CN114013439B - Active vehicle following method and system - Google Patents
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- CN114013439B CN114013439B CN202111345896.3A CN202111345896A CN114013439B CN 114013439 B CN114013439 B CN 114013439B CN 202111345896 A CN202111345896 A CN 202111345896A CN 114013439 B CN114013439 B CN 114013439B
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- 230000003993 interaction Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 description 5
- 230000008447 perception Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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Abstract
The invention provides a vehicle active following method, which comprises the following steps: acquiring a vehicle starting signal and acquiring environmental data of surrounding adjacent areas of the vehicle; receiving a vehicle following instruction, and acquiring target vehicle data to be followed; along with the running of the target vehicle, acquiring target vehicle running data comprising a running path, a running gesture and running trend data of the target vehicle, and integrating the environment data and the target vehicle running data to form vehicle following reference data; performing a host vehicle following travel control operation based on the vehicle following reference data and the host vehicle surrounding vicinity environment data; and in the running control process of the host vehicle following the target vehicle, performing target locking operation based on the acquired target vehicle characteristic data. The invention can realize reliable and safe following running of the vehicle.
Description
Technical Field
The invention mainly relates to the field of intelligent automobiles, in particular to a vehicle active following method and system.
Background
Along with the continuous development of intelligent automobile technology, the following running of the vehicle is also a research subject, but at present, the following running of the vehicle is realized by adopting modes such as vehicle networking or V2X (Vehicle to Everything, vehicle wireless communication) and the like in many schemes, so that higher requirements are put forward on the network connection condition; and in the following running process, the vehicle runs completely according to the track of the target vehicle, so that the potential safety hazard of running can be generated.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a vehicle active following method and system, which realize reliable and safe following running of the vehicle to the target vehicle.
In order to solve the technical problems, the invention provides a vehicle active following method, which comprises the following steps: acquiring a vehicle starting signal and acquiring environmental data of surrounding adjacent areas of the vehicle; receiving a vehicle following instruction, and acquiring target vehicle data to be followed; along with the running of the target vehicle, acquiring target vehicle running data comprising a running path, a running gesture and running trend data of the target vehicle, and integrating the environment data and the target vehicle running data to form vehicle following reference data; performing a host vehicle following travel control operation based on the vehicle following reference data and the host vehicle surrounding vicinity environment data; and in the running control process of the host vehicle following the target vehicle, performing target locking operation based on the acquired target vehicle characteristic data.
In one embodiment of the invention, the environmental data of the surrounding vicinity of the host vehicle is obtained by an environmental sensing device, wherein the environmental sensing device comprises a laser radar sensor, a camera device and a millimeter wave radar sensor.
In one embodiment of the present invention, the integrating operation is performed on the environmental data and the target vehicle running data by a driving domain controller, and the integrating operation includes performing a time domain synchronization operation and a spatial data mapping and alignment operation on the environmental data and the target vehicle running data.
In an embodiment of the present invention, the surrounding vicinity environment data includes surrounding vicinity obstacle distribution data and traffic condition data.
In an embodiment of the present invention, the driving trend data of the target vehicle is obtained by detecting and analyzing the light signal and/or the driving gesture data of the target vehicle.
In an embodiment of the present invention, performing the host vehicle following travel control operation based on the vehicle following reference data and the host vehicle surrounding vicinity environment data includes: matching the vehicle following reference data of the current frame with the vehicle following reference data of the previous frame to obtain a matching result; acquiring environmental data of surrounding adjacent areas of the vehicle in the current frame, judging whether the vehicle is suitable for driving operation or not, and obtaining a judging result; and carrying out the following running control operation of the vehicle based on the matching result and the judging result.
In one embodiment of the present invention, the target vehicle characteristic data includes target vehicle body color, body rear shape, and license plate digital shape data.
In an embodiment of the present invention, performing the target locking operation based on the acquired target vehicle characteristic data includes: and acquiring the characteristic data of the target vehicle at a specific frequency, and performing matching operation to realize the locking of the target vehicle.
