CN114030482A - Method and system for screening obstacles in automatic driving assistance process - Google Patents

Abstract

The invention discloses a method and a system for screening obstacles in an automatic driving assistance process, which relate to the technical field of automatic driving obstacle screening, and aim to solve the problems that the existing obstacle screening method is lack of overlapping analysis, low in screening accuracy, easy to cause abnormal braking phenomenon and influence the driving stability of a vehicle, the following scheme is proposed, and the method comprises the following steps: s1, obtaining obstacle information: obtaining information of an obstacle through a sensor; s2, acquiring vehicle position: acquiring the current vehicle position; s3, calculating coordinates of the obstacle: calculating the coordinates of the obstacle by taking the current vehicle position as an origin; s4, acquiring vehicle information: acquiring the driving information of the current vehicle; and S5, calculating the obstacle overlapping risk. The obstacle screening method and the obstacle screening system perform driving prediction based on the obstacle and vehicle information, calculate the overlap of the obstacle and the driving track, improve the accuracy of obstacle screening and improve the driving safety.

Description

Method and system for screening obstacles in automatic driving assistance process

Technical Field

The invention relates to the technical field of automatic driving obstacle screening, in particular to an obstacle screening method and system in an automatic driving assistance process.

Background

With the development of intelligent science and technology, the automatic driving technology is mature day by day, but in the prior art, the screening people for the obstacles in the automatic driving assisting process are not enough, the obstacles are screened through perception, the overlapping of the obstacles and the self vehicle is not analyzed, the screening accuracy of the obstacles is reduced, the abnormal braking phenomenon caused by the mistaken selection of the obstacles is caused, and the driving stability of the vehicle is influenced.

Disclosure of Invention

The barrier screening method and system in the automatic driving assistance process provided by the invention solve the problems that the existing barrier screening method is lack of overlapping analysis, low in screening accuracy, easy to cause abnormal braking phenomenon and influence the driving stability of a vehicle.

In order to achieve the purpose, the invention adopts the following technical scheme:

a method for screening obstacles in an automatic driving assistance process comprises the following steps:

s1, obtaining obstacle information: obtaining information of an obstacle through a sensor;

s2, acquiring vehicle position: acquiring the current vehicle position;

s3, calculating coordinates of the obstacle: calculating the coordinates of the obstacle by taking the current vehicle position as an origin;

s4, acquiring vehicle information: acquiring the driving information of the current vehicle;

s5, calculating the obstacle overlapping risk: and performing driving simulation based on the coordinates of the obstacle and the vehicle running information, calculating the overlapping risk of the obstacle and the current vehicle, and screening the obstacle.

Preferably, the obstacle information acquisition step S1 is to acquire information of an obstacle, including its shape, width, depth and height, by using a camera or a sensor of a millimeter wave radar.

Preferably, the vehicle position acquisition step S2 is a step of acquiring the position information of the vehicle by positioning the current vehicle by GPS.

Preferably, the obstacle coordinates calculated in step S3 are coordinates obtained by confirming the lane line lateral coordinates and vertical coordinates corresponding to the position of the obstacle target, and performing positioning calculation of the coordinates of the obstacle by using the GPS with the position of the current vehicle as the origin.

Preferably, the vehicle information related to step S4 is obtained, and four corner coordinates of the target are calculated by a vehicle Length obs _ Length, a vehicle Width obs _ Width, a vehicle height obs _ High, a longitudinal relative distance obs _ dx, a transverse relative distance obs _ dy, a longitudinal relative speed obs _ dxv, a transverse relative speed obs _ dyv, an obstacle and a cubic polynomial equation of a lane line of the current vehicle, and are left _ front (lr _ point _ x, lr _ point _ y), left _ front (lf _ point _ x, lf _ point _ y), right _ front (rr _ point _ x, rr _ point _ y), and right _ front (rf _ point _ x, rf _ point _ y);

the maximum value max _ dy and the minimum value min _ dy of lr _ point _ y, lf _ point _ y, rr _ point _ y and rf _ point _ y are taken to represent the target transverse span, and the maximum value max _ dx and the minimum value min _ dx of lr _ point _ x, lf _ point _ x, rr _ point _ x and rf _ point _ x are taken to represent the target longitudinal span.

