CN110007305A - Vehicle front target determines method, apparatus, server and storage medium - Google Patents
Vehicle front target determines method, apparatus, server and storage medium Download PDFInfo
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- CN110007305A CN110007305A CN201910299210.8A CN201910299210A CN110007305A CN 110007305 A CN110007305 A CN 110007305A CN 201910299210 A CN201910299210 A CN 201910299210A CN 110007305 A CN110007305 A CN 110007305A
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- vehicle
- target
- lock onto
- yaw velocity
- tracking
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The embodiment of the invention discloses a kind of vehicle front targets to determine method, apparatus, server and storage medium.This method comprises: determining the yaw velocity from vehicle according to the attribute information of the tracking target of radar output, according to the yaw velocity and the current driving speed from vehicle, determines and be located at from the lock onto target on vehicle lane from the tracking target.Compared with prior art, the attribute information for the tracking target that the embodiment of the present invention is exported according to radar determines the yaw velocity from vehicle, solves the precision problem of yaw-rate sensor in the prior art, when determining lock onto target according to yaw velocity, the accuracy that lock onto target determines is improved.
Description
Technical field
The present embodiments relate to target identification technology fields more particularly to a kind of vehicle front target to determine method, dress
It sets, server and storage medium.
Background technique
For convenience of trip, more and more users select self-driving, so that road vehicle quantity is continuously increased, traffic
The frequency of accident is also continuously increased.Safety assisting system, as forward direction anti-collision early warning (Forward Collision Warning,
FCW), automatic emergency brake (Autonomous Emergency Braking, AEB) and adaptive cruise (Adaptive
Cruise Control, ACC) etc., as one of the important means of traffic accident is reduced, more and more weighed in recent years
Depending on.
The key technology of these safety assisting systems first is that radar, in practical application, above-mentioned safety assisting system needs
The most dangerous target of current lane is picked out from numerous targets that radar exports.Currently, the strategy generally used is using solid
Determine lateral shift and judge whether target is located at from vehicle lane the risk object determined from vehicle lane apart from thresholding, is there are also some
Current vehicle turn radius is estimated in conjunction with from vehicle speed using yaw-rate sensor, it is true according to vehicle turn radius
The fixed risk object from vehicle lane.
Since vehicle be not to be substantially parallel lane line traveling from vehicle lane, in addition the essence of yaw-rate sensor
Degree limits the precision of turning radius, and adjacent lane target may be mistaken for by causing to be physically located in from the target in vehicle lane, or will
Adjacent lane target is mistaken for being located at from vehicle lane, to influence the judgement of risk object, influences safe driving.
Summary of the invention
The embodiment of the present invention provides a kind of vehicle front target and determines method, apparatus, server and storage medium, to improve
The accuracy that vehicle driving objects ahead determines.
In a first aspect, the embodiment of the present invention, which provides a kind of vehicle front target, determines method, comprising:
Determine that the yaw velocity from vehicle, the radar are set to institute according to the attribute information of the tracking target of radar output
It states from vehicle；
According to the yaw velocity and the current driving speed from vehicle, determines and be located at certainly from the tracking target
Lock onto target on vehicle lane.
Further, the attribute information of the tracking target according to radar output determines the yaw velocity from vehicle, packet
It includes:
Obtain the relative velocity in the attribute information；
According to the current driving speed from vehicle and the relative velocity, the movement velocity of the tracking target is determined；
According to the movement velocity, the sound attribute of the tracking target is determined；
The yaw velocity from vehicle is determined according to the sound attribute.
Further, the attribute information further include: it is described tracking target to the radar radial distance and relatively
In the circumferentially opposite speed of the radar,
Correspondingly, described determine the yaw velocity from vehicle according to the sound attribute, comprising:
If the sound attribute of the tracking target is static attribute, it is determined that the tracking target is static object；
According to yaw velocity calculation formula and the static object to described from the radial distance of vehicle and relative to described
From the circumferentially opposite speed of vehicle, the yaw velocity from vehicle is determined.
Further, the yaw velocity calculation formula, specifically:
ω=- Vt/Range
Wherein, VtIt is the static object relative to the circumferentially opposite speed from vehicle, Range is the static object
To the radial distance from vehicle.
