CN115042787A - A method and device for determining a tracking trajectory without lane lines - Google Patents

Abstract

The present invention provides a method and a device for determining a tracking trajectory without lane lines. The method includes: acquiring the motion track of at least one target vehicle; determining the motion parameters of the target vehicle corresponding to the track point of each motion track based on the position coordinates of the vehicle; The trajectory points correspond to the motion parameters of the target vehicle and the motion parameters of the vehicle, and the evaluation results of each of the trajectory points are obtained; one of the evaluation results is selected from each of the evaluation results, and the location of the evaluation result is placed. The motion track determines the tracking track of the own vehicle. The invention can accurately select the optimal tracking track according to the evaluation result, and effectively improves the accuracy of selecting the tracking track.

Description

A method and device for determining a tracking trajectory without lane lines

technical field

The present invention relates to the technical field of automatic driving, and in particular, to a method and a device for a vehicle to follow a preceding vehicle in a laneless environment.

Background technique

In recent years, intelligent driving of automobiles has flourished, and intelligent driving has provided travel convenience. There is a huge demand for tracking and evaluation of the surrounding environment, especially the trajectory of moving vehicles in the process of production and application. Comprehensive evaluation. When the self-driving vehicle is driving on a road without lane lines, the self-driving vehicle generally follows the trajectory of the preceding vehicle. When the driving trajectory of the self-driving vehicle deviates from the preceding vehicle's trajectory and the tracking trajectory needs to be re-determined, it is currently only based on automatic driving. The position of the vehicle calculates the distance between the trajectory of the self-driving vehicle and the moving vehicle, and selects the trajectory of the nearest moving vehicle as the tracking trajectory of the self-driving vehicle. Since the motion parameters of the vehicle and surrounding vehicles are different, it will be the closest to the vehicle. When the motion trajectory of the vehicle is used as the motion trajectory of the own vehicle, the motion trajectory is not the optimal motion trajectory, resulting in the inaccurate problem of the selected tracking trajectory.

SUMMARY OF THE INVENTION

In view of this, the present invention provides a method and device for determining a tracking trajectory without lane lines, which can select the optimal tracking trajectory according to the motion data of the vehicle, and improve the accuracy of selecting the tracking trajectory.

To achieve the above object, the present invention mainly provides the following technical solutions:

In a first aspect, the present invention provides a method for determining a tracking trajectory without lane lines, the method comprising:

Obtain the motion trajectory of at least one target vehicle;

Based on the position coordinates of the vehicle, determine the motion parameters of the target vehicle corresponding to the trajectory points of each motion trajectory, wherein the motion parameters include position coordinates and motion data;

Using the first preset equation, an evaluation result of each of the trajectory points is obtained according to the motion parameters of the target vehicle and the motion parameters of the vehicle corresponding to each of the trajectory points, wherein the evaluation results are used to represent the target vehicle. the degree of difficulty for the vehicle to reach the trajectory point;

One of the evaluation results is selected from each of the evaluation results, and the motion track where the selected evaluation result is located is determined as the tracking track of the host vehicle.

In a second aspect, the present invention provides a device for determining a tracking trajectory without a lane line, the device comprising:

a motion trajectory acquisition module, used to acquire the motion trajectory of at least one target vehicle;

a motion parameter determination module, configured to determine the motion parameters of the target vehicle corresponding to the trajectory points of each of the motion tracks based on the position coordinates of the vehicle;

an evaluation result calculation module, configured to obtain an evaluation result of each of the trajectory points according to the motion parameters of each of the trajectory points corresponding to the target vehicle and the motion parameters of the vehicle by using the first preset equation;

A tracking trajectory selection module, configured to select one of the evaluation results, and determine the motion trajectory where the selected evaluation result is located as the tracking trajectory of the vehicle.

With the above technical solutions, the present invention provides a method and device for determining a tracking trajectory without lane lines. By using the first preset equation according to the motion parameters of each trajectory point of the target vehicle and the motion parameters of the vehicle, accurate calculation The evaluation results of the vehicle arriving at each trajectory point, and among the multiple evaluation results, an optimal evaluation result is selected, and the motion trajectory where the optimal evaluation result is located is determined as the tracking trajectory. The motion parameters can accurately select the optimal tracking trajectory according to the evaluation results, which effectively improves the accuracy of selecting the tracking trajectory. At the same time, in the embodiment of the present invention, the first preset equation is used to accurately calculate the evaluation results of each track point on the target vehicle's motion track by corresponding to the motion parameters of the target vehicle and the motion parameters of the own vehicle by each track point of the target vehicle's motion track, and The optimal evaluation result is determined in the rating results, and then the tracking trajectory is accurately selected, which effectively avoids using the motion trajectory of the vehicle closest to the vehicle as the vehicle due to the different motion parameters of the vehicle and surrounding vehicles in the prior art. When the motion trajectory is selected, the motion trajectory is not the optimal motion trajectory, resulting in the inaccuracy of the selected tracking trajectory.

