The invention relates to the field of automatic driving, in particular to a vehicle tracking method and device, a vehicle-mounted control terminal and a storage medium. The method comprises the steps that the current running state and historical tracking vehicle information of a vehicle are acquired; calculating a reference line offset of a preceding vehicle relative to a driving reference line of the vehicle; calculating a suona horn offset of the front vehicle relative to the driving reference line, and calculating a suona horn boundary according to the suona horn offset; and according to the reference line offset, the suona horn boundary and the historical tracking vehicle information, determining whether the front vehicle is a tracking vehicle. The problems of mistaken braking and mistaken following when the front vehicle is cut in/out are solved, and the stability of automatic driving is enhanced.
本发明涉及自动驾驶领域,尤其涉及一种车辆跟踪方法、装置、车载控制终端及存储介质。所述方法包括:获取本车辆的当前运行状态和历史跟踪车辆信息;计算前车相对于所述本车辆的行驶参考线的参考线偏移;计算所述前车相对于所述行驶参考线的唢呐偏移,根据所述唢呐偏移计算唢呐边界;根据所述参考线偏移、所述唢呐边界和所述历史跟踪车辆信息,确定所述前车是否为跟踪车辆。解决了前车切入/切出时误刹和错误跟随问题,增强了自动驾驶的稳定性。
Vehicle tracking method and device, vehicle-mounted control terminal and storage medium
车辆跟踪方法、装置、车载控制终端及存储介质
2024-08-02
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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