Further, described according to the yaw velocity and the current driving speed from vehicle, from the tracking mesh
It determines and is located at from the lock onto target on vehicle lane in mark, comprising:
According to the yaw velocity and the current driving speed from vehicle, determines the turning radius from vehicle, obtain
To the driving trace from vehicle；
The primary election target from vehicle lane is determined according to the driving trace；
If described, from vehicle, there are history lock onto targets, are determined according to the primary election target and the history lock onto target
Positioned at the lock onto target from vehicle lane；Otherwise,
Using the primary election target as described from the lock onto target on vehicle lane.
It is further, described that the primary election target from vehicle lane is determined according to the driving trace, comprising:
The tracking target is corrected to the lateral distance from vehicle according to the turning radius；
If revised lateral distance be less than or equal to setting ratio from vehicle vehicle width, according to revised transverse direction away from
From the determining primary election target from vehicle lane.
Further, described to be determined positioned at described according to the primary election target and the history lock onto target from vehicle lane
Lock onto target, comprising:
Determine whether the history lock onto target meets loss condition；
If it is not, then the history lock onto target and the primary election target, and determine based on comparative result be located at it is described
Lock onto target from vehicle lane；
If so, being determined positioned at described according to the accumulative loss number of the history lock onto target from the locking on vehicle lane
Target；
Wherein, the loss condition includes: that the history lock onto target is not present in the tracking target；Alternatively, institute
It states history lock onto target to be present in the tracking target, and the history lock onto target is greater than to described from the lateral distance of vehicle
Setting ratio from vehicle lane width.
Second aspect, the embodiment of the present invention also provide a kind of vehicle front target determining device, which includes:
Yaw velocity determining module, the attribute information of the tracking target for being exported according to radar determine the sideway from vehicle
Angular speed, the radar are set to described from vehicle；
Target determination module, for according to the yaw velocity and the current driving speed from vehicle, from it is described with
It determines and is located at from the lock onto target on vehicle lane in track target.
The third aspect, the embodiment of the present invention also provide a kind of server, comprising:
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes that vehicle front target as described in relation to the first aspect determines method.
Fourth aspect, the embodiment of the present invention also provide a kind of storage medium, are stored thereon with computer program, the program quilt
Realize that vehicle front target as described in relation to the first aspect determines method when processor executes.
The embodiment of the present invention provides a kind of vehicle front target and determines method, apparatus, server and storage medium, according to thunder
Attribute information up to the tracking target of output determines from the yaw velocity of vehicle, according to the yaw velocity and described from vehicle
Current driving speed determines from the tracking target and is located at from the lock onto target on vehicle lane, compared with prior art, this hair
The attribute information for the tracking target that bright embodiment is exported according to radar determines the yaw velocity from vehicle, solves in the prior art
The precision problem of yaw-rate sensor improves lock onto target and determines when determining lock onto target according to yaw velocity
Accuracy.
Detailed description of the invention
Fig. 1 is the flow chart that a kind of vehicle front target that the embodiment of the present invention one provides determines method；
Fig. 2 is the flow chart that a kind of vehicle front target provided by Embodiment 2 of the present invention determines method；
Fig. 3 is provided by Embodiment 2 of the present invention a kind of from vehicle traveling track schematic diagram；
Fig. 4 is a kind of structure chart for vehicle front target determining device that the embodiment of the present invention three provides；
Fig. 5 is a kind of structure chart for server that the embodiment of the present invention four provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.In addition, in the absence of conflict, this
The feature in embodiment and embodiment in invention can be combined with each other.
Embodiment one
Fig. 1 is the flow chart that a kind of vehicle front target that the embodiment of the present invention one provides determines method, and the present embodiment can
Suitable for the certain situation of motion platform objects ahead, the vehicle front target for being especially located at complicated environment is pledged love really
Condition, wherein complicated environment is to switch in and out and the environment such as multiple target from vehicle lane-change, target carriage.This method can be by vehicle
Objects ahead determining device executes, which can be realized that the device is integrated in clothes by the mode of software and/or hardware
It is engaged in device, specifically, this method comprises the following steps:
S110, the determining yaw velocity from vehicle of attribute information according to the tracking target of radar output.
Wherein, the radar is set to described from vehicle, can measure target at a distance from radar, relative velocity and side
To information such as angles, to assist vehicle to complete evading for barrier, optionally, can use Automobile Millimeter Wave Radar or angle radar with
The target of track vehicle front.Tracking target is the target that can be identified from vehicle driving process, radar, can at most identify 64 mesh
Mark has plenty of and has an impact to from the safety traffic of vehicle, in order in the tracking target that radar exports in the target of these identifications
It determines and needs to determine the yaw velocity from vehicle according to the attribute information of tracking target from the risk object on vehicle lane, in turn
Risk object is determined according to yaw velocity.
