CN109263644A - A kind of target identification method and device - Google Patents
A kind of target identification method and device Download PDFInfo
- Publication number
- CN109263644A CN109263644A CN201811141107.2A CN201811141107A CN109263644A CN 109263644 A CN109263644 A CN 109263644A CN 201811141107 A CN201811141107 A CN 201811141107A CN 109263644 A CN109263644 A CN 109263644A
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- CN
- China
- Prior art keywords
- road
- vehicle
- curve
- target identification
- location
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Classifications
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/072—Curvature of the road
Abstract
Target identification method and device disclosed by the invention acquire the road information in the centre of location pre-determined distance apart from vehicle；According to the road information, the road curve of road where calculating the vehicle；The target vehicle recognized on the target identification region of the vehicle front in the road curve, as major heading.The present invention enables automatic navigation of vehicle control function more accurately to select the major heading vehicle of vehicle front by way of calculating road curve according to road information, avoids major heading and loses or mistake is selected to endanger to driver's bring.
Description
Technical field
The present invention relates to data processing field, specially a kind of target identification method and device.
Background technique
Adaptive learning algorithms be a kind of permission vehicle cruise control system by adjusting speed to adapt to traffic condition
Automobile function.The function can be detected with the presence or absence of target vehicle on this Chinese herbaceous peony access road in vehicle travel process, and according to
Testing result and the state of the target vehicle are adjusted the speed of itself.
The target identification method used in cruise control system on existing market generally only passes through a millimetre-wave radar
Sensor identify target, when vehicle on bend when driving, if bend radian is larger, target is easily lost, if depositing on bend
In multiple targets, then the target of mistake is easily identified, as shown in Figure 1, vehicle A should be identified as to target, but because of millimetre-wave radar sense
Know and be limited in scope, so that original target carriage A loses, vehicle B is identified as target, and then car speed is caused to change suddenly, given
Driver brings danger.
Summary of the invention
The present invention provides a kind of target identification method and device, can solve in the prior art due to only with a milli
Metre wave radar identifies target and target is caused to lose or identify mistake, and dangerous problem is brought to driver.
In order to achieve the above objectives, the present invention provides the following technical scheme that
A kind of target identification method, comprising:
Acquire the road information in the centre of location pre-determined distance apart from vehicle；
According to the road information, the road curve of road where calculating the vehicle；
The target vehicle recognized on the target identification region of the vehicle front in the road curve, as
Major heading.
Optionally, the road information in centre of location pre-determined distance of the acquisition apart from vehicle, comprising:
From road-map and positioning system, the road letter in the centre of location pre-determined distance apart from the vehicle is acquired
Breath.
Optionally, described according to the road information, the road curve of road where calculating the vehicle, comprising:
Using the current location of the centre of location of the vehicle as origin, rectangular coordinate system is established, wherein x is abscissa, and y is
Ordinate；
The road curve, the road are calculated according to the current location of the centre of location of the vehicle, the road information
Road curve negotiating formula y=ax2+bx+c is indicated, wherein described a, b, c are constant.
Optionally, the road is calculated in the current location of the centre of location according to the vehicle, the road information
After the curve of road, further includes:
Using the road curve as center line, with two curve forming curves of y=ax2+bx+c-d and y=ax2+bx+c+d
Band；
Region using in the curve belt positioned at the vehicle front is as target identification region.
A kind of Target Identification Unit, comprising:
Acquisition unit, for acquiring the road information in the centre of location pre-determined distance apart from vehicle；
Computing unit, for calculating the road curve of vehicle place road according to the road information；
Recognition unit, for what is recognized on the target identification region of the vehicle front in the road curve
Target vehicle, as major heading.
Optionally, the acquisition unit, for acquiring the positioning apart from the vehicle from road-map and positioning system
Road information in the pre-determined distance of center.
Optionally, the computing unit, comprising:
Unit is established, for establishing rectangular coordinate system using the current location of the centre of location of the vehicle as origin, wherein
X is abscissa, and y is ordinate；
First computation subunit, for being calculated according to the current location of the centre of location of the vehicle, the road information
The road curve, the road curve are indicated by formula y=ax2+bx+c, wherein described a, b, c are constant.
Optionally, the Target Identification Unit, further includes:
Second computation subunit is used for using the road curve as center line, with y=ax2+bx+c-d and y=ax2+bx+
Two curves of c+d form curve belt；
Wherein, the region using in the curve belt positioned at the vehicle front is as target identification region.
As can be seen from the above technical solutions, target identification method disclosed by the invention and device, acquisition is determined apart from vehicle
Road information in the pre-determined distance of position center；According to the road information, the road curve of road where calculating the vehicle；?
