CN110379155A - For determining the method and system of road target coordinate - Google Patents
For determining the method and system of road target coordinate Download PDFInfo
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- CN110379155A CN110379155A CN201811153712.1A CN201811153712A CN110379155A CN 110379155 A CN110379155 A CN 110379155A CN 201811153712 A CN201811153712 A CN 201811153712A CN 110379155 A CN110379155 A CN 110379155A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
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Abstract
The present invention relates to intelligent transportation fields, provide a kind of for determining the method and system of road target coordinate.It is of the present invention to be used to determine that road target seat calibration method to include: building driving coordinate system, wherein the driving coordinate system is using the side lane boundary line of this vehicle place road as benchmark line, it is X with road guide line directionFAxis, to follow the direction of left hand rule with road guide line direction as YFAxis；And calculate coordinate of the road target under the driving coordinate system.Present invention utilizes driving coordinate systems to count the coordinate to determine road target, and coordinate system of driving a vehicle can more realistically express the distance between this vehicle and road target relative to conventional vehicle axis system.
Description
Technical field
It is the present invention relates to intelligent transportation field, in particular to a kind of for determining the method and system of road target coordinate.
Background technique
Currently, the vehicle with automated driving system (Autonomous Driving System, abbreviation ADS) has started
It gradually introduces to the market, is greatly promoted the development of intelligent transportation.ADS is to utilize a variety of awareness apparatus being installed on vehicle,
The lane line data of acquisition vehicle periphery and road target (other vehicles in front of such as, also referred to as target) data in real time, into
The identification of row target quiescent characteristic, dynamic characteristic determines position of the target on road, to allow automatic Pilot computer most
Short time judges potential danger, and makes and prevent the effective measures that the danger occurs.
Therefore, it is known that most important for ADS to the tracking of road target, one of requirement of automatic Pilot is exactly to require energy
It enough avoids colliding with road target and causing danger.In the prior art, vehicle is had relied on to the tracking of road target
Coordinate system indicates the coordinate information of road target, and further makes automatic Pilot computer to the seat of identified road target
Mark information is calculated and is analyzed, to determine the traveling strategy of this vehicle.
But present inventor has found in the implementation of the present invention: under the operating condition of road curvature, depending on vehicle
Coordinate system is difficult to determine that road target is mapped in the effective information on road (for example, road target is in which lane, road mesh
Effective fore-and-aft distance of target etc.), it is longitudinal so as to cause lane, road target lateral distance and road target where road target
Distance etc. will appear relatively large deviation, or even misjudgment.
Summary of the invention
In view of this, the present invention is directed to propose a kind of be used to determine that road target to sit calibration method, at least partly to solve
Certainly above-mentioned technical problem especially solves to determine road target it is possible that the technology of deviation is asked dependent on vehicle axis system
Topic.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
One kind is for determining that road target sits calibration method, comprising: building driving coordinate system, wherein the driving coordinate system
It is X with road guide line direction using the side lane boundary line of road where this vehicle as benchmark lineFAxis, with the road pass
The direction that conducting wire direction follows left hand rule is YFAxis；And calculate seat of the road target under the driving coordinate system
Mark.
Further, the building driving coordinate system comprises determining that the reference line；Under vehicle axis system, this is determined
The origin O of truck position and the reference line apart from the smallest reference line point as the driving coordinate systemF；Based on the origin OF,
Determine that road guide line direction is the X of the driving coordinate systemFAxis, and determining and road guide line direction follows left hand and determines
Direction then is the Y of the driving coordinate systemFAxis；And it is based on the origin OF、XFAxis and the YFAxis forms corresponding row
Vehicle coordinate system.
Further, this truck position of the determination and the reference line are sat apart from the smallest reference line point as the driving
Mark the origin O of systemFIt include: that several identical reference line points of spacing are set on the reference line；Calculate each reference line
The Euclidean distance of point and this truck position；Using calculated Euclidean distance it is shortest point as it is described drive a vehicle coordinate system origin
OF。
Further, the coordinate for calculating the road target under the driving coordinate system includes: from the origin
OFStart, Xiang Suoshu road target traverses the reference line point relative to the direction of this vehicle；Calculate traversed reference line point with
Euclidean distance between the road target is that the road target is sat in the driving with the calculated most short Euclidean distance of institute
Abscissa under mark system；And obtain institute it is calculated described in the reference line point corresponding to most short Euclidean distance point serial number
Information calculates the reference line point and the origin OFBetween arc length, and with the arc length be the road target in the driving
Ordinate under coordinate system.