The above description is only an overview of the technical solutions of the present invention, in order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand , the following specific embodiments of the present invention are given.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

1 is a schematic flowchart of a method for determining a tracking trajectory under a laneless line disclosed by the present invention;

2 is a schematic flowchart of a method for determining a target vehicle disclosed in the present invention;

3 is a schematic flowchart of a method for updating the motion trajectory of a target vehicle disclosed in the present invention;

4 is a schematic flowchart of a method for calculating an evaluation result disclosed in the present invention;

5 is a schematic flowchart of another method for determining a tracking trajectory disclosed by the present invention;

6 is a schematic flowchart of a method for determining a driving trajectory disclosed by the present invention;

FIG. 7 is a schematic flowchart of a method for changing a driving track disclosed in the present invention;

FIG. 8 is a schematic diagram of a device for determining a tracking trajectory under no lane line disclosed by the present invention;

FIG. 9 is a schematic diagram of another device for determining a tracking trajectory without a lane line disclosed in the present invention.

Detailed ways

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present invention will be more thoroughly understood, and will fully convey the scope of the present invention to those skilled in the art.

When the self-driving vehicle is driving on a road without lane lines, the self-driving vehicle generally follows the trajectory of the preceding vehicle. When the driving trajectory of the self-driving vehicle deviates from the preceding vehicle's trajectory and the tracking trajectory needs to be re-determined, it is currently only based on automatic driving. The position of the vehicle calculates the distance between the trajectory of the self-driving vehicle and the moving vehicle, and selects the trajectory of the nearest moving vehicle as the tracking trajectory of the self-driving vehicle. Since the motion parameters of the vehicle and surrounding vehicles are different, it will be the closest to the vehicle. When the motion trajectory of the vehicle is used as the motion trajectory of the own vehicle, the motion trajectory is not the optimal motion trajectory, resulting in the inaccurate problem of the selected tracking trajectory.

In order to solve the above problem, an embodiment of the present invention provides a method for determining a tracking trajectory without lane lines. The specific steps are shown in FIG. 1 , and the method includes:

Step 101, acquiring the motion trajectory of at least one target vehicle.

Specifically, in the steps of the embodiment of the present invention, when the vehicle leaves the track of the vehicle being tracked, a camera or a displacement sensor is used to determine a target vehicle in front of the vehicle, where the target vehicle is a moving vehicle that meets preset conditions , and at the same time, after the target vehicle is determined, the motion trajectory of the target vehicle is drawn to obtain the motion trajectory of the target vehicle, wherein each motion trajectory is composed of several trajectory points. Specifically, in this embodiment of the present invention, there may be one or more target vehicles, and each target vehicle corresponds to a motion trajectory.

Step 102 , based on the position coordinates of the vehicle, determine the motion parameters of the target vehicle corresponding to the trajectory points of each motion trajectory.

Wherein, the motion parameters include position coordinates and motion data.

Specifically, after step 101 is executed, after acquiring the motion trajectories of all target vehicles, according to the position of the head of the vehicle at the current moment, the longitudinal direction of the vehicle (front-rear direction) is taken as the Y-axis, and the lateral direction (left-right direction) of the vehicle is taken as the Y-axis. X-axis, establish a Cartesian coordinate system, and determine the coordinates of each track point on the motion trajectory of all target vehicles according to the established Cartesian coordinate system, and obtain the heading angle and driving speed of each target vehicle at each track point. The travel speed forms the motion data of the target vehicle, and according to the coordinates of the trajectory point and the motion data of the target vehicle, the motion parameters of each trajectory point corresponding to the target vehicle are obtained. Specifically, the motion data of the example of the present invention preferentially includes the heading angle and speed of the target vehicle, and may also include the acceleration of the target vehicle, and the motion data of the target vehicle is obtained according to the heading angle, driving speed and acceleration of the target vehicle.

Step 103 , using the first preset equation to obtain an evaluation result of each of the trajectory points according to the motion parameters of the target vehicle and the motion parameters of the vehicle corresponding to each of the trajectory points.

Wherein, the evaluation result is used to indicate the degree of difficulty for the vehicle to reach the track point.

