CN115503708B - Cruise target determining method, cruise system, cruise target determining equipment and cruise target determining medium - Google Patents
Cruise target determining method, cruise system, cruise target determining equipment and cruise target determining medium Download PDFInfo
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- CN115503708B CN115503708B CN202211340094.8A CN202211340094A CN115503708B CN 115503708 B CN115503708 B CN 115503708B CN 202211340094 A CN202211340094 A CN 202211340094A CN 115503708 B CN115503708 B CN 115503708B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/162—Speed limiting therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
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Abstract
The application provides a cruising target determining method, cruising method, system, equipment and medium, wherein the cruising target determining method comprises the steps of obtaining position information, host vehicle image information, target vehicle image information, lane line position information and lane line curvature corresponding to a host vehicle and a target vehicle, determining the line pressing quantity of the target vehicle relative to the lane line where the host vehicle is located according to the host vehicle position information, the target vehicle position information, the host vehicle image information, the target vehicle image information, the lane line position information and the lane line curvature, comparing the line pressing quantity with a preset line pressing quantity threshold, determining the target vehicle corresponding to the line pressing quantity as a cruising target if the line pressing quantity is larger than or equal to the preset line pressing quantity threshold, cruising based on the determined cruising target, and improving the travelling comfort.
Description
Technical Field
The application relates to the technical field of intelligent control, in particular to a cruise target determining method, a cruise system, equipment and a medium.
Background
The adaptive cruise system (ACC) is an auxiliary driving function capable of improving the comfort of a driver and passengers, and keeps a preset maximum cruise speed forward driving if the front is smooth, and reduces the vehicle speed as required and keeps a distance from the front vehicle if the front is provided with a vehicle, so as to improve the safety. The cruising target (i.e. the following target) is selected as a key in self-adaptive cruising, the cruising target is also selected as a difficult point of self-adaptive cruising, and particularly in a high-cost-performance sensor scheme, a method for detecting the target through a limited sensor to ensure that the target is detected in time as much as possible and false detection cannot occur is very key.
In the related art, the risk degree is judged by mainly calculating the overlapping probability and the overlapping amount according to the transverse position between the target vehicle and the host vehicle, so that the cruising target is determined, but the factors such as the relative position between the lane line and the host vehicle are not considered, so that the accuracy is not high, and the comfort is not good.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention provides a method, a system, a device and a medium for determining a cruising target, so as to solve the technical problems of low accuracy, poor comfort and the like caused by the fact that the above-mentioned related art mainly calculates the overlapping probability and the overlapping amount through the lateral position between the target and the host vehicle, so as to determine the dangerous degree, and further determine the cruising target, and the relative position between the lane line and the host vehicle is not considered.
In order to achieve the above object, in a first aspect, the present application provides a cruise target determination method including:
Acquiring position information, vehicle image information, target vehicle image information, lane line position information and lane line curvature corresponding to the vehicle and the target vehicle respectively;
determining the line pressing quantity of a target vehicle relative to a lane line where the vehicle is located according to the vehicle position information, the target vehicle position information, the vehicle image information, the target vehicle image information, the lane line position information and the lane line curvature;
comparing the line pressing quantity with a preset line pressing quantity threshold value;
and if the line pressing quantity is larger than or equal to a preset line pressing quantity threshold value, determining that the target vehicle corresponding to the line pressing quantity is a cruising target.
In an exemplary embodiment of the present application, determining a line pressing amount of a target vehicle with respect to a lane line where a host vehicle is located includes:
Determining a transverse vehicle distance and a longitudinal vehicle distance based on the position information and the target vehicle image information respectively corresponding to the vehicle and the target vehicle, wherein the transverse vehicle distance is a transverse distance between the vehicle and the center of a rear axle of the target vehicle, and the longitudinal vehicle distance is a longitudinal distance between the vehicle and the center of the rear axle of the target vehicle;
Determining an outline dimension of a target vehicle based on the target vehicle image information, wherein the outline dimension of the target vehicle comprises a target vehicle width;
based on the position information of the host vehicle and the position information of the lane lines, determining the transverse distance and the angle between the host vehicle and the lane line where the host vehicle is positioned;
determining the curvature change rate of the lane line based on the lane line curvature;
And determining the line pressing quantity of the target vehicle relative to the lane line where the vehicle is located based on the transverse vehicle distance, the longitudinal vehicle distance, the vehicle width of the target vehicle, the transverse distance, the angle, the lane line curvature and the curvature change rate.
In an exemplary embodiment of the present application, determining the line pressing amount of the target vehicle with respect to the lane line where the host vehicle is located based on the lateral distance, the longitudinal distance, the target vehicle width, the lateral distance, the angle, the lane line curvature, and the curvature change rate includes:
Where Δs is the line-pressing amount of the target vehicle relative to the lane where the host vehicle is located, dy obj is the lateral distance, width obj is the target vehicle width, dx obj is the longitudinal distance, C 0 is the lateral distance, C 1 is the angle, C 2 is the lane curvature, and C 3 is the curvature change rate.
