The invention discloses a method and a device for judging dangerous vehicles behind adjacent lanes. The method comprises the following steps: acquiring lane line sampling data; wherein the lane line sampling data comprises position information of n lane line sampling points on the same lane line obtained by the first vehicle through a vehicle body sensor; fitting a lane line equation corresponding to the lane line sampling data in a vehicle body coordinate system according to the lane line sampling data; according to the lane line equation and the vehicle position relation, calculating the lateral distance and the longitudinal distance between the first vehicle and the second vehicle in the Frenet coordinate system; wherein the vehicle position relation is the position relation, obtained through a vehicle body sensor, between the first vehicle and the second vehicle, and the second vehicle comprises vehicles within the recognition range of the vehicle body sensor; and when the lateral distance meets the adjacent lane condition and the longitudinal distance meets the longitudinal collision condition, determining the second vehicle as a dangerous vehicle of the first vehicle. According to the invention, the calculation error of the distance between two vehicles is reduced, and the accuracy of risk assessment is improved.

    本申请公开一种相邻车道后方危险车辆判定方法及装置,方法包括:获取车道线采样数据;其中,车道线采样数据包括第一车辆通过车身传感器获得的同一车道线上n个车道线采样点的位置信息;根据车道线采样数据,在车身坐标系中拟合车道线采样数据对应的车道线方程;根据车道线方程和车辆位置关系,计算在Frenet坐标系中第一车辆与第二车辆之间的侧向距离和纵向距离;其中,车辆位置关系是通过车身传感器获得的第一车辆与第二车辆之间的位置关系,第二车辆包括在车身传感器识别范围内的车辆;当侧向距离满足相邻车道条件,且纵向距离满足纵向碰撞条件时,将第二车辆确定为第一车辆的危险车辆。本申请减小了两车间距离的计算误差,提高了风险评估的准确性。


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    Title :

    Method and device for judging dangerous vehicle behind adjacent lane


    Additional title:

    一种相邻车道后方危险车辆判定方法及装置


    Contributors:
    HAN LONGFEI (author) / ZHU JUN (author) / WANG JUN (author) / LIU DONGXU (author) / LI YISHAN (author) / LI JUNHUA (author)

    Publication date :

    2024-08-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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