To improve the accuracy of adaptive cruise control(ACC)target selection in scenarios such as turning,lane missing,and ultra wide lanes,a target selection algorithm based on road models and scene judgment is proposed.Establishing optimization problems through the Ceres optimization library,fully considering factors such as self vehicle historical trajectory,target vehicle historical trajectory,self vehicle steering wheel angle,vehicle speed,lane line,road edge,etc.,and assigning different weights to generate a self vehicle pre driving reference line that can be used as the basis for ACC target screening.For different scenarios,using the self vehicle pre driving reference line as the benchmark to establish risk zones,judging the relative position relationship between each target location point and the danger zone through geometric relationships,determining it as a following target,entering and exiting the target,responding as soon as possible,and improving driving experience and safety.
关键词
参考线/目标筛选/Ceres优化/危险区/驾驶场景
Key words
reference line/target screening/Ceres optimization/hazardous areas/driving scene
维普
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