Patent ID: 11869252
Assignee: GREAT WALL MOTOR COMPANY LIMITED
Field: nan (nan)
Classification: CPC nan | IPC G

Claim 1:
2. The method according to claim 1, wherein
the feature point of the environmental target comprise feature point of a fixed area and/or a feature point of a follow-up area;
wherein the one or more feature points of the fixed area comprises one or more of: a laterally closest point of the fixed area, which is a point, being laterally closest to a reference line of a traveling coordinate system XFOFYF, on the environmental target; a laterally farthest point of the fixed area, which is a point, being laterally farthest from the reference line, on the environmental target; a longitudinally closest point of the fixed area, which is a point, being longitudinally closest to a coordinate origin OF of the traveling coordinate system XFOFYF, on the environmental target; a 3.75 feature point of the fixed area, which is a point, being longitudinally closest to the coordinate origin OF, of intersection points between the environmental target and lane lines on both sides of a lane where a present vehicle is located; and a 2.8 feature point of the fixed area, which is a point, being longitudinally closest to the coordinate origin OF, of intersection points between the environmental target and two virtual lines in the lane where the present vehicle is located, wherein the two virtual lines are parallel to the lane lines on both sides of the lane where the present vehicle is located, and are spaced from one of the lane lines on both sides by a predetermined lateral distance, respectively;
wherein the follow-up area is located in front of the present vehicle in a traveling direction and is parallel to a road direction and has a predetermined width, and the feature point of the follow-up area refers to a point longitudinally closest to the coordinate origin OF, of intersection points between the environmental target and the follow-up area; and
wherein in the traveling coordinate system XFOFYF, a sideline of a road where the present vehicle is located is used as the reference line, the coordinate origin OF is a point on the reference line at the shortest distance to a feature point of the present vehicle, a lateral axis XF is parallel to a guide line direction of the road, and a longitudinal axis YF and the guide line direction of the road follow a left-hand or right-hand rule.