring vehicle positioning information according to a set time interval through roadside sensing equipment; target vehicle positioning information sensed by the equipment is converted into vehicle operation parameters under a Frenet coordinate system; through a track association algorithm, the driving track points of the same vehicle are associated in real time to form a vehicle running track; generating a target vehicle trajectory operation dynamic vector in real time based on the converted vehicle operation parameters under the Frenet coordinate system and the associated vehicle operation trajectory; a vehicle track is divided into a normal track mode and an abnormal track mode. According to the invention, wider vehicle abnormal track modes can be identified, and more comprehensive driving behavior analysis support is provided.
本发明涉及一种基于FRENET坐标系特征的车辆轨迹模式识别方法,包括:通过地图获取道路左侧边界坐标数据、道路右侧边界坐标数据、道路中心线坐标数据和道路偏转角;基于道路数据信息,以所述道路右侧边界坐标数据信息为参考线建立Frenet坐标系;通过路侧感知设备按照设定时间间隔获取车辆定位信息;将设备感知的目标车辆定位信息转换至Frenet坐标系下的车辆运行参数;通过轨迹关联算法,将同一车辆的行驶轨迹点实时关联形成车辆运行轨迹;基于转换后Frenet坐标系下的车辆运行参数和关联后的车辆运行轨迹实时生成目标车辆轨迹运行动态向量;将车辆轨迹分为正常轨迹和异常轨迹两种模式。本发明能够识别更为广泛的车辆异常轨迹模式,提供更为全面的行车行为分析支持。
Vehicle track pattern recognition method based on FRENET coordinate system features
基于FRENET坐标系特征的车辆轨迹模式识别方法
2024-07-19
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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