Preferably, the vehicle information acquisition step S4 is to calculate lateral coordinates corresponding to left and right lane lines of the own lane from the maximum value max _ dy and the minimum value min _ dy: max _ dy _ left, max _ dy _ right, min _ dy _ left, and min _ dy _ right; the Ratio of the crossing of the target obstacle into the self lane portion is calculated by the difference between max _ dy and the minimum value min _ dy and max _ dy _ left, max _ dy _ right, min _ dy _ left, and min _ dy _ right.

Preferably, the calculation of the obstacle overlapping risk in step S5 indicates that the target obstacle is located on the right side of the own vehicle if the lateral relative distance obs _ dy > 0; if the transverse relative distance obs _ dy is less than 0, the target obstacle is positioned on the left side of the self-vehicle.

Preferably, the calculation of the risk of overlap of obstacles involved in step S5 is performed when the lateral relative distance obs _ dy > 0:

max _ dy-max _ dy _ right <0, which indicates that the target obstacle is in the own lane, and Ratio is 1;

min _ dy-min _ dy _ right >0, which represents that the target obstacle is outside the own lane, and Ratio is 0;

otherwise, the target crosses the right lane line, then

When the lateral relative distance obs _ dy < 0:

min _ dy-min _ dy _ left >0, which indicates that the target obstacle is in the lane, and Ratio is 1;

max _ dy-max _ dy _ left <0, which indicates that the target obstacle is out of the lane, and Ratio is 1;

otherwise, the target obstacle crosses the left lane line, then

Preferably, the calculation of the obstacle overlap risk in step S5 includes calculating whether there is an overlap risk between the target obstacle and the current vehicle, where the distance between the current vehicle and the left lane line is C0_ L and the distance between the vehicle and the right lane line is C0_ R, and if | C0_ L | > | C0_ R |, it indicates that the current vehicle is traveling to the right in the own lane, it is calculated whether there is an overlap between the current vehicle and the target obstacle.

An obstacle screening system in an automatic driving assistance process, comprising:

the obstacle acquisition module is connected with the self-vehicle information acquisition module and the vehicle automatic adjustment module and used for acquiring information of obstacles, acquiring obstacle information in a range after the vehicle is automatically adjusted and transmitting the obstacle information to the self-vehicle information acquisition module;

the self-vehicle information acquisition module is connected with the barrier acquisition module and the barrier position calculation module and used for acquiring vehicle information and transmitting the barrier information and the vehicle information to the barrier position calculation module;

the obstacle position calculation module is connected with the self-vehicle information acquisition module and the self-vehicle running simulation module, and is used for receiving obstacle information and vehicle information, calculating the coordinate position of the obstacle based on the vehicle information, and transmitting the coordinate position to the obstacle risk prediction module;

the self-vehicle running simulation module is connected with the obstacle position calculation module and the obstacle risk prediction module and simulates the running of the vehicle on the basis of the vehicle running information and the obstacle coordinate position;

the obstacle risk prediction module is connected with the self-vehicle driving simulation module and the obstacle avoidance module, when the self-vehicle and the obstacle are not overlapped in the self-vehicle driving simulation module, the obstacle risk prediction module indicates that the obstacle is free of risk, if the obstacle risk prediction module is overlapped, the obstacle risk prediction module indicates that the obstacle has risk, and at the moment, the risk is transmitted to the obstacle avoidance module;

the barrier avoiding module is connected with the barrier risk prediction module and the vehicle automatic adjusting module, receives the barrier risk, replans the vehicle according to the risk early warning, avoids the barrier and transmits an avoiding command to the vehicle automatic adjusting module;

and the automatic vehicle adjusting module is connected with the obstacle avoiding module and the obstacle obtaining module and used for receiving an avoiding command, adjusting the running of the vehicle, transmitting the adjusted information to the obstacle obtaining module and performing circulating screening on the obstacles.

The invention has the beneficial effects that: the method comprises the steps of acquiring and calculating specific information and coordinates of an obstacle, predicting vehicle running by combining position information and running information of a vehicle, sensing the obstacle in a running track, calculating whether the running track of the vehicle overlaps with the obstacle or not, screening and marking the obstacle overlapping with the vehicle in the track as an interested target if the overlapping part exists, and accordingly warning and avoiding are made and safety of running is improved.

In summary, the barrier screening method and system predict driving based on the barrier and vehicle information, calculate the overlap of the barrier and the driving track, improve the accuracy of barrier screening, and improve driving safety.

