Abstract: A target tracking method and device, relating to the field of vehicles. The method comprises: reading a target fusion list at the current moment, wherein the target fusion list comprises a target attribute set corresponding to each environment target in one or more environment targets, and the target attribute set comprises parameter attribute sets, measured by one or more sensors, of the environment targets; determining whether the target fusion list at the current moment is an initial target fusion list or not; and if the target fusion list at the current moment is not the initial target fusion list, determining a target tracking list at the current moment according to the target fusion list at the current moment and a stored target tracking list at the previous moment, wherein the target tracking list comprises a parameter attribute set corresponding to each screened environment target and a fusion tracking ID.

Abstract: A traffic lane line fitting method includes: obtaining map information for a current position of a vehicle, the map information comprising a number of traffic lanes, a road width and line point information of traffic lane lines on both sides of the vehicle; determining, from among the traffic lane lines on both sides of the vehicle, a traffic lane line on one side, consistent with the direction indicated by at least one of the following, to be a traffic lane line offset reference used for traffic lane line fitting; offsetting and generating a plurality of traffic lane lines of the vehicle on the basis of the traffic lane line offset reference; performing curve fitting on a set of line points on the generated plurality of traffic lane lines so as to obtain a corresponding traffic lane line equation.

Abstract: A method and apparatus used for extracting a feature point of an environmental target, which relate to the field of vehicles. The method comprises: acquiring the position of each corner point of an environmental target; and determining a feature point of the environmental target according to the position of each corner point of the environmental target. Thus, the problem wherein target identification is not precise may be solved, which is particularly suitable for the identification of a large target.

Abstract: A method and a system for constructing a driving coordinate system for use in the field of smart transport. The method for constructing a driving coordinate system comprises: determining the road boundary line on one side of the road on which a current vehicle is situated as a reference line for constructing a driving coordinate system; in a vehicle coordinate system, determining the reference line point having the smallest distance between the reference line and the current vehicle position as an origin point OF of the driving coordinate system; on the basis of the origin point OF, determining the road guiding line direction as the XF axis of the driving coordinate system and determining the direction relative to the road guiding line direction according to the left-hand rule as the YF axis of the driving coordinate system; and, on the basis of the origin point OF, the XF axis, and the YF axis, forming a corresponding driving coordinate system.

Abstract: A method and apparatus used for extracting a feature point of an environmental target, which relate to the field of vehicles. The method comprises: acquiring the position of each corner point of an environmental target; and determining a feature point of the environmental target according to the position of each corner point of the environmental target. Thus, the problem wherein target identification is not precise may be solved, which is particularly suitable for the identification of a large target.

Abstract: Disclosed are a road feature point extraction method and system. The road feature point extraction method comprises: acquiring map information for the current position of a vehicle, wherein the map information comprises the attributes of the current road and the attributes of the next road section; comparing the attributes of the current road with the attributes of the next road section to determine the road type of the next road section; and extracting, in conjunction with the road type of the next road section and the map information corresponding to the next road section, a road feature point representing a road scene on the next road section, and outputting the name of the extracted road feature point and information of the relative distance between the road feature point and the vehicle.

Abstract: A target tracking method and device, relating to the field of vehicles. The method comprises: reading a target fusion list at the current moment, wherein the target fusion list comprises a target attribute set corresponding to each environment target in one or more environment targets, and the target attribute set comprises parameter attribute sets, measured by one or more sensors, of the environment targets; determining whether the target fusion list at the current moment is an initial target fusion list or not; and if the target fusion list at the current moment is not the initial target fusion list, determining a target tracking list at the current moment according to the target fusion list at the current moment and a stored target tracking list at the previous moment, wherein the target tracking list comprises a parameter attribute set corresponding to each screened environment target and a fusion tracking ID.

Abstract: A method and a system for constructing a driving coordinate system for use in the field of smart transport. The method for constructing a driving coordinate system comprises: determining the road boundary line on one side of the road on which a current vehicle is situated as a reference line for constructing a driving coordinate system; in a vehicle coordinate system, determining the reference line point having the smallest distance between the reference line and the current vehicle position as an origin point OF of the driving coordinate system; on the basis of the origin point OF, determining the road guiding line direction as the XF axis of the driving coordinate system and determining the direction relative to the road guiding line direction according to the left-hand rule as the YF axis of the driving coordinate system; and, on the basis of the origin point OF, the XF axis, and the YF axis, forming a corresponding driving coordinate system.

Abstract: A method and apparatus used for extracting a feature point of an environmental target, which relate to the field of vehicles. The method comprises: acquiring the position of each corner point of an environmental target; and determining a feature point of the environmental target according to the position of each corner point of the environmental target. Thus, the problem wherein target identification is not precise may be solved, which is particularly suitable for the identification of a large target.