Image and laser radar fused automatic car following method and system

• Main Authors: JIANG HAO, ZHANG SHIBING, XU DAXUE
• Format: Patent
• Language: Chinese; English
• Published: 30.05.2023
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

The invention provides an image and laser radar fused automatic vehicle following method and system, and the method comprises the steps: obtaining a video image in front of a vehicle, carrying out the processing of the video image, detecting a lane line and a vehicle, and determining the relative position information of the vehicle in a lane; acquiring the obstacle condition in front of the vehicle detected by the laser radar; according to the condition of obstacles in front of the vehicle, judging whether the obstacles are in the lane or not, rejecting information of the obstacles in front not in the lane, obtaining information of the closest obstacles in the lane, fusing video images, judging whether the distance between the vehicle and lane lines on the two sides is larger than a set value or not, if yes, turning towards the direction, and if not, turning towards the direction. Returning the direction until the distance from the lane line is smaller than a set value; the vehicle speed is controlled, and th