Method and system for selecting target when vehicle passes through corner for ADAS and vehicle
A vehicle and cornering technology, applied in the field of driving assistance systems, can solve problems such as automatic braking safety hazards, vehicle misidentification of target vehicles, loss of target vehicles, etc., so as to reduce the probability of wrongly selecting target vehicles and improve safety.
Active Publication Date: 2020-04-21
WEICHAI POWER CO LTD
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Problems solved by technology
[0006] However, when the vehicle passes through a curve, the AEB and ACC in the ADAS system tend to mistakenly identify the vehicle in the adjacent lane as the target vehicle
like figure 1 As shown, when the vehicle is cornering, if the trajectory is predicted according to the current vehicle state, the target vehicle may be lost
And if there are other vehicles in the adjacent lane, the vehicle in the adjacent lane may be mistakenly identified as the target vehicle, which will cause the system to perform erroneous automatic braking
During driving, this kind of automatic braking caused by wrong recognition can easily cause other safety hazards
Method used
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[0040] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.
[0041] In the first aspect, according to the embodiment of the present application, a method for selecting a target when the vehicle of ADAS is cornering is proposed, such as figure 2 shown, including:
[0042] S101, detecting the lane line in front of the vehicle to obtain lane line information;
[0043] S102, judging whether the lane line information satisfies the lane line judging condition;
[0044] S103, if satisfied, calcu...
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The invention relates to the field of driving assistance systems, in particular to a method and a system for selecting a target when a vehicle passes through a corner for ADAS and the vehicle. The method for selecting the target during turning of the vehicle for the ADAS comprises the following steps: detecting a lane line in front of the vehicle to obtain lane line information; judging whether the lane line information meets a lane line judgment condition or not; if so, calculating the curvature of the lane line in front of the vehicle in real time; if the curvature of the lane line exceeds acurvature threshold value, it is judged that the vehicle is about to enter a curve; judging whether the historical driving track of the vehicle is close to the historical lane line information or not; and if so, selecting a vehicle closest to the vehicle in the lane line as a target vehicle. Detecting a lane line in front of the vehicle, and judging whether a historical driving track of the vehicle is close to historical lane line information or not; and if so, the vehicle closest to the vehicle in the lane line is selected as the target vehicle, so that the probability of mistakenly selecting the target vehicle when the vehicle passes through the corner can be reduced, and the safety of the vehicle in the driving process is improved.
Description
technical field [0001] The present application relates to the field of driving assistance systems, and in particular to a method, system and vehicle for selecting a target when an ADAS vehicle is cornering. Background technique [0002] The Advanced Driving Assistant System (ADAS) uses various sensors (millimeter-wave radar, lidar, single / binocular camera and satellite navigation) installed on the car to sense at any time while the car is driving. Surrounding environment, collect data, identify, detect and track static and dynamic objects, and combine the navigator map data to carry out systematic calculation and analysis, so as to let the driver be aware of possible dangers in advance and effectively increase the driving force of the car. comfort and safety. ADAS includes: Autonomous Emergency Braking (AEB) and Adaptive Cruise Control (ACC). [0003] The AEB system uses radar and camera to measure the distance to the vehicle in front or obstacles, and then uses the data a...
Claims
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Login to View More IPC IPC(8): B60W30/18B60W40/06
CPCB60W30/18145B60W40/06
Inventor 王龙晓王学鹏赵晓晓
Owner WEICHAI POWER CO LTD