Real-time vehicle trajectory predicting method and device based on radar detection data

Abstract

The invention discloses a real-time vehicle trajectory predicting method and device based on radar detection data. The real-time vehicle trajectory predicting method includes the steps that accordingto the data collected by a vehicle sensor and a radar in real time, the absolute velocity and direction of a target vehicle and the included angle and the included angle change rate of the velocity direction between a vehicle and the target vehicle are calculated, and then the yaw velocity of the target vehicle is calculated through the included angle change rate and the yaw velocity of the vehicle; the turning radii of the vehicle and the target vehicle are calculated by using the velocities and the yaw velocities of the vehicle and the target vehicle correspondingly; and finally, travellingtrajectories of the vehicle and the target vehicle are predicted, and the trajectory of the target vehicle is transferred into a vehicle coordinate system of the vehicle to be calculated through the relative distance and the included angle of vehicle coordinate systems of the vehicle and the target vehicle. The real-time vehicle trajectory predicting device comprises the radar, a vehicle-mounted sensor, a controller and an actuator. The real-time vehicle trajectory predicting method and device based on the radar detection data has the advantages that the travelling trajectory of the vehicle and the travelling trajectory of a target object in the environment can be predicted accurately and in real time, collision danger is judged timely, and safety and stability of vehicle travelling are improved.

Description

technical field [0001] The invention relates to the field of vehicle trajectory prediction, in particular to a method and device for real-time prediction of vehicle trajectory based on radar detection data. Background technique [0002] How to ensure the safety of automobile driving is the primary issue of travel. For the vehicle controlled by the driver, the driver observes the state of the vehicle and the driving conditions of the surrounding vehicles through his own senses to judge whether there is a risk of collision during the driving of the vehicle. This method relies on human observation and subjective judgment and is not always reliable. For example, when the driving light is poor at night or in rainy and foggy weather, the driver may misjudge the safety status of driving. For advanced driver assistance systems and even unmanned vehicles without human participation in driving control, it is necessary to use on-board sensors and radar detection data to comprehensive...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the above-mentioned problems in the prior art, an object of the present invention is to provide a real-time prediction method of the driving trajectory of the vehicle and the target vehicle based on radar detection data; The real-time prediction

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