Specifically, after step 102 is executed, after obtaining the motion parameters of each track point corresponding to the target vehicle, according to the motion parameters of the vehicle, the coordinates of each track point of the target vehicle, the motion data corresponding to the coordinates of the track points, the coordinates of the vehicle and the The vehicle motion data is brought into the first preset equation to obtain the evaluation results of all track points. Specifically, in this embodiment of the present invention, the rating result is used to indicate the degree of difficulty of the vehicle reaching the track point. When the value of the evaluation result is larger, it indicates that the vehicle is more difficult to reach the track point. The smaller the value of the result is, the less difficult it is for the vehicle to reach the track point.

Step 104 , select one of the evaluation results, and determine the motion track where the selected evaluation result is located as the tracking track of the vehicle.

Specifically, after step 103 is executed, after obtaining the evaluation result of the trajectory point, an optimal evaluation result is selected from all the trajectory points, and the motion trajectory where the optimal evaluation result is located is determined as the tracking of the vehicle trajectory. Specifically, for example, there are three motion trajectories of the target vehicle, namely the first motion trajectory, the second motion trajectory and the third motion trajectory. After obtaining the evaluation results of all the trajectory points on the above three motion trajectories, when the most When the motion track where the good evaluation result is located is the second motion track, the second motion track is used as the tracking track of the vehicle.

Further, an embodiment of the present invention also provides a method for determining a target vehicle. The method is a specific introduction to “obtaining the motion trajectory of at least one target vehicle” in step 101 of the embodiment shown in FIG. 1 . The specific steps are shown in FIG. 2 . display, including:

Step 201, obtaining the position coordinates of the moving vehicle.

Specifically, in the steps of the embodiment of the present invention, when the vehicle leaves the tracking track being tracked, all moving vehicles driving in front of the vehicle are acquired through a camera or a displacement sensor, and according to the position of the front of the vehicle at the current moment, the current vehicle is used. The longitudinal direction (front-rear direction) of the vehicle is the Y-axis, and the lateral direction (left-right direction) of the vehicle is the X-axis, and a Cartesian coordinate system is established to determine the position coordinates of each moving vehicle, where the moving vehicle is the vehicle driving in front of the vehicle.

Step 202: Determine the closest point between the moving vehicle and the moving track of the own vehicle by using the position coordinates of the moving vehicle according to the moving track of the own vehicle.

Specifically, after step 201 is executed, after determining the position coordinates of each moving vehicle, the closest point of each moving vehicle and the moving trajectory of the vehicle is determined according to the drawn movement trajectory of the vehicle. Specifically, for example, the number of moving vehicles obtained in step 201 is 5, and the position coordinates of the above-mentioned 5 moving vehicles are obtained, and the motion trajectories of the vehicle are used to sequentially obtain the closest points of the trajectories of the above-mentioned 5 moving vehicles and the vehicle, and simultaneously obtain The position coordinates of each closest point.

Step 203: Calculate the distance between the moving vehicle and the closest point according to the position coordinates of the moving vehicle.

Specifically, after step 202 is executed, after determining the closest point of each moving vehicle and the motion trajectory of the vehicle, according to the position coordinates of the moving vehicle and the position coordinates of the closest point corresponding to the moving vehicle, calculate the closest point corresponding to each moving vehicle and the moving vehicle the distance. Specifically, for example, the position coordinates of the moving vehicle are (X1, Y1), and the position coordinates of the closest point corresponding to the moving vehicle are (X2, Y2). Vehicle corresponds to the distance between the closest points.

Step 204 , when the distance is less than a preset distance, determine the moving vehicle as the target vehicle, and acquire a motion trajectory of the target vehicle.

Specifically, after step 203 is executed, the distance between each moving vehicle and the closest point corresponding to the moving vehicle is compared with the preset distance in turn, and when the distance between the moving vehicle and the closest point corresponding to the moving vehicle is less than the preset distance When , the moving vehicle is determined to be the target vehicle, and the motion trajectory of the target vehicle is obtained at the same time. Specifically, the preferred preset distance in the embodiment of the present invention is the farthest distance that the vehicle can travel within 30s under the condition of complying with the current road traffic rules.

Step 205, when the distance is greater than or equal to the preset distance, determine the moving vehicle as a non-target vehicle.

Specifically, after step 203 is executed, the distance between each moving vehicle and the closest point corresponding to the moving vehicle is compared with the preset distance in turn. When the distance between the moving vehicle and the closest point corresponding to the moving vehicle is greater than or equal to the preset distance When the distance is set, it is determined that the moving vehicle is a non-target vehicle, and there is no need to obtain the motion trajectory of the non-target vehicle.