In an exemplary embodiment of the present application, the preset crimping amount threshold is obtained by the following method:
acquiring the speed of the vehicle and the transverse speed of the target vehicle;
determining the outline dimension of the vehicle according to the vehicle image information, wherein the outline dimension of the vehicle comprises the vehicle width of the vehicle;
determining the relative running direction of the target vehicle relative to the host vehicle according to the host vehicle image information and the target vehicle image information;
Determining the width of the lane line according to the lane line position information;
Determining a first compensation distance according to a first mapping relation preset between the lane line width and the first compensation distance and the lane line width;
Determining a second compensation distance according to a second mapping relation preset between the vehicle speed and the second compensation distance and the vehicle speed;
determining a third compensation distance according to a third mapping relation preset among the transverse speed, the relative running direction and the third compensation distance, the transverse speed and the relative running direction;
determining a fourth compensation distance according to a fourth mapping relation preset between the longitudinal distance and the fourth compensation distance and the longitudinal distance;
and determining a preset line pressing quantity threshold according to a preset calibrated line pressing quantity, the first compensation distance, the second compensation distance, the third compensation distance, the fourth compensation distance, the transverse vehicle distance, the vehicle width of the vehicle and the target vehicle width.
In an exemplary embodiment of the application, determining the fifth compensation distance comprises:
determining an overlapping rate according to the transverse vehicle distance, the vehicle width of the vehicle and the target vehicle width;
and determining a fifth compensation distance according to a fifth mapping relation preset between the overlapping rate and the fifth compensation distance and the overlapping rate.
In an exemplary embodiment of the present application, determining the predetermined wire pressing amount threshold according to the predetermined calibration wire pressing amount, the first compensation distance, the second compensation distance, the third compensation distance, the fourth compensation distance, and the fifth compensation distance includes:
S＝S0+Δs1+Δs2+Δs3+Δs4+Δs5；
Wherein S is a preset line volume threshold, S 0 is a preset calibrated line volume, Δs 1 is a first compensation distance, Δs 2 is a second compensation distance, Δs 3 is a third compensation distance, Δs 4 is a fourth compensation distance, and Δs 5 is a fifth compensation distance.
In a second aspect, the present application provides a cruise method, including:
Acquiring position information, vehicle image information, target vehicle image information, lane line position information and lane line curvature corresponding to the vehicle and the target vehicle respectively;
determining the line pressing quantity of a target vehicle relative to a lane line where the vehicle is located according to the vehicle position information, the target vehicle position information, the vehicle image information, the target vehicle image information, the lane line position information and the lane line curvature;
comparing the line pressing quantity with a preset line pressing quantity threshold value;
if the line pressing quantity is larger than or equal to a preset line pressing quantity threshold value, determining that a target vehicle corresponding to the line pressing quantity is a cruising target;
And controlling the vehicle to cruise by taking the cruise target as a following target.
In a third aspect, the present application provides a cruise target determination system, including:
the acquisition module is used for acquiring position information, vehicle image information, target vehicle image information, lane line position information and lane line curvature corresponding to the vehicle and the target vehicle respectively;
The first determining module is used for determining the line pressing quantity of the target vehicle relative to the lane line where the host vehicle is located according to the host vehicle position information, the target vehicle position information, the host vehicle image information, the target vehicle image information, the lane line position information and the lane line curvature;
the comparison module is used for comparing the line pressing quantity with a preset line pressing quantity threshold value;
and the second determining module is used for determining that the target vehicle corresponding to the line pressing quantity is a cruising target if the line pressing quantity is larger than or equal to a preset line pressing quantity threshold value.
In a fourth aspect, the present application provides a cruise system comprising:
the acquisition module is used for acquiring position information, vehicle image information, target vehicle image information, lane line position information and lane line curvature corresponding to the vehicle and the target vehicle respectively;
The first determining module is used for determining the line pressing quantity of the target vehicle relative to the lane line where the host vehicle is located according to the host vehicle position information, the target vehicle position information, the host vehicle image information, the target vehicle image information, the lane line position information and the lane line curvature;
the comparison module is used for comparing the line pressing quantity with a preset line pressing quantity threshold value;
and the second determining module is used for determining that the target vehicle corresponding to the line pressing quantity is a cruising target if the line pressing quantity is larger than or equal to a preset line pressing quantity threshold value.
And the control module is used for controlling the vehicle to cruise by taking the cruise target as a vehicle following target.
In a fifth aspect, the present application provides an electronic device, including:
One or more processors;
and storage means for storing one or more programs which, when executed by the one or more processors, cause the electronic device to implement the method as described above.
In a sixth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform a method as described above.
