Driving lane judgment method based on perception of objects around vehicle
A technology for driving roads and vehicles, applied in the field of driving lane judgment based on the perception of objects around the vehicle, it can solve problems such as the inability to realize lane-level positioning, fail to meet safety requirements, and lack of robustness, and achieve great promotion value and judgment method simple, simple effect
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[0023] Example 1: The vehicle 1 is driving on a closed road, and the center of the road is separated by a central isolation belt, such as figure 1 As shown, the road in this embodiment is one-way eight lanes. The vehicle 1 has a vehicle-mounted sensor. The vehicle-mounted sensor in this embodiment is a millimeter wave radar and a smart camera, which are used to perceive information about objects on the left and right sides of the vehicle 1.
[0024] ADAS map or car navigation map gives information on the number of lanes on the road the vehicle is traveling on.
[0025] The control system recognizes the static object 2 on the left side of the vehicle 1 based on the on-board sensors. The static object 2 can be a central partition, guardrail or signal sign. In this embodiment, there is a central partition in the middle of the road, so the vehicle 1 is identified by the sensor. On the left side of the central separation zone, the on-board sensors identify the positional relationship be...
Example Embodiment
[0030] Embodiment 2: The vehicle 1 is traveling on a common domestic highway, such as figure 2 As shown, each driving direction includes three driving lanes and an emergency lane. Each driving direction is separated by barriers on both sides, and the center of the road is separated by a central barrier. The vehicle 1 has a vehicle-mounted sensor. The vehicle-mounted sensor in this embodiment is a millimeter wave radar and a smart camera, which are used to perceive information about objects on the left and right sides of the vehicle 1.
[0031] The ADAS map or the car navigation map gives information about the number of lanes on the road the vehicle 1 is traveling on.
[0032] The control system recognizes the static object 2 on the left side of the vehicle 1 based on the on-board sensors. The static object 2 can be a central partition, a guardrail or a signal sign. In this embodiment, there is a guardrail on the left side of the road, so the sensor identifies the left side of the ...
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