The invention also provides a vehicle active following system, comprising: an environment-aware device configured to: acquiring environmental data of a surrounding adjacent area of the vehicle; along with the running of a target vehicle, acquiring target vehicle running data comprising a running path, a running posture and running trend data of the target vehicle; the driving domain controller is used for integrating the environment data and the target vehicle running data to form vehicle following reference data; the host vehicle control operation gateway is configured to: acquiring a starting signal of the vehicle; receiving a vehicle following instruction, and acquiring target vehicle data to be followed; performing a host vehicle following travel control operation based on the vehicle following reference data and the host vehicle surrounding vicinity environment data; and in the running control process of the host vehicle following the target vehicle, performing target locking operation based on the acquired target vehicle characteristic data.
In one embodiment of the present invention, the vehicle active following system further includes: and the display and interaction module is used for displaying the target vehicle data and the surrounding adjacent area environment data of the vehicle, displaying the running state data of the vehicle and receiving the selection and switching operation of a user on the target vehicle.
Compared with the prior art, the invention has the following advantages: the following running operation of the vehicle is realized under the condition of no external network through the perception and operation control of the vehicle to the environment. When the vehicle runs along, the road conditions of the surrounding areas of the vehicle can be identified, corresponding control is performed after comprehensive judgment, and the following driving operation is safer.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the accompanying drawings:
FIG. 1 is a flow chart of a method for actively following a vehicle in accordance with an embodiment of the present application.
Fig. 2 is a schematic diagram of the composition of a vehicle active following system according to an embodiment of the present application.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are used in the description of the embodiments will be briefly described below. It is apparent that the drawings in the following description are only some examples or embodiments of the present application, and it is obvious to those skilled in the art that the present application may be applied to other similar situations according to the drawings without inventive effort. Unless otherwise apparent from the context of the language or otherwise specified, like reference numerals in the figures refer to like structures or operations.
As used in this application and in the claims, the terms "a," "an," "the," and/or "the" are not specific to the singular, but may include the plural, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present application, it should be understood that, where azimuth terms such as "front, rear, upper, lower, left, right", "transverse, vertical, horizontal", and "top, bottom", etc., indicate azimuth or positional relationships generally based on those shown in the drawings, only for convenience of description and simplification of the description, these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present application; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
In addition, the terms "first", "second", etc. are used to define the components, and are merely for convenience of distinguishing the corresponding components, and unless otherwise stated, the terms have no special meaning, and thus should not be construed as limiting the scope of the present application. Furthermore, although terms used in the present application are selected from publicly known and commonly used terms, some terms mentioned in the specification of the present application may be selected by the applicant at his or her discretion, the detailed meanings of which are described in relevant parts of the description herein. Furthermore, it is required that the present application be understood, not simply by the actual terms used but by the meaning of each term lying within.
It will be understood that when an element is referred to as being "on," "connected to," "coupled to," or "contacting" another element, it can be directly on, connected or coupled to, or contacting the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly on," "directly connected to," "directly coupled to," or "directly contacting" another element, there are no intervening elements present. Likewise, when a first element is referred to as being "electrically contacted" or "electrically coupled" to a second element, there are electrical paths between the first element and the second element that allow current to flow. The electrical path may include a capacitor, a coupled inductor, and/or other components that allow current to flow even without direct contact between conductive components.
Flowcharts are used in this application to describe the operations performed by systems according to embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in order precisely. Rather, the various steps may be processed in reverse order or simultaneously. At the same time, other operations are added to or removed from these processes.
Embodiments of the present application describe a vehicle active following method and system.
FIG. 1 is a flow chart of a method for actively following a vehicle in accordance with an embodiment of the present application.