Further, the method also includes: in the driving process of this vehicle, switch the reference line to adjust the driving
Coordinate system, and calculate the coordinate under the driving coordinate system of the road target after the adjustment.
Further, the switching reference line includes: with pre-set default lane boundary line for the benchmark
Line；The navigation direction information about this vehicle is obtained, switching the reference line is the navigation direction shown in the navigation direction information
The lane boundary line of side；In no navigation direction information, present road type is judged；Ruo Benche is currently located road
Ring road then keeps the current reference line constant；And it is main stem that Ruo Benche, which is currently located road, switching the reference line is
The default lane boundary line.
Compared with the existing technology, of the present invention to have the advantage that this for determining that road target sits calibration method
Driving coordinate system is utilized to count the coordinate to determine road target in invention, and coordinate system of driving a vehicle is relative to conventional vehicle coordinate
System, can more realistically express the distance between this vehicle and road target, facilitate the region division for carrying out road target well.
Another object of the present invention is to propose a kind of system for determining road target coordinate, at least partly to solve
Certainly road target is determined dependent on vehicle axis system it is possible that the technical issues of deviation.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of system for determining road target coordinate, comprising: driving coordinate system constructs system, sits for constructing driving
Mark system, wherein the driving coordinate system is using the side lane boundary line of road where this vehicle as benchmark line, with road guide line side
To for XFAxis, to follow the direction of left hand rule with road guide line direction as YFAxis；And coordinates of targets computing module,
For calculating coordinate of the road target under the driving coordinate system.
Further, the driving coordinate system building system includes: reference line determining module, for determining the benchmark
Line；Origin determining module, under vehicle axis system, determining this truck position and the reference line apart from the smallest reference line point
Origin O as the driving coordinate systemF；Reference axis determining module, for being based on the origin OF, determine road guide line side
To the X for the driving coordinate systemFAxis, and the determining direction for following left hand rule with road guide line direction is the row
The Y of vehicle coordinate systemFAxis；And establishment of coordinate system module, for being based on the origin OF、XFAxis and the YFAxis is formed corresponding
Driving coordinate system.Wherein, the origin determining module includes: a setting submodule again, between being arranged on the reference line
Away from several identical reference line points；Apart from computational submodule, for calculating the European of each reference line point and this truck position
Distance；And origin determines submodule, for using the shortest point of calculated Euclidean distance as the coordinate system of driving a vehicle
Origin OF。
Further, the coordinates of targets computing module includes: spider module, is used for from the origin OFStart, to institute
The direction that road target is stated relative to this vehicle traverses the reference line point；Abscissa computing module, for calculating traversed base
Euclidean distance between directrix point and the road target is the road target in institute with the calculated most short Euclidean distance of institute
State the abscissa under driving coordinate system；And ordinate computing module, the calculated most short Euclidean distance for obtaining
The point serial number information of the corresponding reference line point, calculates the reference line point and the origin OFBetween arc length, and with this
Arc length is ordinate of the road target under the driving coordinate system.
Further, the system also includes reference line switching module, for driving process in this vehicle, described in switching
Reference line is to adjust the driving coordinate system；And the coordinates of targets computing module is also used to calculate the road target and is adjusting
The coordinate under driving coordinate system after whole.Wherein, the reference line switching module for the switching reference line include: with
Pre-set default lane boundary line is the reference line；The navigation direction information about this vehicle is obtained, the benchmark is switched
Line is the lane boundary line of the navigation direction side shown in the navigation direction information；In no navigation direction information, sentence
Disconnected present road type；It is ring road that Ruo Benche, which is currently located road, then keeps the current reference line constant；And Ruo Benche
Being currently located road is main stem, and switching the reference line is the default lane boundary line.
