Self-vehicle position planning method facing perception uncertainty in lane keeping system
Self-vehicle position planning method facing perception uncertainty in lane keeping system
- New search for: TAO LE
- New search for: WANG HAI
- New search for: CAI YINGFENG
- New search for: CHEN LONG
- New search for: LI YICHENG
- New search for: CHEN XIAOBO
- New search for: LIU QINGCHAO
- New search for: SUN XIAOQIANG
- New search for: TAO LE
- New search for: WANG HAI
- New search for: CAI YINGFENG
- New search for: CHEN LONG
- New search for: LI YICHENG
- New search for: CHEN XIAOBO
- New search for: LIU QINGCHAO
- New search for: SUN XIAOQIANG
The invention provides a self-vehicle position planning method facing perception uncertainty in a lane keeping system, and belongs to the field of intelligent vehicles. According to the self-vehicle position planning method, lane line edge feature points are extracted in combination with gray scale and gradient distribution features, the lane line perception determinacy is determined according tothe number of the feature points and the slope consistency of feature point fitting straight lines, and the perception determinacy is used as the influence weight of lane lines on vehicle repulsion; and when the perception determinacy of the lane lines on the two sides is inconsistent, the acceleration of the vehicle is determined and controlled through the resultant force of the lane lines to thevehicle repulsion, and self-vehicle position planning is achieved. The self-vehicle position planning method solves the problem that the position of the vehicle cannot be determined due to unclear lane lines, and has good feasibility.
本发明提供了一种车道保持系统中面对感知不确定性的自车位置规划方法，属于智能车辆领域。本发明方法结合灰度和梯度的分布特征提取车道线边缘特征点，由特征点数量和特征点拟合直线的斜率一致性，确定车道线感知确定度，感知确定度作为车道线对车辆斥力的影响权重；当两侧车道线感知确定度不一致时，由车道线对车辆斥力的合力确定控制车辆的加速度，实现自车位置规划。本发明解决了因车道线不清晰，车辆位置无法确定的问题，具有很好的可行性。
Document information
Self-vehicle position planning method facing perception uncertainty in lane keeping system
一种车道保持系统中面对感知不确定性的自车位置规划方法
2020-12-15
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 |
Similar titles
Lane keeping controller, vehicle system and lane keeping control method
| European Patent Office | 2022
Lane keeping method, lane keeping control device and lane keeping system
| European Patent Office | 2022