As shown in fig. 1, the active vehicle following method of the present application includes step 101, acquiring a vehicle start signal and acquiring environmental data of a surrounding vicinity of a vehicle; step 102, receiving a vehicle following instruction, and acquiring target vehicle data to be followed; step 103, along with the running of the target vehicle, acquiring target vehicle running data comprising a running path, a running gesture and running trend data of the target vehicle, and integrating the environment data and the target vehicle running data to form vehicle following reference data; 104, performing a vehicle following running control operation based on the vehicle following reference data and the surrounding vicinity environment data of the vehicle; step 105, in the running control process of the host vehicle following the target vehicle, performing a target locking operation based on the acquired target vehicle characteristic data.
Specifically, in step 101, a vehicle start signal is acquired, and environmental data of a vicinity around the vehicle is acquired.
In some embodiments, the environmental data of the vicinity surrounding the host vehicle is acquired by an environmental awareness apparatus including a lidar sensor, a camera device, and a millimeter wave radar sensor.
In some embodiments, the local area surrounding data includes local area surrounding obstacle distribution data and traffic condition data.
The laser radar can be arranged at any position of the vehicle body, and the point cloud of the measurement space is formed by emitting laser beams, so that real-time environment perception is achieved. The image pick-up device is arranged in front of, beside and behind the vehicle body, can realize 360-degree environment sensing around the vehicle body, and can detect and identify obstacles such as pedestrians, vehicles and the like through image data collected by the image pick-up device. And then, estimating the distance of the obstacle according to the size of the monitored obstacle in the image by utilizing the principle of the proportion calculation of the near size and the far size.
Millimeter wave radars are arranged, for example, in front of the vehicle and at the four corners of the vehicle body. The millimeter wave radar has the wavelength between the centimeter wave and the light wave, strong penetrability, no interference from external conditions and high spatial resolution. Meanwhile, the millimeter wave radar can realize small equipment volume, light weight and convenient installation.
In step 102, a vehicle following instruction is received, and target vehicle data to be followed is acquired. The vehicle following instruction can be sent by a vehicle user, and can also be formed into a vehicle following instruction according to a preset following rule, so as to determine a target vehicle to be followed and form corresponding target vehicle data to be followed.
In step 103, along with the running of the target vehicle, target vehicle running data including a running path, a running posture and running trend data of the target vehicle is acquired, and the environment data and the target vehicle running data are integrated to form vehicle following reference data.
In some embodiments, the driving trend data of the target vehicle is obtained by detecting and analyzing the light signal and/or the driving gesture data of the target vehicle. For example, by detecting and recognizing the lights of the target vehicle, the driving tendency of the target vehicle to change lane, turn, accelerate, brake is judged by the lights of the target vehicle such as steering, braking, etc.
By detecting and analyzing the data of the driving posture of the target vehicle (or referred to as the driving posture of the target vehicle), the driving trend (or referred to as the driving intention) of the lane change and turning of the target vehicle is judged. And the driving intention of the target vehicle is judged by identifying the driving behaviors of the following target vehicle, so that the target locking and the driving behavior planning of the vehicle are facilitated.
In some embodiments, the environmental data and the target vehicle travel data are integrated by a driver domain controller, the integrating operation including time domain synchronization and spatial data mapping and alignment operations of the environmental data and the target vehicle travel data.
In step 104, a host vehicle following travel control operation is performed based on the vehicle following reference data and the host vehicle surrounding vicinity environment data.
In some embodiments, performing the host vehicle following travel control operation based on the vehicle following reference data and the host vehicle surrounding vicinity environment data includes:
step 201, matching the vehicle following reference data of the current frame with the vehicle following reference data of the previous frame to obtain a matching result; step 202, acquiring environmental data of surrounding adjacent areas of the vehicle in the current frame, and judging whether the vehicle is suitable for driving operation or not to obtain a judging result; and 203, performing the following running control operation of the vehicle based on the matching result and the judging result.
By matching the vehicle following reference data of the current frame with the vehicle following reference data of the previous frame and following based on the matching result, continuous following of the target vehicle can be realized, so that the phenomenon of false following or missing following does not occur.