The target vehicle recognized on the target identification region of the vehicle front in the road curve, as major heading.This
Invention enables automatic navigation of vehicle control function more accurately to select by way of calculating road curve according to road information
The major heading vehicle for selecting vehicle front avoids major heading and loses or mistake is selected to endanger to driver's bring.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of flow chart of target identification method disclosed by the embodiments of the present invention；
Fig. 2 is the bend schematic diagram where vehicle；
Fig. 3 is a kind of schematic diagram of Target Identification Unit disclosed by the embodiments of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The present invention provides a kind of target identification method and device, can solve in the prior art due to only with a milli
Metre wave radar identifies target and target is caused to lose or identify mistake, and dangerous problem is brought to driver.
As shown in Figure 1, the embodiment of the invention discloses a kind of goal approach, comprising the following steps:
Road information in the centre of location pre-determined distance of S101, acquisition apart from vehicle.
Optionally, the centre of location pre-determined distance apart from the vehicle can be acquired from road-map and positioning system
Interior road information.
S102, according to the road information, the road curve of road where calculating the vehicle.
Optionally, as shown in Fig. 2, being the bend schematic diagram where vehicle, with the present bit of the centre of location of the vehicle
It is set to origin, establishes rectangular coordinate system, wherein x is abscissa, and y is ordinate.
The road curve is calculated according to the current location of the centre of location of the vehicle, the road information.
Wherein, the road curve can be indicated by formula y=ax2+bx+c, wherein described a, b, c are constant.Road
Curve can also pass through other function representations.
Optionally, the road is calculated in the current location of the centre of location according to the vehicle, the road information
After the curve of road, further includes:
Using the road curve as center line, with two curve forming curves of y=ax2+bx+c-d and y=ax2+bx+c+d
Band.
Wherein, as shown in Fig. 2, two curves of y=ax2+bx+c-d and y=ax2+bx+c+d are the center y=ax2+bx+c
One preset value of the positive negative bias of curve generates, and the preset value can be with concrete condition sets itself.
Region using in the curve belt positioned at the vehicle front is as target identification region.
S103, the target carriage recognized on the target identification region of the vehicle front in the road curve
, as major heading.
As shown in Fig. 2, since target identification region of the invention is curve belt identical with elbow curve, in selection argument
The target carriage A being necessarily selected on same path when marking vehicle guarantees without selecting the target carriage B on another road
The accuracy of major heading selection.
In target identification method disclosed in the present embodiment, the road letter in the centre of location pre-determined distance apart from vehicle is acquired
Breath；According to the road information, the road curve of road where calculating the vehicle；It is located at the vehicle in the road curve
The target vehicle recognized on target identification region in front of, as major heading.The present invention according to road information by calculating
The mode of road curve enables automatic navigation of vehicle control function more accurately to select the major heading vehicle of vehicle front,
Major heading is avoided to lose or mistake is selected to endanger to driver's bring.
Based on target identification method disclosed in the embodiments of the present invention, Fig. 3 is specifically disclosed using the target identification side
The Target Identification Unit of method.
As shown in figure 3, another embodiment of the present invention discloses a kind of Target Identification Unit, which includes:
Acquisition unit 301, for acquiring the road information in the centre of location pre-determined distance apart from vehicle；
Computing unit 302, for calculating the road curve of vehicle place road according to the road information；
Recognition unit 303, for being identified on the target identification region of the vehicle front in the road curve
The target vehicle arrived, as major heading.
Optionally, the acquisition unit 301, for acquiring apart from the vehicle from road-map and positioning system
Road information in centre of location pre-determined distance.
Optionally, the computing unit 302, comprising:
Unit is established, for establishing rectangular coordinate system using the current location of the centre of location of the vehicle as origin, wherein
X is abscissa, and y is ordinate；
First computation subunit, for being calculated according to the current location of the centre of location of the vehicle, the road information
The road curve, the road curve are indicated by formula y=ax2+bx+c, wherein described a, b, c are constant.
Optionally, the computing unit 302, further includes:
Second computation subunit is used for using the road curve as center line, with y=ax2+bx+c-d and y=ax2+bx+
Two curves of c+d form curve belt；
Wherein, the region using in the curve belt positioned at the vehicle front is as target identification region.
Acquisition unit 301, computing unit 302 and identification in the above Target Identification Unit disclosed by the embodiments of the present invention is single
The specific work process of member 303, reference can be made to the corresponding content in target identification method disclosed in the above embodiment of the present invention, here
No longer repeated.
