Abstract: The cruise object selection is an important prerequisite for adaptive cruise control to perform vehicle control. This paper proposes a cruise object selection approach using lane information. First, multiple reference trajectories are used to filter the feature points of the ego path, and the ego path is fitted based on the least-squares estimate. Then, the ego lane change status is estimated to determine the object selection area. Last, the cruise object selection is achieved according to the strategies defined. The experimental results show that the approach proposed can select the cruise object accurately, and the object switch is more sensitive while the ego vehicle is changing lanes.

Key words: adaptive cruise control; lane line; Kalman filter; object selection

摘要： 巡航目标选择是自适应巡航功能执行车辆控制的重要前提。文章提出一种基于车道信 息的巡航目标选择方法。首先，利用多条参考轨迹对自车运行轨迹特征点进行融合滤波，基 于最小二乘曲线拟合生成自车运行轨迹；其次，判断自车变道状态，并据此确定目标选择区 域；最后，根据设置的目标选择策略，完成巡航目标选择。实验结果表明，文章提出的方法 能够准确选择巡航目标，并在自车变道时更灵敏地实现巡航目标切换。

关键词: 自适应巡航控制；车道线；卡尔曼滤波；目标选择