It is described for determine road target coordinate system and it is above-mentioned for determine road target sit calibration method relative to
Advantage possessed by the prior art is identical, and details are not described herein.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of flow diagram of driving coordinate system construction method of the embodiment of the present invention one；
Fig. 2 is the driving coordinate system X of the embodiment of the present inventionFOFYFAnd global coordinate system XGOGYGWith vehicle axis system XHOHYH
Schematic diagram；
Fig. 3 is the schematic diagram of reference line switching law in the embodiment of the present invention；
Fig. 4 is that the schematic diagram that lane boundary line is leftmost side road boundary is defaulted in the embodiment of the present invention；
Fig. 5 is the schematic diagram for determining reference line in the embodiment of the present invention based on navigation direction；
Fig. 6 is the schematic diagram that the embodiment of the present invention switches reference line under ring road road conditions；
Fig. 7 is the schematic diagram that driving coordinate origin is calculated in the preferred embodiment of the invention；
Fig. 8 is a kind of structural schematic diagram of driving coordinate system building system of the embodiment of the present invention two；
Fig. 9 is the embodiment of the present invention three for determining that road target sits the flow diagram of calibration method；
Figure 10 is the schematic diagram that seat calibration method of the road target under coordinate system of driving a vehicle is determined in the embodiment of the present invention；With
And
Figure 11 is a kind of for determining the structural schematic diagram of the system of road target coordinate of the offer of the embodiment of the present invention four.
Description of symbols:
810, reference line determining module；820, origin determining module；830, reference axis determining module；840, establishment of coordinate system
Module；850, reference line switching module；860, navigation direction data obtaining module；870, road type judgment module；
1110, driving coordinate system constructs system；1120, coordinates of targets computing module；1121, spider module；1122, horizontal seat
Mark computing module；1123, ordinate computing module.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can
To be combined with each other.
The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiment.
Embodiment one
Fig. 1 is a kind of flow diagram of driving coordinate system construction method of the embodiment of the present invention, wherein the driving coordinate
It is that construction method is used to establish and a kind of new is suitable for this vehicle of the reflection of various road conditions (especially bend operating condition), target and road
Between mapping relations driving coordinate system.For the definition of the subsequent driving coordinate system for more clearly describing the embodiment of the present invention
And construction method, first global coordinate system common in Vehicular automatic driving and vehicle axis system are illustrated herein.
Wherein, global coordinate system XGOGYGIt is the X on the basis of earth coordinatesGIt is directed toward north, YGIt is directed toward east, angle direction is suitable
Hour hands are positive, angular range [0,360 °].Wherein, map lane line information etc. is provided based on global coordinate system.
Vehicle axis system XHOHYHIt is the X on the basis of this vehicleHIt is directed toward vehicle y direction, YHIt is directed toward vehicle X direction, is abided by
From the right-hand rule, it is positive counterclockwise, the output information of sensor etc. of camera, laser radar, millimetre-wave radar on vehicle
It is to be provided based on vehicle axis system.
According to the definition of global coordinate system and vehicle axis system, the driving coordinate system of the embodiment of the present invention, which can correspond to, to be expressed as
XFOFYF, constructing the driving coordinate system is it needs to be determined that origin OFAnd XFAxis and YFThe direction of axis.Accordingly, as shown in Figure 1, originally
The driving coordinate system construction method of inventive embodiments may comprise steps of:
Step S110, the side lane boundary line of road where determining this vehicle are to establish the reference line of driving coordinate system.
Step S120 determines that this truck position and the reference line are made apart from the smallest reference line point under vehicle axis system
For the origin O of the driving coordinate systemF。
Step S130 is based on the origin OF, determine that road guide line direction is the X of the driving coordinate systemFAxis, and really
The fixed direction for following left hand rule with road guide line direction is the Y of the driving coordinate systemFAxis.
Step S140 is based on the origin OF、XFAxis and the YFAxis forms corresponding driving coordinate system.
That is, constructing driving coordinate system XFOFYF, with lane boundary line (leftmost side lane line or rightmost side lane sideline)
For benchmark line, XFIt is directed toward road guide line direction, YFLeft hand rule is followed between road guide line direction.