Attribute information is to track information of the target relative to radar, such as radial distance of the tracking target to radar, direction
Angle and relative velocity etc. when practical application, track radial distance, deflection of the target to radar since radar is installed on vehicle
With relative velocity can be equivalent to tracking target to radial distance, deflection and relative velocity from vehicle, can according to these information
To determine the risk object in tracking target.Yaw velocity is the angle speed of vertical axis rotation of the vehicle in vehicle body coordinate system
Degree, represents the degree of stability of vehicle, when yaw velocity is greater than or equal to given threshold, it is possible to sideslip or whipping occur
Equal danger.The accuracy of yaw velocity directly affects the determination of succeeding target, and the prior art is usually to utilize yaw velocity
Sensor measurement is from the yaw velocity of vehicle, since yaw-rate sensor itself measurement accuracy is limited, so that the cross of measurement
The precision of pivot angle speed is limited, in actual application, the target being physically located in from vehicle lane is easy to cause to be mistaken for adjacent lane
Target, or adjacent lane target is mistaken for being located at from vehicle lane, there are security risks.
The present embodiment is the tracking target according to radar output to the attributes such as the radial distance of radar and circumferentially opposite speed
Information determines yaw velocity, and real-time and accuracy are higher.Specifically, determining according to the attribute information of tracking target from vehicle
Yaw velocity before, need first according to the installation site of radar carry out coordinate conversion, obtain tracking target in vehicle body coordinate
Information under system, then determines yaw velocity according to the information under vehicle body coordinate system, wherein the installation site of radar is opposite
From the offset of vehicle center line.After coordinate conversion, optionally, the movement shape of tracking target can be determined according to the speed from vehicle
State, then according to motion state, tracking target to from vehicle radial distance and circumferentially opposite speed determine yaw velocity, overcome
The defect of traditional measurement, improves the accuracy of yaw velocity.
S120, according to the yaw velocity and the current driving speed from vehicle, determined from the tracking target
Positioned at from the lock onto target on vehicle lane.
It is from the lane where vehicle traveling from vehicle lane, lock onto target is the target most dangerous from vehicle lane, such as with
Recently or TTC (Time to Collision, collision time) is most short from the distance of vehicle.It is understood that vehicle travel process
In, it include being located at the target from vehicle lane and the target positioned at other lanes in the tracking target of radar output, compared to other
The target in lane, it is higher positioned at the target risk from vehicle lane, it will affect the safety traffic from vehicle, it is therefore desirable to from tracking mesh
It determines and is located at from the target on vehicle lane, to eliminate safe hidden trouble in mark.
Optionally, can the current driving speed according to yaw velocity and from vehicle determine turning radius, then according to turn
Curved radius determines the driving trace from vehicle, is determined and is located at from the target on vehicle lane according to driving trace, wherein travel speed can
To be obtained by CAN (Controller Area Network, the controller local area network) bus from vehicle.
The embodiment of the present invention one provides a kind of vehicle front target and determines method, according to the category of the tracking target of radar output
Property information determine from the yaw velocity of vehicle, according to the yaw velocity and the current driving speed from vehicle, from described
It tracks and determines that compared with prior art, the embodiment of the present invention is defeated according to radar positioned at from the lock onto target on vehicle lane in target
The attribute information of tracking target out determines the yaw velocity from vehicle, solves yaw-rate sensor in the prior art
Precision problem improves the accuracy that lock onto target determines when determining lock onto target according to yaw velocity.
Embodiment two
Fig. 2 is the flow chart that a kind of vehicle front target provided by Embodiment 2 of the present invention determines method, and the present embodiment is
It is embodied on the basis of the above embodiments, specifically, this method comprises the following steps:
Relative velocity in S210, the acquisition attribute information.
Relative velocity is to track speed of the target relative to radar, including diametrically speed and circumferentially opposite speed,
In, diametrically speed is component of the speed on the two line for tracking target with respect to radar, and circumferentially opposite speed is to track
Component of the target with respect to the speed of radar on tangential, diametrically speed and circumferentially opposite speed can directly be surveyed by radar
Amount.
S220, the current driving speed according to from vehicle and the relative velocity determine the movement of the tracking target
Speed.
When whether determine tracking target is risk object, need to consider the movement velocity of target, including velocity magnitude and
Direction further judges risk object according to the movement velocity of tracking target, such as when the movement velocity of tracking target is very big, and
When identical as from vehicle driving direction, show that the tracking target far from from vehicle, is not risk object, is not necessarily to consider.