Drawings

Fig. 1 is a flowchart of an obstacle screening method in an automatic driving assistance process according to the present invention.

Fig. 2 is a schematic diagram of an obstacle screening system in an automatic driving assistance process according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Example 1

Referring to fig. 2, an obstacle screening system in an automatic driving assistance process includes:

the obstacle acquisition module is connected with the self-vehicle information acquisition module and the vehicle automatic adjustment module and used for acquiring information of obstacles, acquiring obstacle information in a range after the vehicle is automatically adjusted and transmitting the obstacle information to the self-vehicle information acquisition module;

the self-vehicle information acquisition module is connected with the barrier acquisition module and the barrier position calculation module and used for acquiring vehicle information and transmitting the barrier information and the vehicle information to the barrier position calculation module;

the obstacle position calculation module is connected with the self-vehicle information acquisition module and the self-vehicle running simulation module, and is used for receiving obstacle information and vehicle information, calculating the coordinate position of the obstacle based on the vehicle information, and transmitting the coordinate position to the obstacle risk prediction module;

the self-vehicle running simulation module is connected with the obstacle position calculation module and the obstacle risk prediction module and simulates the running of the vehicle on the basis of the vehicle running information and the obstacle coordinate position;

the obstacle risk prediction module is connected with the self-vehicle driving simulation module and the obstacle avoidance module, when the self-vehicle and the obstacle are not overlapped in the self-vehicle driving simulation module, the obstacle risk prediction module indicates that the obstacle is free of risk, if the obstacle risk prediction module is overlapped, the obstacle risk prediction module indicates that the obstacle has risk, and at the moment, the risk is transmitted to the obstacle avoidance module;

the barrier avoiding module is connected with the barrier risk prediction module and the vehicle automatic adjusting module, receives the barrier risk, replans the vehicle according to the risk early warning, avoids the barrier and transmits an avoiding command to the vehicle automatic adjusting module;

and the automatic vehicle adjusting module is connected with the obstacle avoiding module and the obstacle obtaining module and used for receiving an avoiding command, adjusting the running of the vehicle, transmitting the adjusted information to the obstacle obtaining module and performing circulating screening on the obstacles.

Example 2

Referring to fig. 1, a method for screening obstacles in an automatic driving assistance process includes the steps of:

s1, obtaining obstacle information: obtaining information of an obstacle through a sensor;

s2, acquiring vehicle position: acquiring the current vehicle position;

s3, calculating coordinates of the obstacle: calculating the coordinates of the obstacle by taking the current vehicle position as an origin;

s4, acquiring vehicle information: acquiring the driving information of the current vehicle;

s5, calculating the obstacle overlapping risk: and performing driving simulation based on the coordinates of the obstacle and the vehicle running information, calculating the overlapping risk of the obstacle and the current vehicle, and screening the obstacle.

The obstacle information acquisition step S1 is to acquire information of an obstacle, including its shape, width, depth and height, by using a camera or a sensor of a millimeter wave radar.

The acquisition of the vehicle position referred to in the step S2 acquires the position information of the vehicle by positioning the current vehicle by the GPS.

The obstacle coordinates calculated in step S3 are obtained by confirming the lane line lateral coordinates and the longitudinal coordinates corresponding to the position of the obstacle target, and performing positioning calculation of the coordinates of the obstacle by using the GPS with the position of the current vehicle as the origin.

The vehicle information related to the step S4 is obtained, and four corner coordinates of the target are calculated by a vehicle Length obs _ Length, a vehicle Width obs _ Width, a vehicle height obs _ High, a longitudinal relative distance obs _ dx, a transverse relative distance obs _ dy, a longitudinal relative speed obs _ dxv, a transverse relative speed obs _ dyv, an obstacle and a cubic polynomial equation of a lane line of the current vehicle, and are respectively left _ front (lr _ point _ x, lr _ point _ y), left _ front (lf _ point _ x, lf _ point _ y), right _ front (rr _ point _ x, rr _ point _ y), right _ front (rf _ point _ x, rf _ point _ y);

taking the maximum value max _ dy and the minimum value min _ dy of lr _ point _ y, lf _ point _ y, rr _ point _ y and rf _ point _ y to represent the target transverse span, and taking the maximum value max _ dx and the minimum value min _ dx of lr _ point _ x, lf _ point _ x, rr _ point _ x and rf _ point _ x to represent the target longitudinal span;

the horizontal coordinates corresponding to the left and right lane lines of the self lane are respectively calculated through the maximum value max _ dy and the minimum value min _ dy: max _ dy _ left, max _ dy _ right, min _ dy _ left, and min _ dy _ right; the Ratio of the crossing of the target obstacle into the self lane portion is calculated by the difference between max _ dy and the minimum value min _ dy and max _ dy _ left, max _ dy _ right, min _ dy _ left, and min _ dy _ right.