It should be noted that building driving coordinate system XFOFYFRelated data source and driving coordinate system XFOFYFIn into
The coordinate of driveway line, road target etc. calculates related data, such as benchmark line coordinates etc., can be global high-precision
Map datum or part camera data or other be capable of providing the data of road relevant information, data source is more flexible, this
Inventive embodiments are not intended to limit this.
Fig. 2 is the driving coordinate system X of the embodiment of the present inventionFOFYFAnd global coordinate system XGOGYGWith vehicle axis system XHOHYH
Schematic diagram.As shown in Fig. 2, driving coordinate system XFOFYFIt is built upon in lane boundary line, the completely the same seat with road tendency
Mark system.Determining origin OF(XFo, YFo) after, every bit and driving coordinate origin O in lane boundary line can be calculatedF(XFo,
YFo) between driving ordinate X of the arc length distance as every bitFi, therefore the longitudinal axis X of the driving coordinate systemFWith road tendency
Completely the same, the driving coordinate abscissa of each reference line point is YFi=0, it is apparent from this truck position, lane line, mesh accordingly
Mark etc. can be provided based on driving coordinate system, and especially in bend operating condition, using true bend arc length distance as target away from
It is exported from information, relative to lane coordinate system, the case where can be avoided target area attribute and effective distance error.
In addition, constructing driving coordinate system XFOFYFLater, in subsequent automatic Pilot data handling procedure, lane line and
Target will possess the double attribute of vehicle axis system and coordinate system of driving a vehicle simultaneously, can select as needed.
In a preferred embodiment, the driving coordinate system construction method of the embodiment of the present invention can also include:
Step S150 switches the reference line in the driving process of this vehicle to adjust the driving coordinate system.
For example, adjustment driving coordinate system is determined the need for according to current road conditions, current driving situation etc. so that row
Vehicle coordinate system can be consistent with road tendency always, more accurately to reflect the mapping relations between this vehicle, target and road.
Fig. 3 is the schematic diagram of reference line switching law in the embodiment of the present invention.It can as shown in figure 3, switching the reference line
To include:
Step S310, with pre-set default lane boundary line for the reference line.
For example, default lane boundary line is the driving coordinate system X of leftmost side road boundary, position and restrictionFOFYF
As shown in Figure 4.
Step S320 obtains the navigation direction information about this vehicle, and switching the reference line is the navigation direction information
The lane boundary line of the navigation direction side shown.
It specifically, take the lane boundary line of navigation direction side as the reference line of driving coordinate system when having navigation direction information,
And start switching (or holding) driving reference line when having navigation hint.For example, as shown in figure 5, navigation direction information is pointed out
Navigation direction is that the right, then rightmost side lane boundary line is benchmark line.
Referring again to FIGS. 3, in a preferred embodiment, switching the reference line can also include:
Step S330 judges present road type in no navigation direction information, and Ruo Benche is currently located road
For ring road, then keep the current reference line constant.
For example, as shown in fig. 6, keeping current base line, corresponding row when it is ring road that this vehicle, which is currently located road,
Vehicle coordinate system is more able to maintain the consistency with road tendency.
Step S340, it is main stem that Ruo Benche, which is currently located road, and switching the reference line is the default lane boundary line.
Reference line switch instances under this scene can similarly refer to Fig. 4, and default lane boundary line equally may be, for example, most
Left side road boundary.
It further, is the core of building driving coordinate system for step S120, as long as coordinate origin has been determined,
The final driving coordinate system in change in coordinate axis direction and step S140 in step S130 all more readily determines.Therefore, Fig. 7 is this
In invention preferred embodiment calculate driving coordinate origin schematic diagram, which show in step S120 determine this truck position with
Origin O of the reference line apart from the smallest reference line point as the driving coordinate systemFSpecific steps, i.e., following three walk
It is rapid:
1) several identical reference line points of spacing are set on the reference line.
For example, reference line point can be obtained by carrying out discretization to equation of the reference line under vehicle coordinate, benchmark
The closeer line point the better, such as spacing can be 0.1m.
2) Euclidean distance of each reference line point and this truck position is calculated.