Specifically, the embodiment of the present invention accurately selects the target vehicle by acquiring all the moving vehicles driving in front of the vehicle, and at the same time calculates the distance between the moving vehicle and the closest point of the moving vehicle, so as to accurately acquire the motion trajectory of the target vehicle, and then can The optimal tracking trajectory is selected accurately by using the motion trajectory of the target vehicle, and the accuracy of selecting the tracking trajectory is improved at the same time.

Further, the present invention also provides a method for updating the motion trajectory of the target vehicle, which is, in step 102 of the embodiment shown in FIG. The specific introduction after the motion parameters of the target vehicle", the specific steps are shown in Figure 3, and the method further includes:

Step 301 , according to the position coordinates of the vehicle at the current moment, determine whether the ordinates of the trajectory points of each of the motion trajectories are less than 0.

Specifically, in the steps of the embodiment of the present invention, the movement trajectory of the target vehicle is divided into two parts, one part is in front of the vehicle, and the other part is behind the vehicle, and the movement trajectory of the target vehicle is determined, and the current time of the vehicle is determined at the same time. After the position coordinates, the ordinate of each track point is judged according to the current position coordinate of the vehicle. When the ordinate of the track point is less than 0, it is judged that the track point is behind the vehicle. When the ordinate of the track point is greater than or equal to 0, Then it is judged that the track point is in front of the vehicle.

Step 302, delete the corresponding track point.

Specifically, after step 301 is executed, when it is determined in step 301 that the ordinate of the track point is less than 0, it is determined that the track point has no reference value, and the track point whose ordinate of the track point is less than 0 is deleted, so that the ordinate of each target vehicle is The motion trajectory is updated.

In step 303, the corresponding track points are reserved.

Specifically, after step 301 is executed, when it is determined in step 301 that the ordinate of the track point is greater than or equal to 0, then it is judged that the track point has reference value, and the track point whose ordinate of the track point is greater than or equal to 0 is retained, so that each track point has a ordinate greater than or equal to 0. The trajectory of the target vehicle is updated.

Specifically, in the embodiment of the present invention, after the motion trajectory of the target vehicle is acquired, the ordinate of each trajectory point is judged by the coordinates of the current position of the vehicle, and the motion trajectories of all target vehicles are determined according to the judgment result. Updating and deleting trajectory points that have no reference value can effectively reduce the amount of calculation, thereby improving the calculation efficiency of trajectory points and improving the efficiency of selecting optimal tracking estimates.

Further, an embodiment of the present invention also provides a method for calculating an evaluation result, the method is to use the first preset equation in step 103 of the embodiment shown in FIG. Motion parameters and motion parameters of the vehicle, and obtain the evaluation results of each of the trajectory points”. The specific steps are shown in Figure 4, including:

Step 401: Determine a first evaluation value according to a first evaluation parameter and a first evaluation coefficient, where the first evaluation parameter is the square of the difference between the abscissa of the track point and the abscissa of the position of the vehicle.

Step 402: Determine a second evaluation value according to the second evaluation parameter and the second evaluation coefficient, where the second evaluation parameter is the square of the difference between the vertical coordinate of the track point and the vertical coordinate of the vehicle position.

Step 403: Determine a third evaluation value according to the third evaluation parameter and the third evaluation coefficient, wherein the third evaluation parameter is the square of the difference between the heading angle of the target vehicle corresponding to the track point and the heading angle of the vehicle.

Step 404: Determine a fourth evaluation value according to the fourth evaluation parameter and the fourth evaluation coefficient, wherein the fourth evaluation parameter is the square of the difference between the speed of the target vehicle corresponding to the trajectory point and the speed of the vehicle.

Step 405: Obtain the evaluation result of each of the track points according to the sum of the first evaluation value, the second evaluation value, the third evaluation value and the fourth evaluation value.

Specifically, in the embodiment of the present invention, when calculating the evaluation result of each trajectory point, the following formula is used to calculate:

Cost=K _x (x _p -x _ego ) ² +K _y (y _p -y _ego ) ² +K _t (θ _p -θ _ego ) ² +K _v (v _p -v _ego ) ² ;

Among them, x _p , y _p , θ _p and v _p in the formula represent the abscissa and ordinate, heading angle and velocity of each track point on the target vehicle motion trajectory, respectively, x _ego , y _ego , θ _ego and _vego represent respectively The abscissa and ordinate of the current position of the vehicle, the heading angle and the speed, the first evaluation coefficient K _x is 1, the second evaluation coefficient K _y is 1, the third evaluation coefficient K _t is 10.3, and the fourth evaluation coefficient K _v is 3.5.