The invention has the beneficial effects that:
according to the method, the device and the system, the position information, the image information, the lane line position information and the lane line curvature of the host vehicle and the target vehicle are respectively corresponding to the host vehicle, the line pressing quantity of the target vehicle relative to the lane line where the host vehicle is located is determined according to the host vehicle position information, the target vehicle position information, the host vehicle image information, the target vehicle image information, the lane line position information and the lane line curvature, the line pressing quantity is compared with a preset line pressing quantity threshold value, if the line pressing quantity is larger than or equal to the preset line pressing quantity threshold value, the target vehicle corresponding to the line pressing quantity is determined to be a cruising target, cruising is carried out based on the determined cruising target, and the travelling comfort can be improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is evident that the drawings in the following description are only some embodiments of the present application and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art. In the drawings:
FIG. 1 is a flow chart of a cruise control target determination method according to an exemplary embodiment of the present application;
FIG. 2 is a flowchart of an exemplary embodiment of determining the line pressure of the target vehicle relative to the lane line where the host vehicle is located in step S120 in the embodiment shown in FIG. 1;
FIG. 3 is a flowchart of a method for obtaining a preset wire amount threshold in the embodiment shown in FIG. 1;
FIG. 4 is a schematic view of a wire pressing vehicle and a wire non-pressing vehicle in the embodiment shown in FIG. 3;
FIG. 5 is a flow chart of an exemplary embodiment of determining a preset crimp threshold in step S390 of the embodiment of FIG. 3;
FIG. 6 is a flowchart of an exemplary embodiment of determining a fifth compensation distance in step S510 in the embodiment of FIG. 5;
FIG. 7 is a flow chart of a cruise targeting method according to another exemplary embodiment of the present application;
FIG. 8 is a flow chart of a cruise method according to an exemplary embodiment of the present application;
FIG. 9 is a block diagram of a cruise targeting system according to an exemplary embodiment of the present application;
FIG. 10 is a block diagram of a cruise system according to an exemplary embodiment of the present application;
Fig. 11 shows a schematic diagram of a computer system suitable for use in implementing an embodiment of the application.
Detailed Description
Further advantages and effects of the present invention will become readily apparent to those skilled in the art from the disclosure herein, by referring to the accompanying drawings and the preferred embodiments. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be understood that the preferred embodiments are presented by way of illustration only and not by way of limitation.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
In the following description, numerous details are set forth in order to provide a more thorough explanation of embodiments of the present invention, it will be apparent, however, to one skilled in the art that embodiments of the present invention may be practiced without these specific details, in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring the embodiments of the present invention.
Referring to fig. 1, fig. 1 is a flowchart illustrating a method for determining a cruising target according to an exemplary embodiment of the present application, wherein the method is used for determining the cruising target, so that a vehicle following cruising system is used for performing a vehicle following cruising based on the determined cruising target.
As shown in fig. 1, in an exemplary embodiment of the present application, the cruise target determination method includes at least step S110, step S120, step S130, and step S140, which are described in detail as follows:
S110, acquiring position information, vehicle image information, target vehicle image information, lane line position information and lane line curvature, which correspond to the vehicle and the target vehicle respectively;
s120, determining the line pressing quantity of the target vehicle relative to the lane line where the host vehicle is located according to the host vehicle position information, the target vehicle position information, the host vehicle image information, the target vehicle image information, the lane line position information and the lane line curvature;
s130, comparing the line pressing quantity with a preset line pressing quantity threshold value;
And S140, if the line pressing quantity is greater than or equal to a preset line pressing quantity threshold value, determining that the target vehicle corresponding to the line pressing quantity of the lane line where the target vehicle is positioned relative to the vehicle is a cruising target.
In the related art, the risk degree is judged by mainly calculating the overlapping probability and the overlapping amount according to the transverse position between the target and the vehicle, so as to determine the cruising target. The inventor analyzes the related technology and then finds that the accuracy is not high and the comfort is not good because the relative position between the lane line and the vehicle is not considered after the cruising target is determined by calculating the overlapping probability and the overlapping amount according to the transverse position between the target and the vehicle so as to judge the dangerous degree. Therefore, considering that the position information, the target vehicle image information, the lane line position information and the lane line curvature corresponding to the own vehicle and the target vehicle are acquired, the line pressing quantity of the target vehicle relative to the lane line where the own vehicle is located is determined according to the own vehicle position information, the target vehicle image information, the lane line position information and the lane line curvature, the line pressing quantity is compared with a preset line pressing quantity threshold value, if the line pressing quantity is greater than or equal to the preset line pressing quantity threshold value, the target vehicle corresponding to the line pressing quantity of the target vehicle relative to the lane line where the own vehicle is determined to be a cruising target, the following operation is carried out based on the determined cruising target, and the own vehicle can be planned and controlled to accelerate or decelerate according to the speed of the cruising target and the speed of the own vehicle, so that the comfort is improved.
Referring to fig. 2, fig. 2 is a flowchart of an exemplary embodiment of determining a line pressing amount of a target vehicle relative to a lane line where the host vehicle is located in step S120 in the embodiment shown in fig. 1.
As shown in fig. 2, in an exemplary embodiment of the present application, the process of determining the line pressing amount of the target vehicle with respect to the lane line where the host vehicle is located in step S120 in the embodiment shown in fig. 1 includes step S210, step S220, step S230, step S240 and step S250, which are described in detail as follows:
s210, determining a transverse vehicle distance and a longitudinal vehicle distance based on the position information corresponding to the vehicle and the target vehicle respectively and the target vehicle image information;
The transverse distance is the transverse distance between the vehicle and the center of the rear axle of the target vehicle, and the longitudinal distance between the vehicle and the center of the rear axle of the target vehicle;
S220, determining the outline dimension of the target vehicle based on the image information of the target vehicle;
the external dimensions of the target vehicle include a target vehicle width;
S230, determining the transverse distance and the angle between the vehicle and the lane line where the vehicle is located based on the vehicle position information and the lane line position information;
s240, determining the curvature change rate of the lane line based on the curvature of the lane line;
It should be understood that the lane line curvature refers to the lane line curvature of the lane line of the own vehicle in which the own vehicle is located at the position of the own vehicle. The curvature change rate refers to the curvature change rate of the lane line of the lane where the host vehicle is located between the position where the host vehicle is located and the start point of the lane line.