3) using calculated Euclidean distance it is shortest point as it is described drive a vehicle coordinate system origin OF。
Specifically, on calculating benchmark line each reference line point and this truck position Euclidean distance with find this truck position with
Reference line is apart from the smallest reference line point (the corresponding point of D2 in Fig. 7), i.e.,When minimum,
Corresponding coordinateOrigin O as driving coordinate systemF。
Accordingly, the origin O based on calculated driving coordinate systemF, determine that road guide line direction is the X of driving coordinate systemF
Axis, and determining and XFAxis follows the direction of left hand rule as the Y of the driving coordinate systemFAxis is sat so as to form final driving
Mark system XFOFYF。
In conclusion can be very good the region division for carrying out road target, while can by the foundation of driving coordinate system
More accurate range information is obtained, especially in bend operating condition, fore-and-aft distance is indicated using longitudinal arc length, compared to vehicle coordinate
Linear distance under system, can more really express the distance between this vehicle and target.
Embodiment two
Fig. 8 is a kind of structural schematic diagram of driving coordinate system building system of the embodiment of the present invention two, the driving coordinate system
The building of the driving coordinate system of building system and above-described embodiment is based on identical invention thinking.As shown in figure 8, the driving coordinate
It is building system may include: reference line determining module 810, the side lane boundary line for road where determining this vehicle is to build
The reference line of bicycle coordinate system；Origin determining module 820 determines this truck position and the reference line under vehicle axis system
Origin O apart from the smallest reference line point as the driving coordinate systemF；Reference axis determining module 830, for being based on the original
Point OF, determine that road guide line direction is the X of the driving coordinate systemFAxis, and determining and road guide line direction follows a left side
The direction of hand rule is the Y of the driving coordinate systemFAxis；And coordinate establishes module 840, for being based on the origin OF、XFAxis
With the YFAxis forms corresponding driving coordinate system.
In a preferred embodiment, the driving coordinate system building system can also include: reference line switching module 850,
For the driving process in this vehicle, switch the reference line to adjust the driving coordinate system.
In a preferred embodiment, the driving coordinate system building system can also include: navigation direction acquisition of information mould
Block 860, for obtaining the navigation direction information about this vehicle；And the reference line switching module 850 switches the reference line
It include: the reference line switching module 850 with pre-set default lane boundary line for the reference line；And the benchmark
Line switching module 850 obtains the navigation direction information, and switching the reference line is leading shown in the navigation direction information
The lane boundary line for direction side of navigating.
In a preferred embodiment, the driving coordinate system building system can also include: road type judgment module
870, for judging present road type；And the reference line switching module 850 switches the reference line further include: Ruo Benche
Being currently located road is ring road, then keeps the current reference line constant；And it is main stem that Ruo Benche, which is currently located road, then
Switching the reference line is the default lane boundary line.
In a preferred embodiment, the origin determining module 820 includes (not shown): point setting submodule is used
In several identical reference line points of setting spacing on the reference line；Apart from computational submodule, for calculating each base
The Euclidean distance of directrix point and this truck position；And origin determines submodule, for shortest with the calculated Euclidean distance of institute
Origin O of the point as the driving coordinate systemF。
It should be noted that the driving of the driving coordinate system building system and above-described embodiment of the embodiment of the present invention
The specific implementation details and effect of coordinate system construction method are same or similar, and details are not described herein.
Embodiment three
Embodiment third is that the scheme to embodiment one application, provide a kind of for determining the side of road target coordinate
Method.Fig. 9 is the embodiment of the present invention three for determining that road target sits the flow diagram of calibration method, as shown in figure 9, the party
Method may comprise steps of:
Step S910, building driving coordinate system.
Wherein the driving coordinate system is using the side lane boundary line of road where this vehicle as benchmark line, with road guide line
Direction is XFAxis, to follow the direction of left hand rule with road guide line direction as YFAxis.That is, the driving constructed here is sat
Mark system is driving coordinate system X constructed by the driving coordinate system construction method of embodiment oneFOFYF, specific construction method and reality
Applying details can refer to embodiment one, and it will not be described in detail here.
Step S920 calculates coordinate of the road target under the driving coordinate system.