Specifically, in the embodiment of the present invention, when calculating the evaluation result of each trajectory point, the following formula is also used to calculate:

Cost=K _x (x _p -x _ego ) ² +K _y (y _p -y _ego ) ² +K _t (θ _p -θ _ego ) ² +K _v (v _p -v _ego ) ² +K _a (a _ego -a _obs ) ² ;

Among them, Ka is the fifth evaluation parameter, _{a ego} is the acceleration of the target vehicle, and _{a obs} is the acceleration of the vehicle. Specifically, the fifth evaluation parameter Ka is 3.5.

Further, the present invention provides another method for determining a tracking trajectory, which is to select one of the evaluation results in step 104 of the embodiment shown in FIG. The specific introduction of the motion trajectory where the vehicle is located, determining the tracking trajectory of the vehicle", the specific steps are shown in Figure 5, including:

Step 501: Obtain the minimum value among the evaluation results.

Specifically, when step 104 is executed, when one of the evaluation results is selected, the values of the evaluation results are compared, and the minimum value of the evaluation result is selected from the comparison results, wherein the value of the evaluation result is The smaller the value, the easier it is for the vehicle to reach the track point.

Step 502: Determine the motion trajectory where the minimum value of the evaluation result corresponds to the trajectory point, and determine the motion trajectory as the tracking trajectory of the vehicle.

Specifically, after step 501 is performed, after selecting the minimum value of the evaluation result, the trajectory point corresponding to the minimum value of the evaluation result is determined, and the motion trajectory where the trajectory point is located is determined, and the determined motion trajectory is used as the tracking trajectory of the vehicle.

Specifically, by selecting the minimum value of the evaluation result in the embodiment of the present invention, the optimal following trajectory can be accurately selected according to the motion parameters of the ego vehicle and the target vehicle, which improves the accuracy of selecting the tracking trajectory.

Further, an embodiment of the present invention also provides a method for determining a driving trajectory. The method is, in step 104 of the embodiment shown in FIG. 1 , “select one of the evaluation results from each of the evaluation results, and put the said evaluation result. The specific introduction after the motion trajectory where the evaluation result is located, determining the tracking trajectory of the vehicle", the specific steps are shown in Figure 6, and the method further includes:

Step 601: Obtain the motion data of the target vehicle corresponding to the trajectory point with the minimum value of the evaluation result.

Specifically, after step 104 is performed, after determining the trajectory point with the minimum value of the evaluation result, the motion data of the target vehicle corresponding to the trajectory point is obtained, specifically, the heading angle of the target vehicle at the trajectory point is obtained.

Step 602 , using the second preset equation to determine the driving trajectory of the vehicle according to the coordinates of the trajectory points, the heading angle of the target vehicle corresponding to the trajectory points, the position coordinates of the vehicle, and the heading angle of the vehicle. Wherein, the driving trajectory is the driving route of the vehicle toward the trajectory point corresponding to the minimum value of the evaluation result.

Specifically, the second preset equation is y=ax ³ +bx ² +cx+d.

When the motion parameters of the target vehicle corresponding to the acquired trajectory points are (x _obs , y _obs , θ _obs ), and the motion parameters of the vehicle are (x _ego , y _ego , θ _ego ), the following equations can be solved to obtain this the trajectory of the vehicle;

y _obs = ax _obs ³ +bx _obs ² +cx _obs +d;

y _ego = ax _ego ³ +bx _ego ² +cx _ego +d;

θ _obs = 3ax _obs ² +2abx _obs +c;

θ _ego = 3ax _ego ² +2abx _ego +c.

Specifically, the present invention fully considers the influence of the motion data of the target vehicle and the motion data of the vehicle by using the second preset equation, and after determining the tracking trajectory, fits the optimal driving trajectory according to the second preset equation, so as to make The vehicle can travel to the position of the determined track point in the shortest time, which effectively reduces the time for the vehicle to reach the target track point and ensures the safety of the vehicle.

Further, an embodiment of the present invention also provides a method for changing a driving trajectory. The method is a specific introduction after "determining the driving trajectory of the vehicle" in step 602 of the embodiment shown in FIG. 6 , and the specific steps are shown in FIG. 7 . As shown, the method further includes:

Step 701 , within a preset driving period, determine whether the vehicle reaches the minimum value of the evaluation result corresponding to the trajectory point.

