The invention provides an automatic driving vehicle following driving method, device and equipment and a readable storage medium. The method comprises the following steps: acquiring a multi-frame distance signal acquired by at least one ultrasonic radar of a vehicle; determining distance information and speed information of a target vehicle in a signal acquisition area relative to the vehicle according to the signal acquisition area corresponding to the ultrasonic radar and the multi-frame distance signal; judging whether the target vehicle enters the lane where the vehicle is located according to the distance information and the speed information to obtain a judgment result; and controlling the driving state of the vehicle according to the judgment result. The ultrasonic radar is low in manufacturing cost, widely installed in most vehicles and sensitive in close-range distance sensing in a congested environment, distance signals in all directions of the vehicle are collected through the ultrasonic radar, whether other vehicles need to cut into the lane of the vehicle or not is judged, the following driving state of the vehicle is controlled, the cost is low, and the method is suitable for popularization and application. And the accuracy and the sensitivity are greatly improved, and the capability of resisting transverse cut-in of vehicles on adjacent lanes is improved.

    本发明提供了一种自动驾驶车辆跟车行驶方法、装置、设备及可读存储介质,获取车辆的至少一个超声波雷达采集的多帧距离信号;根据超声波雷达对应的信号采集区域,以及多帧距离信号确定位于信号采集区域的目标车辆相对于本车的距离信息以及速度信息;根据距离信息以及速度信息判断目标车辆是否会切入本车所在车道,得到判断结果;根据判断结果控制本车的行驶状态。超声波雷达由于造价较低,广泛安装于大部分车辆中,且在拥堵环境下,近距离距离感知较为灵敏,通过超声波雷达采集自车各个方向的距离信号,判断出其他车辆是否要切入本车车道,控制本车的跟车行驶状态,成本较低,且精准度、灵敏度大幅提升,抗相邻车道车辆横向切入能力得到提升。


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    Title :

    Automatic driving vehicle following driving method, device and equipment and readable storage medium


    Additional title:

    自动驾驶车辆跟车行驶方法、装置、设备及可读存储介质


    Contributors:
    DAI LU (author) / CHEN DAXING (author) / ZHENG HUI (author)

    Publication date :

    2024-12-27


    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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