In the technical scheme of the application, the vehicle is driven to run by the comprehensive judging result based on the matching result and the judging result, so that the vehicle is prevented from running by the running track of the target vehicle (or called a front vehicle), and because if the vehicle is driven to run by the running track of the target vehicle, unexpected potential safety hazards can be generated due to the change of road conditions, such as the change of traffic signals, the passing of pedestrians and the like can occur in road sections such as crossing, turning and the like or the slow running of the vehicle in areas with more people flow and the like, and if the vehicle is driven by the running track of the target vehicle, the running danger can be generated. Therefore, according to the technical scheme, the vehicle following driving control operation is performed through the comprehensive judging result based on the matching result and the judging result, so that the safety of the vehicle during following driving is improved.
Next, in step 105, during the host vehicle following target vehicle running control, a target lock operation is performed based on the acquired target vehicle characteristic data.
In some embodiments, the target vehicle characteristic data includes target vehicle body color, body rear shape, and license plate digital shape data. Performing a target lock operation based on the acquired target vehicle feature data includes: and acquiring the characteristic data of the target vehicle at a specific frequency, and performing matching operation to realize the locking of the target vehicle.
The selected target vehicles are marked, so that when the vehicle runs, a plurality of target time jumps are avoided due to the fact that the targets are in front; the information of other vehicles is filtered during follow-up running, and jump of the target vehicle is avoided. The method comprises the steps of collecting characteristics of a target vehicle, such as vehicle body color, vehicle body rear shape (or called rear modeling) and license plate digital shape data, collecting the characteristic data at set time intervals (namely specific frequency), and carrying out matching operation and target capturing and locking in the following running process of the vehicle.
In some embodiments, the host vehicle driving manipulation instruction is executed by a control mode of the drive-by-wire chassis, so that the following of the target vehicle is realized. For example, an acceleration instruction is executed to the host vehicle through a Throttle by wire (Throttle by wire) so as to follow the acceleration when the following target vehicle accelerates; executing a Steering instruction of the vehicle through Steering by wire (Steering by wire), so as to execute the lane change or Steering instruction of the vehicle; the Brake command of the vehicle is executed through Brake by wire (Brake by wire), so that the Brake command of the vehicle is executed.
Fig. 2 is a schematic diagram of the composition of a vehicle active following system according to an embodiment of the present application.
As shown in fig. 2, the vehicle active following system 200 of the present application includes an environment awareness apparatus 201, a driving-domain controller 202, and a host-vehicle control operation gateway 203.
In some embodiments, the context awareness apparatus 201 is configured to obtain the local area context data around the host vehicle; along with the travel of the target vehicle, target vehicle travel data including a travel path, a travel posture, and travel tendency data of the target vehicle is acquired.
The driving domain controller 202 is configured to integrate the environmental data and the target vehicle driving data to form vehicle following reference data.
The host vehicle control operation gateway 203 is configured to perform the following operations: acquiring a starting signal of the vehicle; receiving a vehicle following instruction, and acquiring target vehicle data to be followed; performing a host vehicle following travel control operation based on the vehicle following reference data and the host vehicle surrounding vicinity environment data; and in the running control process of the host vehicle following the target vehicle, performing target locking operation based on the acquired target vehicle characteristic data.
In some embodiments, the integrating operation includes performing a time domain synchronization operation and a spatial data mapping and alignment operation on the environmental data and the target vehicle travel data. And filtering invalid data information by carrying out multi-level and multi-space information complementation and data information optimization combination, and finally generating perception of the consistency of the surrounding environments of the vehicle and the following vehicle.
In some embodiments, the vehicle active following system of the present application further includes a display and interaction module 204 for displaying the target vehicle data and the surrounding vicinity environment data around the host vehicle, displaying the driving state data of the host vehicle, and receiving the selection and switching operation of the target vehicle by the user.
In some embodiments, the vehicle active following system 200 of the present application includes a body domain controller, a power domain controller, and a cabin domain controller in addition to a drive domain controller.
The vehicle body domain controller and the power domain controller CAN communicate with the vehicle control operation gateway to realize data and instruction transmission, specifically, the vehicle body domain controller and the power domain controller CAN carry out driving operation of a following target vehicle on the vehicle according to vehicle following reference data in a CAN bus mode, for example, the vehicle body domain controller and the power domain controller comprise the drive-by-wire chassis operation. The cabin domain controller can be connected with the display and interaction module so as to provide the driver of the vehicle with better use experience.