S250, determining the line pressing quantity of the target vehicle relative to the lane line where the vehicle is located based on the transverse vehicle distance, the longitudinal vehicle distance, the vehicle width of the target vehicle, the transverse distance, the angle, the curvature of the lane line and the curvature change rate.
Specifically, the method for determining the line pressing quantity of the target vehicle relative to the lane line where the vehicle is located based on the transverse vehicle distance, the longitudinal vehicle distance, the width of the target vehicle, the transverse distance, the angle, the curvature of the lane line and the curvature change rate comprises the following steps:
The delta s is the line pressing quantity of the target vehicle relative to the lane line where the vehicle is located, and the unit is m; dy obj is the transverse vehicle distance, and the unit is m; width obj is the width of the target vehicle, and the unit is m; dx obj is the longitudinal vehicle distance, and the unit is m; c 0 is the transverse distance in m; c 1 is the angle (where angle refers to the value after conversion to radians); c 2 is the lane line curvature, in m -1;C3 is the curvature change rate, in m -2.
Referring to fig. 3, fig. 3 is a flowchart of a method for obtaining a preset wire pressing threshold in the embodiment shown in fig. 1.
As shown in fig. 3, in an exemplary embodiment of the present application, the method for obtaining the preset voltage threshold in the embodiment shown in fig. 1 includes steps S310, S320, S330, S340, S350, S360, S370, S380 and S390, which are described in detail as follows:
s310, acquiring the speed of the vehicle and the transverse speed of a target vehicle;
S320, determining the outline dimension of the vehicle according to the image information of the vehicle;
The outline dimension of the vehicle comprises the width of the vehicle;
S330, determining the relative running direction of the target vehicle relative to the host vehicle according to the host vehicle image information and the target vehicle image information;
S340, determining the width of the lane line according to the position information of the lane line;
S350, determining a first compensation distance according to a first mapping relation preset between the lane line width and the first compensation distance and the lane line width;
It should be noted that, the preset first mapping relationship between the lane line width and the first compensation distance includes a mapping relationship between the lane line width and the first compensation distance, and is configured to determine the first compensation distance according to the mapping relationship between the lane line width and the first compensation distance and the lane line width of the lane where the host vehicle is located. For example, if the lane line width is 3.7m, the first compensation distance is determined to be 0m, and if the lane line width is less than 3.7m, the first compensation distance is reduced by 0.1m for every reduction of the lane line width by 0.3m, for example, if the lane line width is 3.4m, the first compensation distance is determined to be-0.1 m. The first mapping relationship preset between the lane line width and the first compensation distance can be set by itself, and will not be described here again.
S360, determining a second compensation distance according to a second mapping relation preset between the vehicle speed and the second compensation distance and the vehicle speed;
It should be noted that, the second mapping relationship preset between the vehicle speed and the second compensation distance includes a corresponding relationship between the vehicle speed and the second compensation distance, and is configured to confirm the second compensation distance according to the mapping relationship between the vehicle speed and the second compensation distance and the vehicle speed of the host vehicle. For example, if the vehicle speed is 50km/h, the second compensation distance is determined to be 0m, and if the vehicle speed is less than 50km/h, the second compensation distance is reduced by 0.1m every time the vehicle speed is reduced by 10km/h, for example, if the vehicle speed is 40km/h, the second compensation distance is determined to be-0.1 m. The second mapping relationship preset between the vehicle speed and the second compensation distance can be set by itself, and will not be described here again.
S370, determining a third compensation distance according to a third mapping relation preset between the transverse speed, the relative running direction and the third compensation distance, the transverse speed and the relative running direction;
It should be noted that, the preset third mapping relationship between the lateral speed, the relative driving direction and the third compensation distance includes a corresponding relationship between the lateral speed, the relative driving direction and the third compensation distance, and is configured to confirm the third compensation distance according to the mapping relationship between the lateral speed and the relative driving direction. For example, if the lateral speed is 0 or the relative traveling direction is away from the host vehicle, the third compensation distance is determined to be 0m, if the lateral speed is greater than 0 and the relative traveling direction is closer to the host vehicle, each time the lateral speed increases by 0.5m/s, the third compensation distance is determined to be decreased by 0.2m, for example, if the target vehicle approaches the host vehicle at a lateral speed of 0.5m/s, the third compensation distance is determined to be-0.2 m. The third mapping relationship preset between the transverse speed, the relative driving direction and the third compensation distance can be set by itself, and will not be described here again.
S380, determining a fourth compensation distance according to a fourth mapping relation preset between the longitudinal distance and the fourth compensation distance and the longitudinal distance;
It should be noted that, the preset fourth mapping relationship between the longitudinal distance and the fourth compensation distance includes a mapping relationship between the longitudinal distance and the fourth compensation distance, and is configured to confirm the fourth compensation distance according to the mapping relationship and the longitudinal distance between the longitudinal distance and the fourth compensation distance. For example, if the longitudinal distance is less than or equal to 30m, the fourth compensation distance is determined to be 0m, and if the longitudinal distance is greater than 30m, the fourth compensation distance is increased by 0.1m every 20m of the longitudinal distance, for example, if the longitudinal distance is 50m, the fourth compensation distance is determined to be 0.1m. The preset fourth mapping relationship between the longitudinal distance and the fourth compensation distance can be set by itself, and will not be described herein.
