CN115087573A - 一种关键目标选取方法、装置及系统 - Google Patents

一种关键目标选取方法、装置及系统 Download PDF

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Publication number
CN115087573A
CN115087573A CN202080096518.3A CN202080096518A CN115087573A CN 115087573 A CN115087573 A CN 115087573A CN 202080096518 A CN202080096518 A CN 202080096518A CN 115087573 A CN115087573 A CN 115087573A
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China
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vehicle
lane
target
determining
area
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CN202080096518.3A
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CN115087573B (zh
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王冰雪
赵子慧
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Huawei Technologies Co Ltd
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Huawei Technologies Co Ltd
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • B60K2031/0016—Identification of obstacles; Selection of a target vehicle
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

本申请公开了一种关键目标选取方法、装置及系统，该方法包括：获取车道线检测信息、车辆的运动姿态信息和多个目标的检测信息；基于车道线检测信息确定车道区域，基于车辆的运动姿态信息确定车辆的轨迹区域；基于车道区域、车辆的轨迹区域以及车辆的行驶状态确定车辆的通行区域；基于车辆的通行区域和多个目标的检测信息确定多个目标的状态参数值；其中，每个目标的状态参数值用于指示该目标与车辆的通行区域的交叠程度；至少基于多个目标的状态参数值从多个目标中选取至少一个关键目标。采用上述方法，能够在各种驾驶场景下实现准确地选取关键目标，为自动驾驶系统和驾驶辅助系统做出对车辆的正确控制动作提供支持。

Description

PCT国内申请，说明书已公开。

Claims (30)

  1. PCT国内申请，权利要求书已公开。
CN202080096518.3A 2020-03-31 2020-03-31 一种关键目标选取方法、装置及系统 Active CN115087573B (zh)

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Application Number Priority Date Filing Date Title
PCT/CN2020/082612 WO2021196041A1 (zh) 2020-03-31 2020-03-31 一种关键目标选取方法、装置及系统

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CN115087573A true CN115087573A (zh) 2022-09-20
CN115087573B CN115087573B (zh) 2023-05-05

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Cited By (2)

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CN116110216A (zh) * 2022-10-21 2023-05-12 中国第一汽车股份有限公司 车辆跨线时间确定方法、装置、存储介质及电子装置
CN116749968A (zh) * 2023-08-16 2023-09-15 知行汽车科技(苏州)股份有限公司 一种目标车辆的检测方法、装置、设备及介质

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CN114543828A (zh) * 2022-02-21 2022-05-27 中国第一汽车股份有限公司 车辆切入场景生成方法、装置、电子设备及存储介质
CN114882706B (zh) * 2022-05-31 2023-06-16 华中科技大学 一种基于非结构性路面的周向防碰撞预警方法及系统
CN115112114B (zh) * 2022-06-15 2024-05-03 苏州轻棹科技有限公司 一种修正自车周围车辆朝向角的处理方法和装置

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US5999874A (en) * 1996-09-13 1999-12-07 Robert Bosch Gmbh Method and apparatus for controlling the velocity of a vehicle
US20050209764A1 (en) * 2002-11-21 2005-09-22 Marko Schroder System for recognizing left-hand or right-hand driving conditions
US20120212612A1 (en) * 2011-02-23 2012-08-23 Clarion Co., Ltd. Lane Departure Warning Apparatus and Lane Departure Warning System
US20130131925A1 (en) * 2011-11-18 2013-05-23 Denso Corporation Vehicle behavior control apparatus
US20160200317A1 (en) * 2013-08-20 2016-07-14 Audi Ag Device and method for controlling a motor vehicle
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JP6222785B2 (ja) * 2015-08-10 2017-11-01 株式会社Ｓｕｂａｒｕ 操舵支援装置
KR101836810B1 (ko) * 2015-12-29 2018-03-09 아주대학교산학협력단 차로 판단 장치
CN110487288B (zh) * 2018-05-14 2024-03-01 华为技术有限公司 一种行车道路的估计方法以及行车道路估计系统
CN110667578B (zh) * 2018-12-29 2021-09-17 毫末智行科技有限公司 自动驾驶车辆的横向决策系统及横向决策确定方法
KR102061140B1 (ko) * 2019-02-12 2020-02-12 주식회사 만도 차로 유지 장치, 그를 가지는 차량 및 그 제어 방법
CN110696828B (zh) * 2019-11-14 2022-01-14 驭势科技（北京）有限公司 前向目标选择方法、装置及车载设备
CN110909711B (zh) * 2019-12-03 2022-08-02 阿波罗智能技术(北京)有限公司 检测车道线位置变化的方法、装置、电子设备和存储介质

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5999874A (en) * 1996-09-13 1999-12-07 Robert Bosch Gmbh Method and apparatus for controlling the velocity of a vehicle
US20050209764A1 (en) * 2002-11-21 2005-09-22 Marko Schroder System for recognizing left-hand or right-hand driving conditions
US20120212612A1 (en) * 2011-02-23 2012-08-23 Clarion Co., Ltd. Lane Departure Warning Apparatus and Lane Departure Warning System
US20130131925A1 (en) * 2011-11-18 2013-05-23 Denso Corporation Vehicle behavior control apparatus
US20160200317A1 (en) * 2013-08-20 2016-07-14 Audi Ag Device and method for controlling a motor vehicle
US20170217422A1 (en) * 2014-08-11 2017-08-03 Nissan Motor Co., Ltd. Travel Control Device and Travel Control Method
CN109829351A (zh) * 2017-11-23 2019-05-31 华为技术有限公司 车道信息的检测方法、装置及计算机可读存储介质
US20190184990A1 (en) * 2017-12-18 2019-06-20 Samsung Electronics Co., Ltd. Method and apparatus with vehicular longitudinal velocity control
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US20190202462A1 (en) * 2017-12-28 2019-07-04 Automotive Research & Testing Center Method of lane change decision-making and path planning

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116110216A (zh) * 2022-10-21 2023-05-12 中国第一汽车股份有限公司 车辆跨线时间确定方法、装置、存储介质及电子装置
CN116110216B (zh) * 2022-10-21 2024-04-12 中国第一汽车股份有限公司 车辆跨线时间确定方法、装置、存储介质及电子装置
CN116749968A (zh) * 2023-08-16 2023-09-15 知行汽车科技(苏州)股份有限公司 一种目标车辆的检测方法、装置、设备及介质
CN116749968B (zh) * 2023-08-16 2023-11-03 知行汽车科技(苏州)股份有限公司 一种目标车辆的检测方法、装置、设备及介质

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EP4129787A1 (en) 2023-02-08
EP4129787A4 (en) 2023-06-07
CN115087573B (zh) 2023-05-05

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