In some embodiments, if the host vehicle loses the following target, a reminding and warning signal can be sent to remind the user to take over the driving operation of the vehicle in time, and a new vehicle following instruction of the user can also be received to start the driving operation of the following target vehicle.
According to the vehicle active following method and system, the vehicle following running operation is carried out under the condition of no external network through the perception and operation control of the vehicle to the environment, and the reliability of the vehicle following running is greatly improved. When the vehicle runs along, the surrounding dangerous sources can be identified, corresponding control is performed after comprehensive judgment, and the following operation is safer.
The technical scheme of this application can avoid through the car networking, including the communication of own car and preceding car, under the circumstances such as communication of own car and high in the clouds, just can realize that the vehicle follows the driving, in such circumstances, when at the road section that network signal is not good, the vehicle follows the driving and will not go on to influence the intelligent use experience of vehicle.
The technical scheme of the application has no special setting requirement on the vehicle network, and the usable area range is wider; the scheme has simple control mode, and after the target vehicle data is acquired, the vehicle following function can be started to realize following running; the vehicle has no network communication and other requirements on the vehicle to be followed, and the following of the target vehicle can be realized by means of the perception and control of the vehicle.
Some aspects of the present application may be performed entirely by hardware, entirely by software (including firmware, resident software, micro-code, etc.) or by a combination of hardware and software. The above hardware or software may be referred to as a "data block," module, "" engine, "" unit, "" component, "or" system. The processor may be one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital signal processing devices (DAPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or a combination thereof. Furthermore, aspects of the present application may take the form of a computer product, comprising computer-readable program code, embodied in one or more computer-readable media. For example, computer-readable media can include, but are not limited to, magnetic storage devices (e.g., hard disk, floppy disk, tape … …), optical disk (e.g., compact disk CD, digital versatile disk DVD … …), smart card, and flash memory devices (e.g., card, stick, key drive … …).
The computer readable medium may comprise a propagated data signal with the computer program code embodied therein, for example, on a baseband or as part of a carrier wave. The propagated signal may take on a variety of forms, including electro-magnetic, optical, etc., or any suitable combination thereof. A computer readable medium can be any computer readable medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code located on a computer readable medium may be propagated through any suitable medium, including radio, cable, fiber optic cable, radio frequency signals, or the like, or a combination of any of the foregoing.
While the basic concepts have been described above, it will be apparent to those skilled in the art that the above disclosure is by way of example only and is not intended to be limiting. Although not explicitly described herein, various modifications, improvements, and adaptations of the present application may occur to one skilled in the art. Such modifications, improvements, and modifications are intended to be suggested within this application, and are therefore within the spirit and scope of the exemplary embodiments of this application.
Meanwhile, the present application uses specific words to describe embodiments of the present application. Reference to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic is associated with at least one embodiment of the present application. Thus, it should be emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various positions in this specification are not necessarily referring to the same embodiment. Furthermore, certain features, structures, or characteristics of one or more embodiments of the present application may be combined as suitable.
Likewise, it should be noted that in order to simplify the presentation disclosed herein and thereby aid in understanding one or more inventive embodiments, various features are sometimes grouped together in a single embodiment, figure, or description thereof. This method of disclosure, however, is not intended to imply that more features than are presented in the claims are required for the subject application. Indeed, less than all of the features of a single embodiment disclosed above.
While the present application has been described with reference to the present specific embodiments, those of ordinary skill in the art will recognize that the above embodiments are for illustrative purposes only, and that various equivalent changes or substitutions can be made without departing from the spirit of the present application, and therefore, all changes and modifications to the embodiments described above are intended to be within the scope of the claims of the present application.
