Virtual lane line construction method and system depending on following target

Abstract

The invention relates to a virtual lane line construction method and system depending on a following target, and the method comprises the following steps: judging whether a current lane line cannot beobtained by a camera or not, extracting all target detection information from a sensing result if the current lane line cannot be obtained by the camera, or else, carrying out the continuous judgment; calculating an initial target deviation of each target according to a pre-established sensing coordinate system; calculating the deviation compensation amount of each target; according to the initial target deviation and the deviation compensation amount of each target, calculating the target deviation of each target after deviation compensation; determining a drivable area between the vehicle and the following target according to the distance of the target center point relative to the origin of the sensing coordinate system and the target deviation of each target, and selecting the following target in the drivable area; and constructing a virtual lane line based on the following target center point and the vehicle center point. The method can be widely applied to the technical field ofadvanced driving assistance systems.

Description

technical field [0001] The invention belongs to the technical field of advanced driving assistance systems, and in particular relates to a method and system for constructing virtual lane lines dependent on following targets. Background technique [0002] Cameras and mmWave radar are the two most commonly used types of sensors in ADAS. The camera can provide information such as target detection, traffic lights, lane lines, etc., and the millimeter-wave radar can provide target detection information. Target detection information generally includes information such as the position, speed, and attributes of the object. Advanced driver assistance systems rely on single sensors such as cameras and millimeter-wave radars or the perception results of multi-sensor fusion to achieve longitudinal functions such as adaptive cruise and automatic emergency braking or lateral functions such as lane keeping and lane departure warning. [0003] For lateral functions, lane lines are general...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problem that the above-mentioned lane lines cannot be obtained by the camera, the purpose of the present invention is to provide a method and system for constructing virtual lane lines that rely on following targets, obtain following targets that meet specific conditions by screening target detection information, and determine the distance between the ego vehicle and the follow-up target. The drivable area between targets, based on the drivable area to construct a virtual lane line, which can expand the use of lateral functions

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