Vehicle driving automatic control method and device
A vehicle driving and vehicle technology, applied in the direction of control devices, automatic starting devices, vehicle components, etc., can solve the problem of identification of the target vehicle as being in its own lane, wrong braking or braking delay of the adaptive cruise system, and driving safety of the main vehicle low level problem
Active Publication Date: 2020-03-31
BYD CO LTD
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Problems solved by technology
[0003] However, in the case of multiple target vehicles driving on a curve, ranging sensors such as millimeter-wave radar and lidar cannot identify lane lines well
Therefore, the subject vehicle equipped with only millimeter-wave radar or lidar is likely to recognize the target vehicle in this lane as being in a non-own lane, and may recognize the target vehicle in a non-own lane as being in this lane, which may lead to the self-adaptation of the subject vehicle. The cruise system performs wrong braking or braking delay, and the driving safety of the subject vehicle is low
Method used
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[0021] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.
[0022] The following describes the vehicle automatic control method and device according to the embodiments of the present invention with reference to the accompanying drawings.
[0023] Usually, millimeter-wave radar, lidar, etc. are installed as ranging sensors to sense multiple target vehicles in front of the subject vehicle and adaptively adjust the motion parameters of the cruise system.
[0024] However, when multiple target vehicles are driving on a curve, ranging sensors such as millimeter-wave radar and lidar cannot iden...
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The invention a vehicle driving auto-control method and device, wherein the method comprises: acquiring front road lanes according to a first image and rear road lanes according to a third image, mapping the front road lanes to a second image according to interleaving mapping relationship between the first image and the second image so as to generate multiple front vehicle recognition ranges, mapping the rear road lanes to a fourth image according to interleaving mapping relationship between the third image and the fourth image so as to generate multiple rear vehicle recognition ranges, recognizing a front target vehicle according to the multiple front vehicle recognition ranges, and recognizing a rear target vehicle according to the multiple rear vehicle recognition ranges; performing cruise control on motion parameters of a main vehicle according to motion parameters of the front target vehicle and rear target vehicle. Therefore, cruise can be correctly controlled, and driving vehicle of the main vehicle can be improved.
Description
technical field [0001] The invention relates to the technical field of automobile control, in particular to a method and device for automatic control of vehicle running. Background technique [0002] At present, vehicle adaptive cruise systems usually use millimeter-wave radar, lidar, etc. as ranging sensors. Thus, the subject vehicle can sense a plurality of target vehicles in front of the subject vehicle and adaptively adjust the motion parameters of the cruise system by installing any one of the above-mentioned ranging sensors. [0003] However, for the situation where multiple target vehicles are driving on a curve, ranging sensors such as millimeter-wave radar and lidar cannot identify lane lines well. Therefore, the subject vehicle equipped with only millimeter-wave radar or lidar is likely to recognize the target vehicle in this lane as being in a non-own lane, and may recognize the target vehicle in a non-own lane as being in this lane, which may lead to the self-ad...
Claims
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IPC IPC(8): B60W10/18B60W30/09B60W30/14B60T7/12B60W40/04B60W40/06
CPCB60T7/12B60W10/18B60W30/09B60W30/143B60W40/04B60W40/06B60W2050/0014B60W2050/0043B60W2050/0075B60W2554/80B60W2710/18
Inventor 黄忠伟姜波
Owner BYD CO LTD