Specifically, after step 602 is performed, when a preset driving cycle is reached, according to the position coordinates of the vehicle, it is determined whether the vehicle reaches the minimum value of the evaluation result corresponding to the trajectory point, and when the position coordinates of the vehicle are the same as the position coordinates of the vehicle When the minimum value of the evaluation result corresponds to the position coordinates of the trajectory point, it is determined that the vehicle reaches the minimum value of the evaluation result corresponding to the trajectory point, and when the position coordinates of the vehicle and the minimum value of the evaluation result correspond to the trajectory point When the position coordinates are different, it is determined that the vehicle has not reached the minimum value of the evaluation result corresponding to the trajectory point.

Step 702, the vehicle follows the tracking trajectory.

Specifically, after step 701 is executed, when it is determined in step 701 that the vehicle reaches the minimum value of the evaluation result corresponding to the trajectory point, the fitted driving trajectory is deleted, and the vehicle follows the determined tracking trajectory.

In step 703, the vehicle continues to travel according to the driving trajectory, and in the next preset driving cycle, it is judged again whether the vehicle reaches the minimum value of the evaluation result corresponding to the trajectory point.

Specifically, after step 701 is executed, when the vehicle does not reach the trajectory point corresponding to the minimum value of the evaluation result within the preset driving cycle, the vehicle continues to fit the driving trajectory of the preset cycle, and when the vehicle reaches the next driving cycle When , it is judged again whether the vehicle reaches the minimum value of the evaluation result corresponding to the trajectory point. Specifically, the preset driving cycle in the embodiment of the present invention is 30s.

Further, as the implementation of the method embodiment shown in the above-mentioned FIGS. 1-7, the embodiment of the present invention provides a device for determining a tracking trajectory without a lane line, and the device can select an optimal tracking trajectory according to the motion data of the own vehicle. , which improves the accuracy of selecting tracking trajectories. The embodiments of the apparatus correspond to the foregoing method embodiments. For ease of reading, this embodiment will not repeat the details of the foregoing method embodiments one by one, but it should be clear that the apparatus in this embodiment can correspondingly implement the foregoing method embodiments. The entire content of the example, as shown in Figure 8, the device includes:

The motion trajectory acquisition module 10 is used for acquiring the motion trajectory of at least one target vehicle.

The motion parameter determination module 20 is configured to determine, based on the position coordinates of the vehicle, the motion parameters of the target vehicle corresponding to the track points of each of the motion tracks obtained by the motion track module 10 .

The evaluation result calculation module 30 is configured to use the first preset equation to obtain the motion parameters of each of the trajectory points according to the motion parameters of the target vehicle and the motion parameters of the vehicle corresponding to each of the trajectory points determined by the motion parameter determination module 20. Evaluation results.

The tracking trajectory selection module 40 is used to select one of the evaluation results according to the evaluation results calculated by the evaluation result calculation module 30, and determine the tracking of the vehicle based on the motion trajectory where the evaluation result is located. trajectory.

Further, as shown in Figure 9, the motion trajectory acquisition module 10 includes:

a position coordinate obtaining unit 110, configured to obtain the position coordinates of the moving vehicle;

The closest point determining unit 120 determines the closest point between the moving vehicle and the moving track of the own vehicle according to the moving track of the own vehicle and according to the position coordinates of the moving vehicle obtained by the position coordinate obtaining unit 110 .

The distance calculation unit 130 is configured to calculate the distance between the moving vehicle and the closest point determined by the closest point determination unit 120 according to the position coordinates of the moving vehicle acquired by the position coordinate acquisition unit 110 .

The target vehicle determination unit 140 determines the moving vehicle as the target vehicle when the distance obtained by the distance calculation unit 130 is less than the preset distance, and acquires the movement track of the target vehicle.

Further, as shown in FIG. 9 , the device for determining the tracking trajectory under the no-lane line also includes an update motion trajectory module 50:

The position determination unit 510 is configured to determine whether the ordinate of the track point of each of the motion tracks is less than 0 according to the position coordinates of the vehicle at the current moment.

The deletion unit 520 is configured to delete the corresponding track point when the position determination unit 510 determines that the ordinate of the track point is less than 0.

The updating unit 530 is configured to retain the corresponding track point when the position determination unit 510 determines that the ordinate of the track point is greater than or equal to 0.

Further, as shown in FIG. 9 , the evaluation result calculation module 30 further includes:

The first calculation unit 310 is configured to determine the first evaluation value according to the first evaluation parameter and the first evaluation coefficient.