Figure 10 is the schematic diagram that seat calibration method of the road target under coordinate system of driving a vehicle is determined in the embodiment of the present invention, should
Method and may include following step based on the method for the origin for determining the driving coordinate system in embodiment one based on reference line point
It is rapid:
Step S921, from the origin OFStart, Xiang Suoshu road target traverses the benchmark relative to the direction of this vehicle
Line point.
As shown in Figure 10, reference line point is numbered as d1, d2, d3 ... dn with from origin OFIt begins stepping through, wherein basis
Direction of the road target relative to this vehicle, it may be possible to traverse forward, it is also possible to traverse backward.In preferred embodiment
In, the coordinate of target and reference line under vehicle axis system is it is known that so can be from origin OFStart under vehicle axis system
Point map traverses forward or backward, and wherein forward/backward traversal mainly passes through coordinate of the road target under vehicle axis system
Positive and negative decision, when fore-and-aft distance of the road target under vehicle axis system is positive, then traversing forward, when road target is in vehicle
Fore-and-aft distance under coordinate system is negative, then traversing backward.
Step S922 calculates the Euclidean distance between traversed reference line point and the road target, to be calculated
Most short Euclidean distance be the road target it is described driving coordinate system under abscissa.
For example, traversal reference line point and the Euclidean distance between each datum mark traversed and target, when apart from most
Hour (being D2 in Figure 10 for distance), stops traversal, exports abscissa (i.e. closest approach of the road target under coordinate system of driving a vehicle
With the serial number of the Euclidean distance D2 between road target) and closest approach in reference line.
Step S923, the point serial number for obtaining the reference line point corresponding to the calculated most short Euclidean distance of institute are believed
Breath, calculates the reference line point and the origin OFBetween arc length, and with the arc length be the road target sat in the driving
Ordinate under mark system.
For example, it is calculated by front, the point serial number information that road target corresponds to reference line closest approach can be obtained, calculated
Arc length between the point and driving coordinate origin.As shown in Figure 10, this arc length is according between points European on reference line
It is obtained apart from accumulation calculating, i.e. d=d1+d2+d3+ ..., d is ordinate of the road target under coordinate system of driving a vehicle.
Further, reference implementation example one, in the driving process of this vehicle, reference line can switch, accordingly this hair
The method of bright embodiment three can also include: the driving process in this vehicle, switch the reference line to adjust the driving coordinate
System, and calculate the coordinate under the driving coordinate system of the road target after the adjustment.That is, making the coordinate of road target with driving
The variation of coordinate system and adaptively change, thus more can accurately reflect the road target under the operating conditions such as bend relative to this
The correct region of vehicle.
Wherein, the mode for switching the reference line can refer to embodiment one, and it will not be described in detail here.
In conclusion driving coordinate system is utilized to count the coordinate to determine road target in the embodiment of the present invention three, and go
Vehicle coordinate system can more realistically express the distance between this vehicle and road target, facilitate relative to conventional vehicle axis system
The region division of road target is carried out well.
Example IV
Figure 11 is a kind of for determining the structural schematic diagram of the system of road target coordinate of the offer of the embodiment of the present invention four,
The system is based on identical invention thinking for determining that road target sits calibration method with embodiment three, and uses embodiment
Driving coordinate system described in two constructs system.
As shown in figure 11, the system for determining road target coordinate of the example IV may include: driving coordinate system
Building system 1110, for constructing driving coordinate system, wherein the driving coordinate system is with the side road roadside of road where this vehicle
Boundary line is benchmark line, is X with road guide line directionFAxis, to follow the direction of left hand rule with road guide line direction
For YFAxis；And coordinates of targets computing module 1120, for calculating coordinate of the road target under the driving coordinate system.
Wherein, driving coordinate system building system 1110 is that driving coordinate system described in embodiment two constructs system 1110,
No longer this is repeated herein.
