A method for judging the position of vehicles in the same lane based on v2x technology
A technology of lanes and vehicles, applied in the field of V2X, can solve the problems of misjudgment of vehicles, floating up and down, etc., to achieve the effect of improving the accuracy rate
Active Publication Date: 2021-07-02
HUIZHOU DESAY SV INTELLIGENT TRANSPORTATION TECH INST CO LTD
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AI Technical Summary
Problems solved by technology
Because the driver turns the steering wheel slightly left and right during driving, the vehicle heading angle fluctuates up and down from a fixed value
As a result, vehicles belonging to this lane will be misjudged as vehicles in adjacent lanes, or vehicles in adjacent lanes will be misjudged as vehicles in this lane
Method used
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Embodiment 1
[0039] A method for judging the position of vehicles in the same lane based on V2X technology, such as figure 2 shown, including the following steps:
[0040] S10. Obtain historical driving trajectories of the preceding vehicle and the following vehicle within a certain period of time or within a certain driving distance through V2X.
[0041] In this step, as well as V2X technology, the vehicle’s driving trajectory information can be directly received and saved. Therefore, when needed, the historical driving within a certain period of time or within a certain driving distance can be directly extracted from the stored vehicle trajectory information track.
[0042] Preferably, a certain period of time is selected within 5s-15s, and a certain distance is selected within 100m to facilitate calculation.
[0043] In the present invention, the historical driving track includes the vehicle position coordinates, and the conventional operation for obtaining the vehicle position coord...
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The invention relates to a method for judging the position of a vehicle in the same lane based on V2X technology, comprising: obtaining the historical driving trajectories of the preceding vehicle and the following vehicle within a certain period of time or within a certain driving distance through V2X; Process the historical driving trajectories, and perform curve fitting on the processed historical driving trajectories of the front vehicle and the rear vehicle respectively, to obtain the fitting curve of the front vehicle and the fitting curve of the rear vehicle; calculate the real-time coordinates of the rear vehicle and the fitting curve of the front vehicle The vertical distance between them; judge whether the front vehicle and the rear vehicle are in the same lane according to the vertical distance, vehicle width and lane width. The present invention receives and saves the vehicle pose information through V2X technology, and calculates the vertical distance between the front vehicle and the rear vehicle according to the stored vehicle pose information, so as to judge whether the front vehicle and the rear vehicle are in the same lane, and improves the relative distance between the two vehicles. The correct rate of position judgment is conducive to the driver to make timely evasive actions.
Description
technical field [0001] The present invention relates to the field of V2X technology, in particular to a method for judging the position of a vehicle in the same lane based on the V2X technology. Background technique [0002] At present, based on V2X technology, the mainstream method for judging whether the remote vehicle (RV) is in the lane is to calculate the vertical distance from the remote vehicle (RV) to the straight line where the main vehicle (HV) is traveling, and judge the distance of the remote vehicle according to the distance. (RV) relative to which lane of the host vehicle (HV). Since the driver turns the steering wheel slightly left and right during driving, the heading angle of the vehicle fluctuates up and down from a fixed value. Thus, a vehicle belonging to the own lane may be misjudged as a vehicle of an adjacent lane, or a vehicle of an adjacent lane may be misjudged as a vehicle of the own lane. [0003] The traditional algorithm for judging the positi...
Claims
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IPC IPC(8): B60W40/00
CPCB60W40/00B60W2554/801B60W2554/802B60W2556/45
Inventor 范晓娟张耿旭刘晓阳胡坤福
Owner HUIZHOU DESAY SV INTELLIGENT TRANSPORTATION TECH INST CO LTD