S390, determining a preset line pressing quantity threshold according to the preset calibrated line pressing quantity, the first compensation distance, the second compensation distance, the third compensation distance, the fourth compensation distance, the transverse vehicle distance, the vehicle width and the target vehicle width.
The preset standard line pressing quantity is a line pressing quantity preset when a target vehicle does not cut into a road with a standard lane line width and stably presses lines for running. The wire pressing vehicle and the wire non-pressing vehicle are shown in fig. 4. As shown in fig. 4, the front target vehicle in the lane adjacent to the left side of the host vehicle is not in line, and the front right side vehicle of the host vehicle is a line-pressing vehicle. The preset calibrated line pressing amount can be set by itself, and will not be described here.
Referring to fig. 5, fig. 5 is a flowchart of an exemplary embodiment of determining the preset wire amount threshold in step S390 in the embodiment of fig. 3.
As shown in fig. 5, in an exemplary embodiment of the present application, the process of determining the preset wire amount threshold in step S390 in the embodiment shown in fig. 3 includes step S510 and step S520, which are described in detail as follows:
S510, determining a fifth compensation distance according to the transverse vehicle distance, the vehicle width of the vehicle and the target vehicle width;
s520, determining a preset line pressing quantity threshold according to the preset calibrated line pressing quantity, the first compensation distance, the second compensation distance, the third compensation distance, the fourth compensation distance and the fifth compensation distance.
Specifically, the determining method for determining the preset line pressing quantity threshold value according to the preset calibrated line pressing quantity, the first compensation distance, the second compensation distance, the third compensation distance, the fourth compensation distance and the fifth compensation distance includes:
S＝S0+Δs1+Δs2+Δs3+Δs4+Δs5 (II)；
s is a preset line pressing quantity threshold value, and the unit is m; s 0 is a preset calibrated line pressing quantity, and the unit is m; Δs 1 is the first compensation distance in m; Δs 2 is the second compensation distance in m; Δs 3 is the third compensation distance in m; Δs 4 is the fourth compensation distance in m; Δs 5 is the fifth compensation distance in m.
Referring to fig. 6, fig. 6 is a flowchart of determining a fifth compensation distance in step S510 in the embodiment shown in fig. 5 in an exemplary embodiment.
As shown in fig. 6, in an exemplary embodiment of the present application, the process of determining the fifth compensation distance in step S510 in the embodiment shown in fig. 5 includes step S610 and step S620, which are described in detail as follows:
S610, determining an overlapping rate according to a transverse vehicle distance, a vehicle width of the vehicle and a target vehicle width;
Specifically, the method for determining the overlapping rate according to the transverse vehicle distance, the vehicle width and the target vehicle width includes:
wherein Overlap is the overlapping rate, dy obj is the transverse vehicle distance, and the unit is m; width own is the width of the vehicle, and the unit is m; width obj is the target vehicle width in m.
S620, determining a fifth compensation distance according to a fifth mapping relation and an overlapping rate preset between the overlapping rate and the fifth compensation distance.
It should be noted that, the fifth mapping relationship preset between the overlapping rate and the fifth compensation distance includes a corresponding relationship between the overlapping rate and the fifth compensation distance, and is used for determining the fifth compensation distance according to the mapping relationship and the overlapping rate between the overlapping rate and the fifth compensation distance. For example, if the overlap ratio is less than or equal to 50%, the fifth compensation distance is determined to be 0m, and if the overlap ratio is greater than 50%, each 10% increase in the overlap ratio, the fifth compensation distance decreases by 0.1m with a negative value, for example, if the overlap ratio is 60%, the fifth compensation distance is determined to be-0.1 m. The fifth mapping relationship preset between the overlapping rate and the fifth compensation distance can be set by itself, and will not be described here again.
Referring to fig. 7, fig. 7 is a flowchart illustrating a cruise target determination method according to another exemplary embodiment of the present application, which is used to determine a cruise target when there are a plurality of target vehicles.
As shown in fig. 7, in another exemplary embodiment of the present application, if there are a plurality of target vehicles, the process of determining the cruising target includes step S730 and step S740, which are described in detail as follows:
step S730, sequentially comparing the difference values between the line pressing quantities of different target vehicles and preset line pressing quantity thresholds according to the sequence of the longitudinal vehicle distances from small to large;
And S740, determining the target vehicle corresponding to the first difference value of 0 or more than 0 as a cruising target.
Specifically, the first target vehicle that satisfies the condition (the difference between the line-pressing amount and the preset line-pressing amount threshold is 0 or more, that is, the line-pressing amount is greater than or equal to the preset line-pressing amount threshold) is determined as the cruising target.
Referring to fig. 8, fig. 8 is a flowchart illustrating a cruise method according to an exemplary embodiment of the present application.