Specifically, the movement velocity of tracking target can be calculated according to the following formula:
Wherein,For track target movement velocity,For from the current driving speed of vehicle,It is tracking target to from vehicle
Relative velocity, namely tracking target to the relative velocity of radar, three variables are all vectors, can be calculated according to formula (1)
Track the movement velocity of target.For ease of calculation, will diametrically speed and circumferentially opposite rate conversion to vehicle axis system
In, i.e., the component of diametrically speed and circumferentially opposite speed in vehicle axis system horizontally and vertically is obtained respectively, i.e., laterally divides
Amount and longitudinal component.When in view of actual travel, largely tracked on road the direction of motion of target with it is same from the vehicle direction of motion
To or it is reversed, independent analysis is longitudinal, and the movement velocity of tracking target in the longitudinal direction can be calculated by following formula:
VTy=VSy+Vry+Vty (2)
Wherein, VTyTo track the component of the movement velocity of target in the longitudinal direction, VSyTo be indulged from the current driving speed of vehicle
Upward component, VryFor tracking target and the component of diametrically speed in the longitudinal direction from vehicle, VtyFor tracking target with from vehicle
Circumferentially opposite speed component in the longitudinal direction.Since tracking target and the angle α from vehicle driving direction are smaller, that is, track target
With the circumferentially opposite speed V from vehicletIn longitudinal component Vty=Vt* sin (α) is smaller, can ignore, and can only consider radial phase
To speed VrIn longitudinal component Vry=Vr* cos (α), at this point it is possible to calculate the movement speed of tracking target according to the following formula
Degree:
VTy=VSy+Vry (3)
S230, according to the movement velocity, determine the sound attribute of the tracking target.
Sound attribute is the motion state for indicating tracking target, including dynamic and static state, such as when sound attribute is movement
It when attribute, indicates that tracking target is dynamic object, when sound attribute is static attribute, indicates that tracking target is static object.
When determining the sound attribute of tracking target, can be determined based on the movement velocity of tracking target, such as when the fortune of tracking target
When dynamic speed is greater than or equal to threshold speed, determines that the sound attribute of tracking target is dynamic attribute, is static attribute otherwise,
Wherein, threshold speed can be determined according to from vehicle speed and target relative velocity precision.
S240, the yaw velocity from vehicle is determined according to the sound attribute.
The sound attribute for tracking target is different, and the method for determination of yaw velocity is different, specifically, in above-described embodiment
On the basis of, the attribute information further include: the tracking target is to the radial distance of the radar and relative to the radar
Circumferentially opposite speed, wherein radial distance is the linear distance for tracking target and arriving radar, namely tracks target to from the straight of vehicle
Linear distance, radial distance and circumferentially opposite speed can be by radar surveyings, according to the radial distance and phase of tracking target to radar
The tangential velocity of radar can determine and track target to the radial distance from vehicle and relative to the tangential velocity from vehicle, accordingly
, S240 includes:
If the sound attribute of S2401, the tracking target are static attribute, it is determined that the tracking target is static mesh
Mark.
Specifically, showing that the sound attribute for tracking target is quiet when the movement velocity for tracking target is less than threshold speed
State attribute, the corresponding target that tracks is static object.When tracking target is static object, motion state is more stable,
When determining yaw velocity, accuracy can be improved.
S2402, according to yaw velocity calculation formula and the static object to the radial distance from vehicle and opposite
In the circumferentially opposite speed from vehicle, the yaw velocity from vehicle is determined.
After obtaining radial distance and circumferentially opposite speed, it can be calculated according to yaw velocity calculation formula from vehicle
Yaw velocity, wherein yaw velocity calculation formula, specifically:
ω=- Vt/Range (4)
Wherein, VtIt is the static object relative to the circumferentially opposite speed from vehicle, Range is the static object
To the radial distance from vehicle.
Static object is relative to the circumferentially opposite speed V from vehicletWith static object to the radial distance from vehicle
The ratio of Range is the opposite angular speed of static object, according to motion composition, opposite number of the static object with respect to angular speed
As from the yaw velocity of vehicle.It should be noted that when radar is unable to measure or does not export tangential relative velocity, it can be right
Target and the history deflection from vehicle are tracked, calculus of differences is carried out and obtains opposite angular speed, then determined according to opposite angular speed
Yaw velocity.It should also be noted that, when there are when multiple static objects, can be directed to each static mesh in tracking target
Mark, calculates separately yaw velocity, using the mean value of yaw velocity as the yaw velocity from vehicle.
