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

Claim 2:
3. The method according to claim 1, wherein determining the one or more feature points of the environmental target according to the position of each corner point of the environmental target comprises:
selecting the laterally closest point of the fixed area, the laterally farthest point of the fixed area, and the longitudinally closest point of the fixed area from the corner points of the environmental target;
calculating intersection points respectively between each line segment formed by every two adjacent corner points of the environmental target and the lane lines on both sides of the lane where the present vehicle is located, and using a point, being longitudinally closest to the coordinate origin OF, of the intersection points as the 3.75 feature point of the fixed area;
calculating intersection points respectively between each line segment formed by connecting every two adjacent corner points of the environmental target and the two virtual lines, and using a point, being longitudinally closest to the coordinate origin OF, of the intersection points as the 2.8 feature point of the fixed area; and
calculating intersection points respectively between each line segment formed by connecting every two adjacent corner points of the environmental target and the follow-up area, and using a point, being longitudinally closest to the coordinate origin OF, of the intersection points as the feature point of the follow-up area.