The invention provides a self-adaptive cruise target selection method and device, computer equipment and a medium, and relates to a self-adaptive cruise technology, and the method comprises the steps: obtaining historical tracks of a plurality of targets under a self-vehicle coordinate system; determining a predicted driving track of the vehicle; for each target, calculating a deviation average value EAvg and a deviation maximum value EMax of a target historical track and a self-vehicle prediction track at each point; traversing each target, judging whether the own vehicle follows the historical track of the target or not, and determining the target of which the own vehicle follows the historical track; and determining a self-vehicle following target in the targets of the self-vehicle following historical track. The method is suitable for high-speed or low-speed lane changing; target historical trajectories are introduced to be fused with self-vehicle predicted driving trajectories, and target selection is more stable; according to the target selection method, the target selection track is adopted only for the current target which is the lane changing scene that the vehicle follows the target vehicle and is judged to be recently followed by the vehicle, and the target selection tracks of other targets are not influenced, so that the flexibility of target selection is improved.
本发明提供了一种自适应巡航目标选择方法、装置、计算机设备及介质,涉及自适应巡航技术,包括:获取自车坐标系下多个目标的历史轨迹;确定自车预测行驶轨迹;针对每个目标,计算目标历史轨迹和自车预测轨迹在每个点的偏差平均值EAvg和偏差最大值EMax;遍历每个目标,判断自车是否跟随该目标的历史轨迹,确定出自车跟随历史轨迹的目标;在自车跟随历史轨迹的目标中确定自车跟随目标。该方法对快速或慢速变道均适用;引入目标历史轨迹融合自车预测行驶轨迹,目标选择更具有稳定性;仅针对当前为自车跟随目标车变道场景且被判断为自车最近跟随的目标,采用该目标选择轨迹,而其他目标的目标选择轨迹不受影响,提高了目标选择的灵活性。
Self-adaptive cruise target selection method and device, computer equipment and medium
自适应巡航目标选择方法、装置、计算机设备及介质
2024-12-06
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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