Claims (10)
1. A method for actively following a vehicle, comprising the steps of:
acquiring a vehicle starting signal and acquiring environmental data of surrounding adjacent areas of the vehicle;
receiving a vehicle following instruction, and acquiring target vehicle data to be followed;
along with the running of the target vehicle, acquiring target vehicle running data comprising a running path, a running gesture and running trend data of the target vehicle, and integrating the environment data and the target vehicle running data to form vehicle following reference data;
performing a host vehicle following travel control operation based on the vehicle following reference data and the host vehicle surrounding vicinity environment data;
in the running control process of the host vehicle following the target vehicle, performing target locking operation based on the acquired target vehicle characteristic data;
wherein performing the host vehicle following travel control operation based on the vehicle following reference data and the host vehicle surrounding vicinity environment data includes: matching the vehicle following reference data of the current frame with the vehicle following reference data of the previous frame to obtain a matching result; acquiring environmental data of surrounding adjacent areas of the vehicle in the current frame, judging whether the vehicle is suitable for driving operation or not, and obtaining a judging result; and carrying out the following running control operation of the vehicle based on the matching result and the judging result.
2. The method for actively tracking a vehicle according to claim 1, wherein the environmental data of the vicinity around the vehicle is acquired by an environmental sensing device including a laser radar sensor, a camera device, and a millimeter wave radar sensor.
3. The vehicle active following method of claim 1, wherein the environmental data and the target vehicle travel data are integrated by a driver domain controller, the integrating operation including time domain synchronization operation and spatial data mapping and alignment operation of the environmental data and the target vehicle travel data.
4. The method for actively tracking a vehicle according to claim 1, wherein the surrounding vicinity environment data includes surrounding vicinity obstacle distribution data and traffic condition data.
5. The vehicle active following method according to claim 1, wherein the driving tendency data of the target vehicle is acquired by detecting and analyzing a light signal of the target vehicle and/or the driving posture data.
6. The vehicle active following method of claim 1, wherein the target vehicle characteristic data comprises target vehicle body color, body rear shape, and license plate digital shape data.
7. The vehicle active following method of claim 6, wherein performing a target lock operation based on the acquired target vehicle characteristic data comprises:
and acquiring the characteristic data of the target vehicle at a specific frequency, and performing matching operation to realize the locking of the target vehicle.
8. A vehicle active following system comprising:
an environment-aware device configured to:
acquiring environmental data of a surrounding adjacent area of the vehicle; along with the running of a target vehicle, acquiring target vehicle running data comprising a running path, a running posture and running trend data of the target vehicle;
the driving domain controller is used for integrating the environment data and the target vehicle running data to form vehicle following reference data;
the host vehicle control operation gateway is configured to:
acquiring a starting signal of the vehicle;
receiving a vehicle following instruction, and acquiring target vehicle data to be followed;
performing a host vehicle following travel control operation based on the vehicle following reference data and the host vehicle surrounding vicinity environment data;
in the running control process of the host vehicle following the target vehicle, performing target locking operation based on the acquired target vehicle characteristic data;
wherein performing the host vehicle following travel control operation based on the vehicle following reference data and the host vehicle surrounding vicinity environment data includes: matching the vehicle following reference data of the current frame with the vehicle following reference data of the previous frame to obtain a matching result; acquiring environmental data of surrounding adjacent areas of the vehicle in the current frame, judging whether the vehicle is suitable for driving operation or not, and obtaining a judging result; and carrying out the following running control operation of the vehicle based on the matching result and the judging result.
9. The vehicle active follow system of claim 8, further comprising:
and the display and interaction module is used for displaying the target vehicle data and the surrounding adjacent area environment data of the vehicle, displaying the running state data of the vehicle and receiving the selection and switching operation of a user on the target vehicle.
10. The vehicle active follow system of claim 8, wherein the integrating operation comprises a time domain synchronization operation and a spatial data mapping and alignment operation of the environmental data and the target vehicle travel data.
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| CN114435361B (en) * | 2022-02-21 | 2023-09-15 | 重庆长安汽车股份有限公司 | License plate recognition and display method and system for following target vehicle and vehicle |
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