The second calculation unit 320 is configured to determine the second evaluation value according to the second evaluation parameter and the second evaluation coefficient.

The third calculation unit 330 is configured to determine the third evaluation value according to the third evaluation parameter and the third evaluation coefficient.

The fourth calculation unit 340 is configured to determine a fourth evaluation value according to the fourth evaluation parameter and the fourth evaluation coefficient.

The fifth calculation unit 350 is used for the first evaluation value calculated by the first calculation unit 310 , the second evaluation value calculated by the second calculation unit 320 , the third evaluation value calculated by the third calculation unit 330 , and the fourth calculation unit 340 The sum of the calculated fourth evaluation values is used to obtain the evaluation result of each of the trajectory points.

Further, as shown in FIG. 9 , the tracking trajectory selection module 40 further includes:

The evaluation result comparison unit 410 is configured to obtain the minimum value among the evaluation results.

The tracking trajectory determination unit 420 is configured to determine, according to the evaluation result comparison unit 410, the motion trajectory where the minimum value of the evaluation result corresponds to the trajectory point, and determine the motion trajectory as the tracking trajectory of the vehicle.

Further, as shown in FIG. 9 , the device for determining the tracking trajectory under no lane line further includes a driving trajectory fitting module 60, and the driving trajectory fitting module 60 includes:

The motion data acquisition unit 610 is configured to acquire motion data of the target vehicle corresponding to the trajectory point with the minimum value of the evaluation result.

The driving trajectory fitting unit 620 is configured to use the second preset equation to determine the coordinates of the trajectory points obtained by the motion data acquisition unit 610, the heading angle of the trajectory point corresponding to the target vehicle, the position coordinates of the vehicle, and the heading angle of the vehicle. The driving track of the vehicle.

Further, as shown in FIG. 9 , the device for determining a tracking trajectory under no lane line further includes a trajectory switching module 70, and the trajectory switching module 70 includes:

A switching determination unit 710, configured to determine whether the vehicle has reached the minimum value of the evaluation result corresponding to the trajectory point within a preset driving cycle;

The trajectory switching unit 720 is used for determining that the vehicle reaches the minimum value of the evaluation result and corresponding to the trajectory point in the switching determination unit 710, and controls the vehicle to follow the tracking trajectory;

The secondary judging unit 730 is used for judging in the switching judging unit 710 that the vehicle has not reached the minimum value of the evaluation result corresponding to the trajectory point, and controls the vehicle to continue to drive according to the driving trajectory, and in the next preset driving cycle, judge again Whether the vehicle reaches the minimum value of the evaluation result corresponds to the trajectory point.

In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

It can be understood that the relevant features in the above-mentioned methods and apparatuses may refer to each other. In addition, "first", "second", etc. in the above-mentioned embodiments are used to distinguish each embodiment, and do not represent the advantages and disadvantages of each embodiment.

Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

The algorithms and displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used with teaching based on this. The structure required to construct such a system is apparent from the above description. Furthermore, the present invention is not directed to any particular programming language. It should be understood that various programming languages may be used to implement the inventions described herein, and that the descriptions of specific languages above are intended to disclose the best mode for carrying out the invention.

In addition, memory may include non-persistent memory in computer readable media in the form of random access memory (RAM) and/or non-volatile memory, such as read only memory (ROM) or flash memory (flash RAM), including at least one memory chip.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

Memory may include non-persistent memory in computer readable media, random access memory (RAM) and/or non-volatile memory in the form of, for example, read only memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media includes both persistent and non-permanent, removable and non-removable media, and storage of information may be implemented by any method or technology. Information may be computer readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory or other memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

It should also be noted that the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device comprising a series of elements includes not only those elements, but also Other elements not expressly listed, or which are inherent to such a process, method, article of manufacture, or apparatus are also included. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article of manufacture or apparatus that includes the element.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The above are only embodiments of the present invention, and are not intended to limit the present invention. Various modifications and variations of the present invention are possible for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims (10)

1. A method for determining a tracking trajectory without a lane line, the method comprising:

acquiring a motion track of at least one target vehicle;

determining motion parameters of the target vehicle corresponding to track points of each motion trail based on the position coordinates of the vehicle, wherein the motion parameters comprise position coordinates and motion data;

obtaining an evaluation result of each track point according to the motion parameter of the target vehicle and the motion parameter of the vehicle corresponding to each track point by using a first preset equation, wherein the evaluation result is used for expressing the difficulty degree of the vehicle reaching the track point;

and selecting one evaluation result from the evaluation results, and determining the motion trail of the selected evaluation result as the tracking trail of the host vehicle.