Calculating the risk of overlapping obstacles in step S5, wherein if the transverse relative distance obs _ dy >0 indicates that the target obstacle is located on the right side of the vehicle; if the transverse relative distance obs _ dy is less than 0, the target obstacle is positioned on the left side of the self-vehicle;

when the lateral relative distance obs _ dy > 0:

max _ dy-max _ dy _ right <0, which indicates that the target obstacle is in the own lane, and Ratio is 1;

min _ dy-min _ dy _ right >0, which represents that the target obstacle is outside the own lane, and Ratio is 0;

otherwise, the target crosses the right lane line, then

When the lateral relative distance obs _ dy < 0:

min _ dy-min _ dy _ left >0, which indicates that the target obstacle is in the lane, and Ratio is 1;

max _ dy-max _ dy _ left <0, which indicates that the target obstacle is out of the lane, and Ratio is 1;

otherwise, the target obstacle crosses the left lane line, then

The calculation of the obstacle overlap risk involved in step S5 is performed such that the distance from the current vehicle to the left lane line is C0_ L, the distance from the vehicle to the right lane line is C0_ R, and whether there is an overlap risk between the target obstacle and the current vehicle is calculated, if | C0_ L | > | C0_ R |, it indicates that the current vehicle is traveling to the right in the own lane, it is calculated whether there is an overlap between the current vehicle and the target obstacle at this time, if there is an overlap, the target obstacle needs to be screened as an object of interest, and if there is no overlap, the target obstacle needs to be screened as a non-object of interest.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (10)

1. A method for screening obstacles in an automatic driving assistance process is characterized by comprising the following steps:

s1, obtaining obstacle information: obtaining information of an obstacle through a sensor;

s2, acquiring vehicle position: acquiring the current vehicle position;

s3, calculating coordinates of the obstacle: calculating the coordinates of the obstacle by taking the current vehicle position as an origin;

s4, acquiring vehicle information: acquiring the driving information of the current vehicle;

s5, calculating the obstacle overlapping risk: and performing driving simulation based on the coordinates of the obstacle and the vehicle running information, calculating the overlapping risk of the obstacle and the current vehicle, and screening the obstacle.

2. The method for screening obstacles in an automatic driving assistance process according to claim 1, wherein the step S1 of obtaining obstacle information includes obtaining information of obstacles, including shape, width, depth and height, by a camera and a sensor of a millimeter wave radar.

3. The method for screening obstacles in an automatic driving assistance process as claimed in claim 1, wherein the step S2 includes obtaining the vehicle position by locating the current vehicle with a GPS to obtain the vehicle position information.

4. The method as claimed in claim 1, wherein the step S3 includes calculating coordinates of the obstacle by determining lateral coordinates and longitudinal coordinates of a lane line corresponding to the obstacle target, and performing positioning calculation of the coordinates of the obstacle by using the GPS with the current vehicle position as an origin.

5. The method of claim 1, wherein the step S4 includes obtaining vehicle information, which is calculated by a polynomial equation of three times of vehicle Length obs _ Length, vehicle Width obs _ Width, vehicle height obs _ High, longitudinal relative distance obs _ dx, transverse relative distance obs _ dy, longitudinal relative speed obs _ dxv, transverse relative speed obs _ dyv, obstacle and lane line of the current vehicle, four corner coordinates of the target are left _ front (lr _ point _ x, lr _ point _ y), left _ front (lf _ point _ x, lf _ point _ y), right _ front (rr _ point _ x, rr _ point _ y), right _ front (rf _ point _ x, rr _ point _ y);

the maximum value max _ dy and the minimum value min _ dy of lr _ point _ y, lf _ point _ y, rr _ point _ y and rf _ point _ y are taken to represent the target transverse span, and the maximum value max _ dx and the minimum value min _ dx of lr _ point _ x, lf _ point _ x, rr _ point _ x and rf _ point _ x are taken to represent the target longitudinal span.

