A v2v-based road shape reconstruction method ahead
A road and form technology, applied to other vehicle parameters and other directions, can solve the problems of false alarms, inability to identify the road form ahead, large deviation in the estimation of the vehicle's driving state, and achieve the effect of ensuring driving safety.
Active Publication Date: 2021-03-30
NANJING DESAY SV AUTOMOTIVE CO LTD
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Problems solved by technology
[0002] At present, many intelligent driving assistance systems do not have map matching and road recognition, resulting in false positives and false negatives for functions such as collision warning
For example, the vehicle early warning system based on V2X technology, without map matching and road recognition, makes it impossible to recognize the shape of the road ahead, resulting in a large deviation in the estimation of the vehicle's driving state; and the unknown road shape makes it impossible to make timely judgments on complex road sections , more false alarms are generated in the early warning process of multi-target and multi-scenario
Method used
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Embodiment 1
[0045] A V2V-based road shape reconstruction method ahead, such as figure 1 shown, including the following steps:
[0046] S10. Obtain and save the driving information of the target vehicle around the main vehicle in real time through the V2V module.
[0047] The collected driving information of the target vehicle includes the target vehicle position coordinates, vehicle speed, acceleration, heading angle, yaw rate, data collection time, etc. at the current moment. The collected range is within the communication range of the V2V module.
[0048] S20. According to the saved historical driving information of the target vehicle, form the track of the target vehicle, and calculate the curvature, heading and relative offset from the host vehicle of the track.
[0049] This step specifically includes:
[0050] Obtain the saved historical driving information of the target vehicle, and process its abnormal data to form a track.
[0051] Calculate the curvature of the track, the he...
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The invention relates to a V2V-based front road form reconstruction method. The method comprises the steps of obtaining and storing driving information of a target vehicle around a main vehicle in real time through a V2V module; forming a track of the target vehicle according to the stored historical driving information of the target vehicle, and calculating the curvature and heading of the trackand the relative offset with the main vehicle; and judging the road form within a certain distance range in front of the main vehicle according to the curvature and heading of the track of the targetvehicle, the relative offset with the main vehicle and the driving information of the main vehicle and the target vehicle, and establishing a road form map according to the main road form. According to the invention, the driving information of the target vehicle around the main vehicle is obtained in real time through the V2V module so as to determine the track of the target vehicle, the road formin front of the main vehicle is determined, and the road form map is established according to the road form, so that a certain guiding effect is provided for driving of the main vehicle, the problemthat it is difficult to judge a forward vehicle and calculate the vehicle following distance and collision time on the winding road is solved, and the driving safety is guaranteed.
Description
technical field [0001] The invention relates to the technical field of road safety, in particular to a V2V-based method for reconstructing the shape of the road ahead. Background technique [0002] At present, many intelligent driving assistance systems do not have map matching and road recognition, resulting in false positives and false positives for collision warning and other functions. For example, the vehicle early warning system based on V2X technology, without map matching and road recognition, makes it impossible to recognize the shape of the road ahead, resulting in a large deviation in the estimation of the vehicle's driving state; and the unknown road shape makes it impossible to make timely judgments on complex road sections , in the early warning process of multi-target and multi-scenario, more false alarms are generated. Contents of the invention [0003] The present invention provides a method for reconstructing the shape of the road ahead based on V2V in o...
Claims
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IPC IPC(8): B60W40/06B60W40/072B60W40/076
CPCB60W40/06B60W40/072B60W40/076B60W2520/06B60W2520/10B60W2520/105B60W2530/00
Inventor 周琼峰季丹唐培培
Owner NANJING DESAY SV AUTOMOTIVE CO LTD