If all dynamic attributes of sound attribute of S2403, the tracking target, it is determined that the tracking target is
State target, and determine that the yaw velocity from vehicle is 0.
When the movement velocity for tracking target is greater than or equal to threshold speed, show that the movement properties for tracking target are dynamic
Attribute, the corresponding target that tracks is dynamic object.In view of the motion state of dynamic object is unstable, when determining tracking target is complete
When portion is dynamic object, 0 directly is set by yaw velocity.
S250, according to the yaw velocity and the current driving speed from vehicle, determine the turning from vehicle half
Diameter obtains the driving trace from vehicle.
It, can be according to turning radius calculation formula, yaw velocity and current driving speed after yaw velocity determines
Determine turning radius, wherein turning radius calculation formula, specifically:
R=VS/ω (5)
Wherein, R is turning radius, VSFor from the current driving speed of vehicle, ω is the yaw velocity from vehicle.According to turning
The driving trace that radius R is determined, illustratively, with reference to Fig. 3, Fig. 3 is provided by Embodiment 2 of the present invention a kind of from vehicle traveling rail
Mark schematic diagram.
S260, the primary election target from vehicle lane is determined according to the driving trace.
Primary election target is tentatively selected positioned at from the target on vehicle lane, optionally, can be determined according to such as under type
Primary election target:
S2601, the tracking target is corrected to the lateral distance from vehicle according to the turning radius.
Since the operating condition of bend is complex, in negotiation of bends, the tracking target of radar output usually exists dodges vehicle
Situations such as bright or decoy, needs to correct tracking target according to turning radius to the cross from vehicle to improve the accuracy of judgement
To distance, wherein lateral distance is the distance that X is indicated in Fig. 3, correspondingly, fore-and-aft distance is the distance that Y is indicated in Fig. 3, according to
Turning radius R, lateral distance X and fore-and-aft distance Y can determine revised lateral distance.Specifically, can be according to following public affairs
Formula calculates revised lateral distance:
In formula, XRFor revised lateral distance, R is turning radius, X be amendment before lateral distance, Y be it is longitudinal away from
From, when vehicle turn right when according to formula (6) correct lateral distance, when vehicle turn left when, according to formula (7) amendment laterally away from
From, wherein lateral distance X=Range*sin α, fore-and-aft distance Y=Range*cos α.Using vehicle forward direction as positive direction, when
When vehicle is turned right, turning radius R is greater than 0, and when vehicle turns left, turning radius R is less than 0.It should be noted that tracking mesh
When target lateral distance is modified, selected tracking target be stable objects, wherein tracking target be tracked after to
This stage is known as stable objects before track is lost, and selected benefit is that the stability of subsequent lock target can be improved in this way,
Reduce the generation of flashing state.
If S2602, revised lateral distance be less than or equal to setting ratio from vehicle vehicle width, according to revised
Lateral distance determines the primary election target from vehicle lane.
Specifically, showing this when tracking the revised lateral distance of target less than or equal to setting ratio from vehicle vehicle width
It tracks target to be located at from vehicle lane, and is determined from distance in the tracking target in vehicle lane from vehicle most according to revised lateral distance
It collides closely or with from vehicle, the time, the smallest tracking target was determined as the primary election target from vehicle lane, wherein setting ratio can
To be arranged according to actual needs, optionally, setting ratio 1/2.The quantity of primary election target is one.
S270, it is described from vehicle whether there is history lock onto target, if so, execute S280, otherwise, execute S290.
When determining from the lock onto target of vehicle, need first to determine whether there is history lock onto target, to improve lock onto target
Determining accuracy, wherein history lock onto target is lock onto target existing for previous moment, if so, S280 is executed, otherwise,
Execute S290.
S280, it is determined positioned at described according to the primary election target and the history lock onto target from the locking mesh on vehicle lane
Mark.
If there is history lock onto target, then lock onto target is determined based on primary election target and history lock onto target, optionally,
It can be determined in the following way:
S2801, it determines whether the history lock onto target meets loss condition, if it is not, executing S2802, otherwise, executes
S2803。
It is understood that in vehicle travel process, due to the complexity of environment, such as tunnel, strong target occlusion or
From vehicle lane-change etc., it will usually cause target transient loss occur, for accurate judgement history lock onto target, need first to determine history
Whether lock onto target meets loss condition, if conditions are not met, executing S2802, otherwise, executes S2803, wherein loss condition packet
Include: the history lock onto target is not present in the tracking target；Alternatively, the history lock onto target is present in the tracking
In target, and the history lock onto target to the lateral distance from vehicle be greater than setting ratio from vehicle lane width.