As shown in fig. 8, in an exemplary embodiment of the present application, the cruise method includes steps S810, S820, S830, S840, and S850, which are described in detail as follows:
s810, acquiring position information, vehicle image information, target vehicle image information, lane line position information and lane line curvature, which correspond to the vehicle and the target vehicle respectively;
S820, determining the line pressing quantity of the target vehicle relative to the lane line where the host vehicle is located according to the host vehicle position information, the target vehicle position information, the host vehicle image information, the target vehicle image information, the lane line position information and the lane line curvature;
s830, comparing the line pressing quantity with a preset line pressing quantity threshold value;
Step S840, if the line pressing quantity is larger than or equal to a preset line pressing quantity threshold value, determining that a target vehicle corresponding to the line pressing quantity is a cruising target;
And S850, controlling the vehicle to cruise by taking the cruise target as the following target.
Referring to fig. 9, an embodiment of the present application further provides a cruise target determination system M900, where the cruise target determination system M900 includes:
the acquisition module M910 is configured to acquire position information, vehicle image information, target vehicle image information, lane line position information, and lane line curvature corresponding to the vehicle and the target vehicle respectively;
The first determining module M920 is configured to determine a line pressing amount of the target vehicle relative to a lane line where the host vehicle is located according to the host vehicle position information, the target vehicle position information, the host vehicle image information, the target vehicle image information, the lane line position information, and the lane line curvature;
The comparison module M930 is used for comparing the line pressing quantity with a preset line pressing quantity threshold value;
And the second determining module M940 is configured to determine that the target vehicle corresponding to the line pressing amount is a cruise target if the line pressing amount is greater than or equal to the preset line pressing amount threshold.
Referring to fig. 10, the embodiment of the present application further provides a cruise system M1000, where the cruise system M1000 includes:
the acquisition module M1010 is used for acquiring position information, vehicle image information, target vehicle image information, lane line position information and lane line curvature corresponding to the vehicle and the target vehicle respectively;
the first determining module M1020 is configured to determine a line pressing amount of the target vehicle relative to a lane line where the host vehicle is located according to the host vehicle position information, the target vehicle position information, the host vehicle image information, the target vehicle image information, the lane line position information, and the lane line curvature;
The comparison module M1030 is configured to compare the voltage amount with a preset voltage amount threshold;
And the second determining module M1040 is used for determining that the target vehicle corresponding to the line pressing quantity is a cruising target if the line pressing quantity is greater than or equal to a preset line pressing quantity threshold value.
The control module M1050 is used for controlling the vehicle to cruise by taking the cruise target as a following target;
it should be noted that, the cruise target determining system provided in the above embodiment and the cruise target determining method provided in the above embodiment belong to the same concept, and the cruise system provided in the above embodiment and the cruise method provided in the above embodiment belong to the same concept, where the specific manner in which each module and unit perform operations has been described in detail in the method embodiment, and is not repeated here. In practical application, the cruise target determination system and the cruise system provided in the above embodiments may be configured by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above, which is not limited herein.
The embodiment of the application also provides electronic equipment, which comprises: one or more processors; and a storage means for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the cruise target determination method or the cruise method provided in the respective embodiments described above.
Fig. 11 shows a schematic diagram of a computer system suitable for use in implementing an embodiment of the application. It should be noted that, the computer system 1100 of the electronic device shown in fig. 11 is only an example, and should not impose any limitation on the functions and the application scope of the embodiments of the present application.
As shown in fig. 11, the computer system 1100 includes a central processing unit (Central Processing Unit, CPU) 1101 that can perform various appropriate actions and processes, such as performing the methods described in the above embodiments, according to a program stored in a Read-Only Memory (ROM) 1102 or a program loaded from a storage section 1108 into a random access Memory (Random Access Memory, RAM) 1103. In the RAM 1103, various programs and data required for system operation are also stored. The CPU 1101, ROM 1102, and RAM 1103 are connected to each other by a bus 1104. An Input/Output (I/O) interface 1105 is also connected to bus 1104.
The following components are connected to the I/O interface 1105: an input section 1106 including a keyboard, a mouse, and the like; an output portion 1107 including a Cathode Ray Tube (CRT), a Liquid crystal display (Liquid CRYSTAL DISPLAY, LCD), and a speaker, etc.; a storage portion 1008 including a hard disk or the like; and a communication section 1109 including a network interface card such as a LAN (Local Area Network ) card, a modem, or the like. The communication section 1109 performs communication processing via a network such as the internet. The drive 1110 is also connected to the I/O interface 1105 as needed. Removable media 1111, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like, is installed as needed on drive 1110, so that a computer program read therefrom is installed as needed into storage section 1108.
In particular, according to embodiments of the present application, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication portion 1109, and/or installed from the removable media 1111. When executed by a Central Processing Unit (CPU) 1101, performs the various functions defined in the system of the present application.
It should be noted that, the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-Only Memory (ROM), an erasable programmable read-Only Memory (Erasable Programmable Read Only Memory, EPROM), a flash Memory, an optical fiber, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer-readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with a computer-readable computer program embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Where each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be provided in a processor. The names of the units do not limit the own vehicle of the units in some cases.
Another aspect of the application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform the cruise targeting method or the cruise method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment or may exist alone without being incorporated in the electronic device.