In a preferred embodiment, the coordinates of targets computing module 1120 may include: spider module 1121, for from
The origin OFStart, Xiang Suoshu road target traverses the reference line point relative to the direction of this vehicle；Abscissa computing module
1122, for calculating the Euclidean distance between traversed reference line point and the road target, with the calculated most short Europe of institute
Family name's distance is abscissa of the road target under the driving coordinate system；And ordinate computing module 1123, for obtaining
Take the reference line point corresponding to the calculated most short Euclidean distance point serial number information, calculate the reference line point with
The origin OFBetween arc length, and with the arc length be the road target it is described driving coordinate system under ordinate.
In addition, including the case where the reference line switching module in embodiment two in driving coordinates of targets building system 1110
Under, the coordinates of targets computing module 1120 is also used to calculate the seat under the driving coordinate system of the road target after the adjustment
Mark, that is, change the coordinate of road target adaptively with the variation of driving coordinate system, to more can accurately reflect this
Road target is under the operating conditions such as bend relative to the correct region of this vehicle.
The specific implementation details and beneficial effect of the embodiment of the present invention four can refer to the embodiment of the present invention three, at the same time not
It repeats again.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Mind and principle within, any modification, equivalent replacement, improvement and so on, for example, adaptive change step execution sequence and
The connection relationship of regulatory function intermodule, should all be included in the protection scope of the present invention.
It will be appreciated by those skilled in the art that implementing the method for the above embodiments is that can pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, including some instructions are used so that single
Piece machine, chip or processor (processor) execute all or part of the steps of each embodiment the method for the application.And it is preceding
The storage medium stated includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic or disk.
In addition, any combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not disobeyed
The thought for carrying on the back the embodiment of the present invention, equally should be considered as disclosure of that of the embodiment of the present invention.
Claims (10)
1. one kind is for determining that road target sits calibration method, which is characterized in that described for determining the side of road target coordinate
Method includes:
Building driving coordinate system, wherein the driving coordinate system is using the side lane boundary line of road where this vehicle as benchmark line,
It is X with road guide line directionFAxis, to follow the direction of left hand rule with road guide line direction as YFAxis；And
Calculate coordinate of the road target under the driving coordinate system.
2. according to claim 1 for determining that road target sits calibration method, which is characterized in that the building driving is sat
Marking system includes:
Determine the reference line；
Under vehicle axis system, determine this truck position and the reference line apart from the smallest reference line point as the driving coordinate
The origin O of systemF；
Based on the origin OF, determine that road guide line direction is the X of the driving coordinate systemFAxis, and the determining and road pass
Conducting wire direction follows the direction of left hand rule as the Y of the driving coordinate systemFAxis；And
Based on the origin OF、XFAxis and the YFAxis forms corresponding driving coordinate system.
3. according to claim 1 or 2 for determining that road target sits calibration method, which is characterized in that the determination is originally
The origin O of truck position and the reference line apart from the smallest reference line point as the driving coordinate systemFInclude:
Several identical reference line points of spacing are set on the reference line；
Calculate the Euclidean distance of each reference line point and this truck position；
Using calculated Euclidean distance it is shortest point as it is described drive a vehicle coordinate system origin OF。
4. as claimed in any of claims 1 to 3 for determining that road target sits calibration method, which is characterized in that
The coordinate that the road target is calculated under the driving coordinate system includes:
From the origin OFStart, Xiang Suoshu road target traverses the reference line point relative to the direction of this vehicle；
The Euclidean distance between traversed reference line point and the road target is calculated, with the calculated most short Euclidean distance of institute
For abscissa of the road target under the driving coordinate system；And
Obtain institute it is calculated described in the reference line point corresponding to most short Euclidean distance point serial number information, calculate the benchmark
Line point and the origin OFBetween arc length, and with the arc length be the road target it is described driving coordinate system under vertical seat
Mark.
5. as claimed in any of claims 1 to 4 for determining that road target sits calibration method, the method is also wrapped
It includes:
In the driving process of this vehicle, switch the reference line to adjust the driving coordinate system, and calculates the road target and exist
Coordinate under driving coordinate system adjusted.
6. according to claim 5 for determining that road target sits calibration method, which is characterized in that the switching base
Directrix includes:
With pre-set default lane boundary line for the reference line；
The navigation direction information about this vehicle is obtained, switching the reference line is the navigation direction shown in the navigation direction information
The lane boundary line of side；
In no navigation direction information, present road type is judged；
It is ring road that Ruo Benche, which is currently located road, then keeps the current reference line constant；And
It is main stem that Ruo Benche, which is currently located road, and switching the reference line is the default lane boundary line.
