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Vehicle track calculation method and device, vehicle and medium

A calculation method and vehicle technology, applied in calculation, measurement device, computer parts and other directions, can solve the problems of inaccurate track, unsatisfactory calculation effect, and large amount of calculation, and achieve the effect of improving calculation effect

Pending Publication Date: 2021-03-16
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the existing track calculation method has a large amount of calculation, and the calculated track is not accurate, and the calculation effect is not ideal

Method used

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  • Vehicle track calculation method and device, vehicle and medium
  • Vehicle track calculation method and device, vehicle and medium
  • Vehicle track calculation method and device, vehicle and medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0029] figure 1 It is a flow chart of the vehicle track calculation method provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation where there are multiple vehicles in front of the current vehicle. The method can be executed by the vehicle system, and specifically includes the following steps:

[0030] Step 110: Determine the location information of the vehicle according to the trace information of the vehicle.

[0031] The track information of the vehicle may include the polar coordinate information of the track, and by converting the polar coordinate information of the track, the two-dimensional coordinate information of the track can be obtained, and then the position information of the vehicle can be obtained.

[0032] Among them, the track information of the vehicle can be obtained through the millimeter-wave radar of the vehicle. Millimeter-wave radar is a commonly used sensor on self-driving vehicles. When the vehicle enters th...

Embodiment 2

[0062] image 3 It is a flow chart of a vehicle trajectory calculation method provided by Embodiment 2 of the present invention. This embodiment is embodied on the basis of the above-mentioned embodiments. In this embodiment, the method may also include:

[0063] Step 310: Determine the location information of the vehicle according to the trace information of the vehicle.

[0064] In one embodiment, step 310 may specifically include:

[0065] Based on the installation angle of the radar and the coordinate conversion formula, the point track information of the vehicle is converted into two-dimensional coordinate position information in the vehicle coordinate system.

[0066] Specifically, the radar may include a millimeter-wave radar, and the millimeter-wave radar may work in a millimeter-wave band. Generally, the millimeter wave may include a frequency band of 30-300 GHz (with a wavelength of 1-10 mm). The wavelength of the millimeter wave is between the centimeter wave an...

Embodiment 3

[0146] Figure 5A structural diagram of a vehicle track calculation device provided in Embodiment 3 of the present invention, the device can be applied to the situation where there are multiple vehicles in front of the current vehicle, and improves the calculation accuracy of the vehicle system for multiple vehicle tracks in front of the vehicle . The device can be realized by software and / or hardware and is generally integrated in the vehicle system.

[0147] Such as Figure 5 As shown, the device includes: a first execution module 510, a clustering module 520 and a second execution module 530, wherein,

[0148] The first execution module 510 is configured to determine the position information of the vehicle according to the trace information of the vehicle;

[0149] A clustering module 520, configured to sequentially cluster the trace information based on the elliptical distance calculation formula and the position information, to obtain clusters;

[0150] The second exe...

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Abstract

The invention discloses a vehicle track calculation method and device, a vehicle and a medium, and the method comprises the steps: determining the position information of the vehicle according to thetrace point information of the vehicle; clustering the plot information in sequence based on an elliptic distance calculation formula and the position information to obtain a class cluster; and determining the track of the vehicle according to the trace point information of the class cluster. According to the technical scheme, the position information of the vehicle is determined according to thetrace point information of the vehicle, the trace point information is clustered by adopting the elliptic calculation formula according to the position information to obtain the class clusters, and the trace point information contained in one class cluster can correspond to one target, namely the track information of one vehicle, so that the track of the vehicle is determined; through the technical scheme, a more accurate vehicle track can be obtained through calculation, and the calculation effect is improved.

Description

technical field [0001] Embodiments of the present invention relate to vehicle-mounted millimeter radar detection technology, and in particular to a vehicle track calculation method, device, vehicle and medium. Background technique [0002] Nowadays, with the rapid development of automatic driving technology at home and abroad, many automobile companies are stepping up the research and development of automatic driving functions of vehicles. Millimeter wave radar is a commonly used sensor on autonomous vehicles. The original output of existing millimeter-wave radar is mostly trace output, and the same vehicle within its sensing range may send back multiple trace information. It is necessary to determine which traces belong to the same target and prevent the split of the traces belonging to the same target. [0003] In the prior art, the original data can be clustered first to obtain the distribution of the track, and then the track calculation can be performed by taking the a...

Claims

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Application Information

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IPC IPC(8): G01S13/58G06K9/62
CPCG01S13/58G06F18/23
Inventor 付仁涛王祎男关瀛洲魏源伯
Owner CHINA FIRST AUTOMOBILE
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