In Target Identification Unit disclosed in the present embodiment, in centre of location pre-determined distance of the acquisition unit acquisition apart from vehicle
Road information；Computing unit is according to the road information, the road curve of road where calculating the vehicle；Recognition unit exists
The target vehicle recognized on the target identification region of the vehicle front in the road curve, as major heading.This
Invention enables automatic navigation of vehicle control function more accurately to select by way of calculating road curve according to road information
The major heading vehicle for selecting vehicle front avoids major heading and loses or mistake is selected to endanger to driver's bring.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, commodity or the equipment that include a series of elements not only include those elements, but also to wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including element
There is also other identical elements in process, method, commodity or equipment.
It will be understood by those skilled in the art that embodiments herein can provide as method, system or computer program product.
Therefore, complete hardware embodiment, complete software embodiment or embodiment combining software and hardware aspects can be used in the application
Form.It is deposited moreover, the application can be used to can be used in the computer that one or more wherein includes computer usable program code
The shape for the computer program product implemented on storage media (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
Formula.
The above is only embodiments herein, are not intended to limit this application.To those skilled in the art,
Various changes and changes are possible in this application.It is all within the spirit and principles of the present application made by any modification, equivalent replacement,
Improve etc., it should be included within the scope of the claims of this application.
Claims (8)
1. a kind of target identification method characterized by comprising
Acquire the road information in the centre of location pre-determined distance apart from vehicle；
According to the road information, the road curve of road where calculating the vehicle；
The target vehicle recognized on the target identification region of the vehicle front in the road curve, as argument
Mark.
2. target identification method according to claim 1, which is characterized in that the centre of location of the acquisition apart from vehicle is pre-
If the road information in distance, comprising:
From road-map and positioning system, the road information in the centre of location pre-determined distance apart from the vehicle is acquired.
3. target identification method according to claim 1, which is characterized in that it is described according to the road information, calculate institute
The road curve of road where stating vehicle, comprising:
Using the current location of the centre of location of the vehicle as origin, rectangular coordinate system is established, wherein x is abscissa, and y is vertical sits
Mark；
The road curve is calculated according to the current location of the centre of location of the vehicle, the road information, the road is bent
Line is indicated by formula y=ax2+bx+c, wherein described a, b, c are constant.
4. target identification method according to claim 3, which is characterized in that in the centre of location according to the vehicle
Current location, after the road information calculates the road curve, further includes:
Using the road curve as center line, curve belt is formed with two curves of y=ax2+bx+c-d and y=ax2+bx+c+d；
Region using in the curve belt positioned at the vehicle front is as target identification region.
5. a kind of Target Identification Unit characterized by comprising
Acquisition unit, for acquiring the road information in the centre of location pre-determined distance apart from vehicle；
Computing unit, for calculating the road curve of vehicle place road according to the road information；
Recognition unit, the target for being recognized on the target identification region of the vehicle front in the road curve
Vehicle, as major heading.
6. Target Identification Unit according to claim 5, which is characterized in that the acquisition unit is used for from road-map
And in positioning system, the road information in the centre of location pre-determined distance apart from the vehicle is acquired.
7. Target Identification Unit according to claim 5, which is characterized in that the computing unit, comprising:
Unit is established, for establishing rectangular coordinate system using the current location of the centre of location of the vehicle as origin, wherein x is
Abscissa, y are ordinate；
First computation subunit, for according to the current location of the centre of location of the vehicle, road information calculating
Road curve, the road curve are indicated by formula y=ax2+bx+c, wherein described a, b, c are constant.
8. Target Identification Unit according to claim 7, which is characterized in that further include:
Second computation subunit is used for using the road curve as center line, with y=ax2+bx+c-d and y=ax2+bx+c+d
Two curves form curve belt；
Wherein, the region using in the curve belt positioned at the vehicle front is as target identification region.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811141107.2A CN109263644B (en) | 2018-09-28 | 2018-09-28 | Target identification method and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811141107.2A CN109263644B (en) | 2018-09-28 | 2018-09-28 | Target identification method and device |
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| CN109263644A true CN109263644A (en) | 2019-01-25 |
| CN109263644B CN109263644B (en) | 2020-07-28 |
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| CN201811141107.2A Active CN109263644B (en) | 2018-09-28 | 2018-09-28 | Target identification method and device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110422151A (en) * | 2019-07-18 | 2019-11-08 | 浙江吉利新能源商用车集团有限公司 | A kind of vehicle auxiliary braking method, device, system and terminal |
| CN110696828A (en) * | 2019-11-14 | 2020-01-17 | 驭势科技（北京）有限公司 | Forward target selection method and device and vehicle-mounted equipment |
| CN113269974A (en) * | 2021-04-09 | 2021-08-17 | 东风汽车集团股份有限公司 | Target loss early warning and control method and device |
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| CN113269974A (en) * | 2021-04-09 | 2021-08-17 | 东风汽车集团股份有限公司 | Target loss early warning and control method and device |
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|---|---|
| CN109263644B (en) | 2020-07-28 |
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