In embodiment, when history lock onto target to the lateral distance from vehicle be greater than setting ratio from vehicle lane width
When, show that history lock onto target exceeds the range from vehicle lane.It is this using separation thresholding, according to from vehicle lane width and from vehicle
Vehicle width determines whether tracking target is located at from vehicle lane, avoids the case where tracking target frequently flashes, improves lock onto target
Stability.
History lock onto target described in S2802, comparison and the primary election target, and determined described in based on comparative result certainly
Lock onto target on vehicle lane.
When history lock onto target exist and primary election target and history lock onto target it is inconsistent when, can compare primary election target and
History lock onto target with from a distance from vehicle or TTC, select with from vehicle apart from the smaller target of closer or TTC as lock onto target.
S2803, it is determined positioned at described according to the accumulative loss number of the history lock onto target from the locking on vehicle lane
Target.
A history lock onto target loss condition of every satisfaction loses number and adds 1, when the continuous loss time of history lock onto target
When number is greater than frequency threshold value, history lock onto target is discharged, if continuously losing number is less than or equal to frequency threshold value, basis is gone through
History lock onto target lose before the current state of status predication, lock onto target is determined according to predicted state, wherein frequency threshold value
It can be set according to actual needs, embodiment is without limiting.
S290, using the primary election target as described from the lock onto target on vehicle lane.
If history lock onto target is not present, using primary election target as lock onto target.
Second embodiment of the present invention provides a kind of vehicle front targets to determine method, on the basis of the above embodiments, first really
Surely the sound attribute for tracking target, when determining tracking target is static object, according to static object to the radial distance from vehicle
With relative to the circumferentially opposite speed from vehicle, the yaw velocity from vehicle is determined, improving the determining accuracy of yaw velocity
While, bend adaptability is improved, and when determining based on yaw velocity from the lock onto target in vehicle lane, utilize separation
The mode of thresholding improves the stability of lock onto target.
Embodiment three
Fig. 4 is the structure chart of a kind of vehicle front target determining device that the embodiment of the present invention three provides, which can be with
It executes vehicle front target described in above-described embodiment and determines method, specifically, the device includes:
The attribute information of yaw velocity determining module 310, the tracking target for being exported according to radar is determined from vehicle
Yaw velocity, the radar are set to described from vehicle；
Target determination module 320, for according to the yaw velocity and the current driving speed from vehicle, from described
Track determining in target be located at from the lock onto target on vehicle lane.
The embodiment of the present invention three provides a kind of vehicle front target determining device, according to the category of the tracking target of radar output
Property information determine from the yaw velocity of vehicle, according to the yaw velocity and the current driving speed from vehicle, from described
It tracks and determines that compared with prior art, the embodiment of the present invention is defeated according to radar positioned at from the lock onto target on vehicle lane in target
The attribute information of tracking target out determines the yaw velocity from vehicle, solves yaw-rate sensor in the prior art
Precision problem improves the accuracy that lock onto target determines when determining lock onto target according to yaw velocity.
On the basis of the above embodiments, yaw velocity determining module 310, comprising:
Relative velocity acquiring unit, for obtaining the relative velocity in the attribute information；
Movement velocity acquiring unit, for determining institute according to the current driving speed from vehicle and the relative velocity
State the movement velocity of tracking target；
Sound attribute determining unit, for determining the sound attribute of the tracking target according to the movement velocity；
Yaw velocity determination unit, for determining the yaw velocity from vehicle according to the sound attribute.
On the basis of the above embodiments, the attribute information further include: the radial direction of the tracking target to the radar
Distance and relative to the radar circumferentially opposite speed,
Correspondingly, yaw velocity determination unit, comprising:
Target determines subelement, if for it is described tracking target sound attribute be static attribute, it is determined that it is described with
Track target is static object；
Speed determines subelement, for according to yaw velocity calculation formula and the static object to the diameter from vehicle
To distance and relative to the circumferentially opposite speed from vehicle, the yaw velocity from vehicle is determined.
On the basis of the above embodiments, the yaw velocity calculation formula, specifically:
ω=- Vt/Range
Wherein, VtIt is the static object relative to the circumferentially opposite speed from vehicle, Range is the static object
To the radial distance from vehicle.
