Obstacle intrusion intention recognition method and vehicle control method

Abstract

The invention provides an obstacle intrusion intention recognition method and a vehicle control method, and the method comprises the steps: determining a target obstacle according to a plurality of pieces of vehicle environment data, and determining a plurality of pieces of position information of the target obstacle relative to a target lane line corresponding to a lane where a target vehicle is located, determining the motion track information of the target obstacle and the spatial change relation between the target obstacle and the target lane line according to the multiple pieces of position information and the driving scene type of the target vehicle, determining the corresponding intrusion judgment condition according to the driving scene type, and determining the intrusion judgment condition according to the motion track information, the spatial change relation and the intrusion judgment condition. And determining an intrusion intention recognition result of the target obstacle corresponding to the lane where the target vehicle is located. Thus, the time change information and the space change information of the target obstacle are fully considered, the intrusion judgment condition corresponding to the driving scene type of the vehicle is fully considered, and intrusion intention recognition can be more accurately achieved.

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