2. The method of claim 1, wherein the obtaining a motion trajectory of at least one target vehicle comprises:

acquiring position coordinates of a moving vehicle;

determining the closest point of the moving vehicle and the motion trail of the vehicle by using the position coordinates of the moving vehicle according to the motion trail of the vehicle;

calculating the distance between the moving vehicle and the closest point according to the position coordinates of the moving vehicle;

and when the distance is smaller than a preset distance, determining the moving vehicle as the target vehicle, and acquiring the motion track of the target vehicle.

3. The method according to claim 1, wherein after determining the motion parameters of the target vehicle corresponding to the track points of each of the motion trajectories based on the host vehicle position coordinates, the method further comprises:

judging whether the longitudinal coordinate of the track point of each motion trail is smaller than 0 or not according to the position coordinate of the current moment of the vehicle;

if yes, deleting the corresponding track points;

if not, the corresponding track points are reserved.

4. The method according to claim 1, wherein obtaining an evaluation result of each track point according to the motion parameter of the target vehicle and the motion parameter of the host vehicle corresponding to each track point by using a first preset equation comprises:

determining a first evaluation value according to a first evaluation parameter and a first evaluation coefficient, wherein the first evaluation parameter is the square of the difference value between the abscissa of the track point and the abscissa of the position of the vehicle;

determining a second evaluation value according to a second evaluation parameter and a second evaluation coefficient, wherein the second evaluation parameter is the square of the difference value between the longitudinal coordinate of the track point and the longitudinal coordinate of the position of the vehicle;

determining a third evaluation value according to a third evaluation parameter and a third evaluation coefficient, wherein the third evaluation parameter is the square of the difference between the target vehicle course angle corresponding to the track point and the vehicle course angle;

determining a fourth evaluation value according to a fourth evaluation parameter and a fourth evaluation coefficient, wherein the fourth evaluation parameter is the square of the difference value between the target vehicle speed corresponding to the track point and the vehicle speed;

and obtaining the evaluation result of each track point according to the sum of the first evaluation value, the second evaluation value, the third evaluation value and the fourth evaluation value.

5. The method according to claim 1, wherein the selecting one of the evaluation results and determining the motion trajectory of the selected evaluation result as the tracking trajectory of the host vehicle comprises:

obtaining the minimum value of each evaluation result;

and determining the motion trail of the minimum evaluation result corresponding to the track point, and determining the motion trail as the tracking trail of the vehicle.

6. The method according to claim 1, wherein after said selecting one of said evaluation results among said evaluation results and determining said motion trajectory on which said selected evaluation result is located as a tracking trajectory of said host vehicle, said method further comprises:

acquiring motion data of the target vehicle corresponding to the track point with the minimum evaluation result;

and determining the running track of the vehicle by utilizing a second preset equation according to the track point coordinates and the track point correspondence to the course angle of the target vehicle, the vehicle position coordinates and the vehicle course angle, wherein the running track is the running route of the vehicle corresponding to the minimum evaluation result value.

7. The method of claim 6, wherein after said determining the travel trajectory of the host-vehicle, the method further comprises:

judging whether the vehicle reaches the minimum value of the evaluation result and corresponds to the track point or not within a preset running period;

if so, the vehicle runs along the tracking track;

if not, the vehicle continues to run according to the running track, and whether the vehicle reaches the track point corresponding to the minimum value of the evaluation result is judged again in the next preset running period.

8. An apparatus for determining a tracking trajectory without a lane line, the apparatus comprising:

the motion trail acquisition module is used for acquiring a motion trail of at least one target vehicle;

the motion parameter determining module is used for determining motion parameters of the target vehicle corresponding to the track points of each motion trail based on the position coordinates of the vehicle;

the evaluation result calculation module is used for obtaining the evaluation result of each track point according to the motion parameter of the target vehicle and the motion parameter of the vehicle corresponding to each track point by using a first preset equation;

and the tracking track selection module is used for selecting one evaluation result from the evaluation results and determining the motion track where the selected evaluation result is located as the tracking track of the vehicle.

9. A terminal, characterized in that the terminal is configured to run a program, wherein the terminal executes the method for determining a tracking trajectory without a lane line according to any one of claims 1 to 7.

10. A storage medium for storing a computer program, wherein the computer program controls an apparatus in which the storage medium is located to execute the method for determining a tracking trajectory without a lane line according to any one of claims 1 to 7 when the computer program is executed.

Images