Another aspect of the application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions so that the computer device executes the cruise target determination method or the cruise method provided in the above-described respective embodiments.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. It is therefore intended that all equivalent modifications and changes made by those skilled in the art without departing from the spirit and technical spirit of the present invention shall be covered by the appended claims.
Claims (11)
1. A cruise target determination method, characterized by comprising:
Acquiring position information, vehicle image information, target vehicle image information, lane line position information and lane line curvature corresponding to the vehicle and the target vehicle respectively;
Determining a transverse vehicle distance and a longitudinal vehicle distance based on the position information and the target vehicle image information respectively corresponding to the host vehicle and the target vehicle, wherein the transverse vehicle distance is the transverse distance between the host vehicle and the center of a rear axle of the target vehicle, and the longitudinal vehicle distance is the longitudinal distance between the host vehicle and the center of the rear axle of the target vehicle;
Determining an outline dimension of a target vehicle based on the target vehicle image information, wherein the outline dimension of the target vehicle comprises a target vehicle width;
based on the position information of the host vehicle and the position information of the lane lines, determining the transverse distance and the angle between the host vehicle and the lane line where the host vehicle is positioned;
determining the curvature change rate of the lane line based on the lane line curvature;
Determining the line pressing quantity of the target vehicle relative to the lane line where the vehicle is located based on the transverse vehicle distance, the longitudinal vehicle distance, the target vehicle width, the transverse distance, the angle, the lane line curvature and the curvature change rate;
comparing the line pressing quantity with a preset line pressing quantity threshold value;
and if the line pressing quantity is larger than or equal to a preset line pressing quantity threshold value, determining that the target vehicle corresponding to the line pressing quantity is a cruising target.
2. The cruising target determination method according to claim 1, wherein determining a line pressing amount of the target vehicle with respect to a lane line in which the host vehicle is located based on the lateral distance, the longitudinal distance, the target vehicle width, the lateral distance, the angle, the lane line curvature, and the curvature change rate comprises:
Where Δs is the line-pressing amount of the target vehicle relative to the lane where the host vehicle is located, dy obj is the lateral distance, width obj is the target vehicle width, dx obj is the longitudinal distance, C 0 is the lateral distance, C 1 is the angle, C 2 is the lane curvature, and C 3 is the curvature change rate.
3. The cruise control target determination method according to claim 1, characterized in that the preset line pressing amount threshold is obtained by adopting the following method:
acquiring the speed of the vehicle and the transverse speed of the target vehicle;
determining the outline dimension of the vehicle according to the vehicle image information, wherein the outline dimension of the vehicle comprises the vehicle width of the vehicle;
determining the relative running direction of the target vehicle relative to the host vehicle according to the host vehicle image information and the target vehicle image information;
Determining the width of the lane line according to the lane line position information;
Determining a first compensation distance according to a first mapping relation preset between the lane line width and the first compensation distance and the lane line width;
Determining a second compensation distance according to a second mapping relation preset between the vehicle speed and the second compensation distance and the vehicle speed;
determining a third compensation distance according to a third mapping relation preset among the transverse speed, the relative running direction and the third compensation distance, the transverse speed and the relative running direction;
determining a fourth compensation distance according to a fourth mapping relation preset between the longitudinal distance and the fourth compensation distance and the longitudinal distance;
and determining a preset line pressing quantity threshold according to a preset calibrated line pressing quantity, the first compensation distance, the second compensation distance, the third compensation distance, the fourth compensation distance, the transverse vehicle distance, the vehicle width of the vehicle and the target vehicle width.
4. A cruise control target determination method according to claim 3, wherein determining a preset line pressure threshold value includes:
determining a fifth compensation distance according to the transverse vehicle distance, the vehicle width of the vehicle and the target vehicle width;
And determining a preset line pressing quantity threshold according to the preset calibrated line pressing quantity, the first compensation distance, the second compensation distance, the third compensation distance, the fourth compensation distance and the fifth compensation distance.
5. The cruise control target determination method according to claim 4, characterized in that determining a fifth compensation distance includes:
determining an overlapping rate according to the transverse vehicle distance, the vehicle width of the vehicle and the target vehicle width;
and determining a fifth compensation distance according to a fifth mapping relation preset between the overlapping rate and the fifth compensation distance and the overlapping rate.
6. The cruise control target determination method according to claim 4, wherein determining a predetermined line volume threshold value according to the predetermined calibration line volume, the first compensation distance, the second compensation distance, the third compensation distance, the fourth compensation distance, and the fifth compensation distance comprises:
S＝S0+Δs1+Δs2+Δs3+Δs4+Δs5；
Wherein S is a preset line volume threshold, S 0 is a preset calibrated line volume, Δs 1 is a first compensation distance, Δs 2 is a second compensation distance, Δs 3 is a third compensation distance, Δs 4 is a fourth compensation distance, and Δs 5 is a fifth compensation distance.