On the basis of the above embodiments, target determination module 320, comprising:
Radius determination unit, described in determining according to the yaw velocity and the current driving speed from vehicle
From the turning radius of vehicle, the driving trace from vehicle is obtained；
Primary election target determination unit, for determining the primary election target from vehicle lane according to the driving trace；
Lock onto target determination unit, if there are history lock onto targets from vehicle for described, according to the primary election target
And the history lock onto target is determined positioned at described from the lock onto target on vehicle lane；Otherwise, using the primary election target as institute
It states from the lock onto target on vehicle lane.
On the basis of the above embodiments, primary election target determination unit, comprising:
Revise subelemen, for correcting the tracking target to the lateral distance from vehicle according to the turning radius；
Primary election target determines subelement, if for revised lateral distance be less than or equal to setting ratio from vehicle vehicle
Width then determines the primary election target from vehicle lane according to revised lateral distance.
On the basis of the above embodiments, lock onto target determination unit, comprising:
Judgment sub-unit, for determining whether the history lock onto target meets loss condition；
First determines subelement, is used for if it is not, then the history lock onto target and the primary election target, and based on than
Relatively result is determined positioned at described from the lock onto target on vehicle lane；
Second determines subelement, for if so, being located at according to the determination of the accumulative loss number of the history lock onto target
The lock onto target from vehicle lane；
Wherein, the loss condition includes: that the history lock onto target is not present in the tracking target；Alternatively, institute
It states history lock onto target to be present in the tracking target, and the history lock onto target is greater than to described from the lateral distance of vehicle
Setting ratio from vehicle lane width.
The vehicle front target determining device that the embodiment of the present invention three provides can be used for executing provided by the above embodiment
Vehicle front target determines method, has corresponding function and beneficial effect.
Example IV
Fig. 5 is a kind of structure chart for server that the embodiment of the present invention four provides, specifically, with reference to Fig. 5, the server packet
Include: processor 410, memory 420, input unit 430 and output device 440, the quantity of processor 410 can be in server
One or more, processor 410, memory 420, input unit 430 in Fig. 5 by taking a processor 410 as an example, in server
It can be connected by bus or other modes with output device 440, in Fig. 5 for being connected by bus.
Memory 420 is used as a kind of computer readable storage medium, can be used for storing software program, journey can be performed in computer
Sequence and module, as the vehicle front target in the embodiment of the present invention determines the corresponding program instruction/module of method.Processor
410 software program, instruction and the modules being stored in memory 420 by operation, thereby executing the various functions of server
Using and data processing, i.e., realization above-described embodiment vehicle front target determine method.
Memory 420 mainly includes storing program area and storage data area, wherein storing program area can store operation system
Application program needed for system, at least one function；Storage data area, which can be stored, uses created data etc. according to terminal.This
Outside, memory 420 may include high-speed random access memory, can also include nonvolatile memory, for example, at least one
Disk memory, flush memory device or other non-volatile solid state memory parts.In some instances, memory 420 can be into one
Step includes the memory remotely located relative to processor 410, these remote memories can pass through network connection to server.
The example of above-mentioned network includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
Input unit 430 can be used for receiving the number or character information of input, and generate the user setting with server
And the related key signals input of function control.Output device 440 may include that display screen etc. shows equipment, loudspeaker and buzzing
The audio frequency apparatuses such as device.
Server provided in an embodiment of the present invention and vehicle front target provided by the above embodiment determine that method belongs to together
One inventive concept, the technical detail of detailed description not can be found in above-described embodiment in the present embodiment, and the present embodiment has
It executes vehicle front target and determines the identical beneficial effect of method.
Embodiment five
The embodiment of the present invention five also provides a kind of storage medium, is stored thereon with computer program, and the program is by processor
Realize that vehicle front target as described in the above embodiment the present invention determines method when execution.
