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An external vehicle monitoring method, device, equipment and storage medium

A vehicle and location information technology, which is applied in the direction of measuring devices, surveying and navigation, radio wave measurement systems, etc., can solve the problems of increasing the difficulty of software implementation and hardware costs, etc., and achieves a simple and effective way, a small amount of calculation, and strong practicability Effect

Active Publication Date: 2022-05-31
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the above method requires large-scale sample data to train the neural network to predict the driving route and trajectory of external vehicles, and requires high-performance servers to support it, which increases the difficulty of software implementation and hardware costs.

Method used

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  • An external vehicle monitoring method, device, equipment and storage medium
  • An external vehicle monitoring method, device, equipment and storage medium
  • An external vehicle monitoring method, device, equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0029] Optionally, the front positioning information may specifically include the current position and the heading angle. Among them, the current position is the own vehicle

[0031] In order to monitor the external vehicle, the positioning information of the external vehicle must be determined first. in determining the external car

[0032] S120, according to the recorded historical track of the external vehicle and the positioning information of the external vehicle, fitting the

[0034] The vehicle can always obtain the relative positioning information of the external vehicle through the lidar installed by itself.

Embodiment 2

[0038] FIG. 2A is a flowchart of a method for monitoring an external vehicle provided in Embodiment 2 of the present invention. The embodiment of the present invention is

[0046]

[0048] S220, smoothly process the position information of the external vehicle to obtain the positioning information of the external vehicle.

[0049] Since there may be a certain error when obtaining the relative position of the external vehicle through the lidar, and the external

[0053] S230, record the historical positioning information of the external vehicle to obtain the historical track sequence of the external vehicle.

[0054] Among them, because the external vehicle is in constant telemotion, and the movement of the external vehicle has continuity, then the external vehicle

[0055] The positioning information of the external vehicle can be recorded by the automatic driving system.

[0056] S240, processing the historical track sequence of the external vehicle by a curve fitting method to o...

Embodiment 3

Further, above-mentioned external vehicle monitoring device, can also include:

Calculate position information unit, be set to according to current positioning information and relative positioning information with external vehicle,

calculating the position information of the external vehicle;

Processing position information unit, is set to smooth the position information of described outside vehicle, obtains described outside vehicle

location information of the vehicle.

Further, above-mentioned processing location information unit, can be set to:

[0077] The position information of the external vehicle is processed by Kalman filtering.

Further, above-mentioned external vehicle monitoring device, can also include:

Determine track sequence unit, be set to record the historical positioning information of described outside vehicle, obtain described outside vehicle

The historical trajectory sequence of the vehicle.

Further, above-mentioned track unit 320, can be specif...

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Abstract

The embodiment of the invention discloses an external vehicle monitoring method, device, equipment and storage medium. Wherein, the method includes: determining the positioning information of the external vehicle according to the current positioning information and the relative positioning information with the external vehicle; according to the recorded historical trajectory of the external vehicle and the positioning information of the external vehicle, fitting the Describe the driving route and predicted trajectory of the external vehicle. According to the technical solution provided by the embodiment of the present invention, according to the recorded historical trajectory of the external vehicle and the positioning information of the external vehicle, the accuracy of fitting the driving route and the predicted trajectory of the external vehicle is high. Compared with the need for large-scale sample data for neural network The way of predicting the driving route and trajectory of the external vehicle after training is simple and effective, with small calculation amount and strong practicability.

Description

An external vehicle monitoring method, device, equipment and storage medium technical field Embodiments of the present invention relate to the field of automatic driving, and in particular, to a method, device, equipment and storage medium. Background technique In a complex traffic environment, if a vehicle wants to drive safely and quickly, it must first have a clear understanding of the surrounding environment. Cognitive, secondly, high-level autonomous driving systems not only need to perceive the current state of the external vehicle, but also need to analyze the external The possible driving trajectory of the other vehicle in the future, to determine whether there is a possibility of collision with the own vehicle, so as to decelerate or change in advance. Road preparation, so the monitoring of external vehicles is especially important in automated driving systems. [0003] At present, the monitoring of external vehicles is mainly realized through the trajectory...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/20G01S19/51G01S17/06G06F16/29
CPCG01C21/165G01C21/20G01S19/51G01S17/06G06F16/29
Inventor 李宇寂尚秉旭王洪峰何柳陈志新
Owner CHINA FIRST AUTOMOBILE