7. a kind of system for determining road target coordinate, which is characterized in that described to be for determine road target coordinate
System includes:
Coordinate system of driving a vehicle constructs system, for constructing driving coordinate system, wherein the driving coordinate system is with road where this vehicle
Side lane boundary line is benchmark line, is X with road guide line directionFAxis, to follow left hand with road guide line direction
The direction of rule is YFAxis；And
Coordinates of targets computing module, for calculating coordinate of the road target under the driving coordinate system.
8. the system according to claim 7 for determining road target coordinate, which is characterized in that the driving coordinate system
Building system includes:
Reference line determining module, for determining the reference line；
Origin determining module, under vehicle axis system, determining this truck position and the reference line apart from the smallest reference line
Origin O of the point as the driving coordinate systemF；
Reference axis determining module, for being based on the origin OF, determine that road guide line direction is the X of the driving coordinate systemF
Axis, and the determining direction for following left hand rule with road guide line direction is the Y of the driving coordinate systemFAxis；And
Establishment of coordinate system module, for being based on the origin OF、XFAxis and the YFAxis forms corresponding driving coordinate system；
Wherein, the origin determining module includes: a setting submodule again, identical for spacing to be arranged on the reference line
Several reference line points；Apart from computational submodule, for calculating the Euclidean distance of each reference line point and this truck position；And
Origin determines submodule, for using calculated Euclidean distance it is shortest point as it is described drive a vehicle coordinate system origin OF。
9. the system according to claim 7 or 8 for determining road target coordinate, which is characterized in that the target is sat
Marking computing module includes:
Spider module is used for from the origin OFStart, Xiang Suoshu road target traverses the reference line relative to the direction of this vehicle
Point；
Abscissa computing module, for calculating the Euclidean distance between traversed reference line point and the road target, with institute
Calculated most short Euclidean distance is abscissa of the road target under the driving coordinate system；And
Ordinate computing module, for obtain the reference line point corresponding to the calculated most short Euclidean distance point
Serial number information calculates the reference line point and the origin OFBetween arc length, and with the arc length be the road target described
The ordinate driven a vehicle under coordinate system.
10. the system according to any one of claim 7 to 9 for determining road target coordinate, the system is also
Include:
Reference line switching module switches the reference line for the driving process in this vehicle to adjust the driving coordinate system；And
And
The coordinates of targets computing module is also used to calculate the coordinate under the driving coordinate system of the road target after the adjustment；
Wherein, the reference line switching module includes: with pre-set default road roadside for the switching reference line
Boundary line is the reference line；The navigation direction information about this vehicle is obtained, switching the reference line is the navigation direction information
The lane boundary line of the navigation direction side shown；In no navigation direction information, present road type is judged；Ruo Benche
Being currently located road is ring road, then keeps the current reference line constant；And it is main stem that Ruo Benche, which is currently located road, is cut
Changing the reference line is the default lane boundary line.
Priority Applications (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811153712.1A CN110379155B (en) | 2018-09-30 | 2018-09-30 | Method and system for determining coordinates of road target |
| US17/281,554 US11926339B2 (en) | 2018-09-30 | 2019-09-27 | Method for constructing driving coordinate system, and application thereof |
| EP19865031.9A EP3859273B1 (en) | 2018-09-30 | 2019-09-27 | Method for constructing driving coordinate system, and application thereof |
| JP2021517851A JP7234354B2 (en) | 2018-09-30 | 2019-09-27 | Construction method of traveling coordinate system and its use |
| PCT/CN2019/108402 WO2020063816A1 (en) | 2018-09-30 | 2019-09-27 | Method for constructing driving coordinate system, and application thereof |
| KR1020217013025A KR102442230B1 (en) | 2018-09-30 | 2019-09-27 | Construction method and application of driving coordinate system |
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| CN201811153712.1A CN110379155B (en) | 2018-09-30 | 2018-09-30 | Method and system for determining coordinates of road target |
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