Certainly, a kind of storage medium comprising computer executable instructions, computer provided by the embodiment of the present invention
The vehicle front target that executable instruction is not limited to the described above determines the operation in method, and the above-mentioned reality of the present invention can also be performed
It applies vehicle front target provided by example and determines relevant operation in method, and have corresponding function and beneficial effect.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present invention
It can be realized by software and required common hardware, naturally it is also possible to which by hardware realization, but in many cases, the former is more
Good embodiment.Based on this understanding, technical solution of the present invention substantially in other words contributes to the prior art
Part can be embodied in the form of software products, which can store in computer readable storage medium
In, floppy disk, read-only memory (Read-Only Memory, ROM), random access memory (Random such as computer
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are with so that a computer is set
Standby (can be robot, personal computer, server or the network equipment etc.) executes vehicle described in each embodiment of the present invention
Objects ahead determines method.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of vehicle front target determines method characterized by comprising
Determined according to the attribute information of the tracking target of radar output from the yaw velocity of vehicle, the radar be set to it is described oneself
Che Shang；
According to the yaw velocity and the current driving speed from vehicle, determines and be located at from vehicle vehicle from the tracking target
Lock onto target on road.
2. the method according to claim 1, wherein the attribute information of the tracking target according to radar output
Determine the yaw velocity from vehicle, comprising:
Obtain the relative velocity in the attribute information；
According to the current driving speed from vehicle and the relative velocity, the movement velocity of the tracking target is determined；
According to the movement velocity, the sound attribute of the tracking target is determined；
The yaw velocity from vehicle is determined according to the sound attribute.
3. according to the method described in claim 2, it is characterized in that, the attribute information further include: the tracking target to institute
The radial distance of radar and the circumferentially opposite speed relative to the radar are stated,
Correspondingly, described determine the yaw velocity from vehicle according to the sound attribute, comprising:
If the sound attribute of the tracking target is static attribute, it is determined that the tracking target is static object；
According to yaw velocity calculation formula and the static object to described from the radial distance of vehicle and relative to described from vehicle
Circumferentially opposite speed, determine the yaw velocity from vehicle.
4. according to the method described in claim 3, it is characterized in that, the yaw velocity calculation formula, specifically:
ω=- Vt/Range
Wherein, VtIt is the static object relative to the circumferentially opposite speed from vehicle, Range is the static object to institute
State the radial distance from vehicle.
5. the method according to claim 1, wherein described according to the yaw velocity and the working as from vehicle
Preceding travel speed determines from the tracking target and is located at from the lock onto target on vehicle lane, comprising:
According to the yaw velocity and the current driving speed from vehicle, determines the turning radius from vehicle, obtain institute
State the driving trace from vehicle；
The primary election target from vehicle lane is determined according to the driving trace；
If described, from vehicle, there are history lock onto targets, are located at according to the primary election target and history lock onto target determination
The lock onto target from vehicle lane；Otherwise,
Using the primary election target as described from the lock onto target on vehicle lane.
6. according to the method described in claim 5, it is characterized in that, described determining described from vehicle lane according to the driving trace
Primary election target, comprising:
The tracking target is corrected to the lateral distance from vehicle according to the turning radius；
If revised lateral distance be less than or equal to setting ratio from vehicle vehicle width, it is true according to revised lateral distance
The fixed primary election target from vehicle lane.
7. according to the method described in claim 6, it is characterized in that, described lock mesh according to the primary election target and the history
Mark is determined positioned at described from the lock onto target on vehicle lane, comprising:
Determine whether the history lock onto target meets loss condition；
If it is not, then the history lock onto target and the primary election target, and determine based on comparative result be located at it is described from vehicle
Lock onto target on lane；
If so, being determined positioned at described according to the accumulative loss number of the history lock onto target from the locking mesh on vehicle lane
Mark；
Wherein, the loss condition includes: that the history lock onto target is not present in the tracking target；Alternatively, described go through
History lock onto target is present in the tracking target, and the history lock onto target is greater than setting to the lateral distance from vehicle
Ratio from vehicle lane width.
8. a kind of vehicle front target determining device characterized by comprising
Yaw velocity determining module, the attribute information of the tracking target for being exported according to radar determine the yaw angle speed from vehicle
Degree, the radar are set to described from vehicle；
Target determination module, for according to the yaw velocity and the current driving speed from vehicle, from the tracking mesh
It determines and is located at from the lock onto target on vehicle lane in mark.
9. a kind of server characterized by comprising
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
Now as vehicle front target of any of claims 1-7 determines method.
10. a kind of storage medium, is stored thereon with computer program, which is characterized in that the realization when program is executed by processor
As vehicle front target of any of claims 1-7 determines method.
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| CN201910299210.8A CN110007305B (en) | 2019-04-15 | 2019-04-15 | Method, device, server and storage medium for determining vehicle front target |
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| CN201910299210.8A CN110007305B (en) | 2019-04-15 | 2019-04-15 | Method, device, server and storage medium for determining vehicle front target |
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