7. A cruising method, comprising:
Acquiring position information, vehicle image information, target vehicle image information, lane line position information and lane line curvature corresponding to the vehicle and the target vehicle respectively;
Determining a transverse vehicle distance and a longitudinal vehicle distance based on the position information and the target vehicle image information respectively corresponding to the host vehicle and the target vehicle, wherein the transverse vehicle distance is the transverse distance between the host vehicle and the center of a rear axle of the target vehicle, and the longitudinal vehicle distance is the longitudinal distance between the host vehicle and the center of the rear axle of the target vehicle;
Determining an outline dimension of a target vehicle based on the target vehicle image information, wherein the outline dimension of the target vehicle comprises a target vehicle width;
based on the position information of the host vehicle and the position information of the lane lines, determining the transverse distance and the angle between the host vehicle and the lane line where the host vehicle is positioned;
determining the curvature change rate of the lane line based on the lane line curvature;
Determining the line pressing quantity of the target vehicle relative to the lane line where the vehicle is located based on the transverse vehicle distance, the longitudinal vehicle distance, the target vehicle width, the transverse distance, the angle, the lane line curvature and the curvature change rate;
comparing the line pressing quantity with a preset line pressing quantity threshold value;
if the line pressing quantity is larger than or equal to a preset line pressing quantity threshold value, determining that a target vehicle corresponding to the line pressing quantity is a cruising target;
And controlling the vehicle to cruise by taking the cruise target as a following target.
8. A cruise target determination system, characterized in that the cruise target determination system comprises:
the acquisition module is used for acquiring position information, vehicle image information, target vehicle image information, lane line position information and lane line curvature corresponding to the vehicle and the target vehicle respectively;
The first determining module is used for determining a transverse vehicle distance and a longitudinal vehicle distance based on the position information and the target vehicle image information respectively corresponding to the host vehicle and the target vehicle, wherein the transverse vehicle distance is the transverse distance between the host vehicle and the center of a rear axle of the target vehicle, and the longitudinal vehicle distance is the longitudinal distance between the host vehicle and the center of the rear axle of the target vehicle; determining an outline dimension of a target vehicle based on the target vehicle image information, wherein the outline dimension of the target vehicle comprises a target vehicle width; based on the position information of the host vehicle and the position information of the lane lines, determining the transverse distance and the angle between the host vehicle and the lane line where the host vehicle is positioned; determining the curvature change rate of the lane line based on the lane line curvature; determining the line pressing quantity of the target vehicle relative to the lane line where the vehicle is located based on the transverse vehicle distance, the longitudinal vehicle distance, the target vehicle width, the transverse distance, the angle, the lane line curvature and the curvature change rate;
the comparison module is used for comparing the line pressing quantity with a preset line pressing quantity threshold value;
and the second determining module is used for determining that the target vehicle corresponding to the line pressing quantity is a cruising target if the line pressing quantity is larger than or equal to a preset line pressing quantity threshold value.
9. A cruise system, characterized in that the cruise system comprises:
the acquisition module is used for acquiring position information, vehicle image information, target vehicle image information, lane line position information and lane line curvature corresponding to the vehicle and the target vehicle respectively;
The first determining module is used for determining a transverse vehicle distance and a longitudinal vehicle distance based on the position information and the target vehicle image information respectively corresponding to the host vehicle and the target vehicle, wherein the transverse vehicle distance is the transverse distance between the host vehicle and the center of a rear axle of the target vehicle, and the longitudinal vehicle distance is the longitudinal distance between the host vehicle and the center of the rear axle of the target vehicle; determining an outline dimension of a target vehicle based on the target vehicle image information, wherein the outline dimension of the target vehicle comprises a target vehicle width; based on the position information of the host vehicle and the position information of the lane lines, determining the transverse distance and the angle between the host vehicle and the lane line where the host vehicle is positioned; determining the curvature change rate of the lane line based on the lane line curvature; determining the line pressing quantity of the target vehicle relative to the lane line where the vehicle is located based on the transverse vehicle distance, the longitudinal vehicle distance, the target vehicle width, the transverse distance, the angle, the lane line curvature and the curvature change rate;
the comparison module is used for comparing the line pressing quantity with a preset line pressing quantity threshold value;
the second determining module is used for determining that a target vehicle corresponding to the line pressing quantity is a cruising target if the line pressing quantity is larger than or equal to a preset line pressing quantity threshold value;
and the control module is used for controlling the vehicle to cruise by taking the cruise target as a vehicle following target.
10. An electronic device, the electronic device comprising:
One or more processors;
Storage means for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the method of any of claims 1-7.
11. A computer readable storage medium, having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform the method of any of claims 1-7.
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| CN112277939A (en) * | 2020-10-30 | 2021-01-29 | 重庆长安汽车股份有限公司 | Offset control system and method for avoiding front line pressing vehicle |
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| JP6363516B2 (en) * | 2015-01-21 | 2018-07-25 | 株式会社デンソー | Vehicle travel control device |
| US10358129B2 (en) * | 2017-06-06 | 2019-07-23 | Toyota Motor Engineering & Manufacturing North America, Inc. | Systems and methods for dynamic vehicle control according to traffic |
| CN112455439B (en) * | 2020-11-25 | 2022-07-08 | 重庆长安汽车股份有限公司 | Environment cognition and decision control method and system for unmanned vehicle and vehicle |
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| CN109849910A (en) * | 2018-12-21 | 2019-06-07 | 重庆长安汽车股份有限公司 | Automatic driving vehicle multiobjective decision-making control method, device and computer readable storage medium |
| CN112277939A (en) * | 2020-10-30 | 2021-01-29 | 重庆长安汽车股份有限公司 | Offset control system and method for avoiding front line pressing vehicle |
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