Method and device for selecting nearest vehicle on path in lane changing process
Method and device for selecting nearest vehicle on path in lane changing process
The invention provides a method and a device for selecting a nearest vehicle on a path in a lane changing process. The method comprises the following steps: acquiring obstacle information, lane line information, and the speed and turning radius of a target control vehicle corresponding to a kth frame image; judging whether the target control vehicle is in a lane changing state or not according to the lane line information, the vehicle speed and the turning radius; and determining a predicted driving track of the target control vehicle according to a lane changing state judgment result, and determining the nearest vehicle on the path from all obstacles by using the obstacle information and the coordinates of the obstacles in a predicted track coordinate system of the predicted driving track. Whether the vehicle is in a lane changing state is judged without depending on a driver, so that lane changing judgment timeliness and judgment accuracy are ensured; the preceding vehicle is not directly selected as the nearest vehicle on the path, so that the risk that other vehicles collide with the target control vehicle is avoided, and the driving potential safety hazard is reduced.
本发明提供了一种换道过程中路径上最近车辆的选择方法及装置，该方法包括：获取第k帧图像对应的障碍物信息、车道线信息、目标控制车辆的车速和转弯半径；根据车道线信息、车速和转弯半径，判断目标控制车辆是否处于换道状态；根据换道状态判断结果确定目标控制车辆的预测行驶轨迹，并利用障碍物信息、及利用障碍物在预测行驶轨迹的预测轨迹坐标系下的坐标，从所有障碍物中确定路径上最近车辆。不需要依赖驾驶员来判断车辆是否处于换道状态，确保换道判断及时性和判断准确性；不是直接将前车选为路径上最近车辆，避免其它车辆与目标控制车辆碰撞的风险，减少驾驶安全隐患。
Document information
Method and device for selecting nearest vehicle on path in lane changing process
一种换道过程中路径上最近车辆的选择方法及装置
2024-01-12
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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