6. The method for screening obstacles during automatic driving assistance according to claim 1, wherein the step S4 includes obtaining vehicle information, which calculates lateral coordinates corresponding to left and right lane lines of the own lane from the maximum value max _ dy and the minimum value min _ dy: max _ dy _ left, max _ dy _ right, min _ dy _ left, and min _ dy _ right; the Ratio of the crossing of the target obstacle into the self lane portion is calculated by the difference between max _ dy and the minimum value min _ dy and max _ dy _ left, max _ dy _ right, min _ dy _ left, and min _ dy _ right.

7. The method of claim 1, wherein the step S5 is performed to calculate the risk of overlapping obstacles, and if the transverse relative distance obs _ dy >0 indicates that the target obstacle is located on the right side of the vehicle; if the transverse relative distance obs _ dy is less than 0, the target obstacle is positioned on the left side of the self-vehicle.

8. The method for screening obstacles in an automatic driving assistance process according to claim 1, wherein the step S5 is executed to calculate the risk of overlapping obstacles when the transverse relative distance obs _ dy > 0:

max _ dy-max _ dy _ right <0, which indicates that the target obstacle is in the own lane, and Ratio is 1;

min _ dy-min _ dy _ right >0, which represents that the target obstacle is outside the own lane, and Ratio is 0;

otherwise, the target crosses the right lane line, then

When the lateral relative distance obs _ dy < 0:

min _ dy-min _ dy _ left >0, which indicates that the target obstacle is in the lane, and Ratio is 1;

max _ dy-max _ dy _ left <0, which indicates that the target obstacle is out of the lane, and Ratio is 1;

otherwise, the target obstacle crosses the left lane line, then

9. The method as claimed in claim 1, wherein the step S5 is performed to calculate the risk of overlapping obstacles, the distance between the current vehicle and the left lane is C0_ L, the distance between the current vehicle and the right lane is C0_ R, and whether there is an overlap risk between the target obstacle and the current vehicle is calculated, if | C0_ L | > | C0_ R | indicates that the current vehicle is traveling to the right in the own lane, it is calculated whether there is an overlap between the current vehicle and the target obstacle, if there is an overlap, the target obstacle needs to be screened as an interested target, and if there is no overlap, the target obstacle needs to be screened as a non-interested target.

10. An obstacle screening system in an automatic driving assistance process, which is applied to the method for screening an obstacle in an automatic driving assistance process according to any one of claims 1 to 9, comprising:

the obstacle acquisition module is connected with the self-vehicle information acquisition module and the vehicle automatic adjustment module and used for acquiring information of obstacles, acquiring obstacle information in a range after the vehicle is automatically adjusted and transmitting the obstacle information to the self-vehicle information acquisition module;

the self-vehicle information acquisition module is connected with the barrier acquisition module and the barrier position calculation module and used for acquiring vehicle information and transmitting the barrier information and the vehicle information to the barrier position calculation module;

the obstacle position calculation module is connected with the self-vehicle information acquisition module and the self-vehicle running simulation module, and is used for receiving obstacle information and vehicle information, calculating the coordinate position of the obstacle based on the vehicle information, and transmitting the coordinate position to the obstacle risk prediction module;

the self-vehicle running simulation module is connected with the obstacle position calculation module and the obstacle risk prediction module and simulates the running of the vehicle on the basis of the vehicle running information and the obstacle coordinate position; the obstacle risk prediction module is connected with the self-vehicle driving simulation module and the obstacle avoidance module, when the self-vehicle and the obstacle are not overlapped in the self-vehicle driving simulation module, the obstacle risk prediction module indicates that the obstacle is free of risk, if the obstacle risk prediction module is overlapped, the obstacle risk prediction module indicates that the obstacle has risk, and at the moment, the risk is transmitted to the obstacle avoidance module;

the barrier avoiding module is connected with the barrier risk prediction module and the vehicle automatic adjusting module, receives the barrier risk, replans the vehicle according to the risk early warning, avoids the barrier and transmits an avoiding command to the vehicle automatic adjusting module;

and the automatic vehicle adjusting module is connected with the obstacle avoiding module and the obstacle obtaining module and used for receiving an avoiding command, adjusting the running of the vehicle, transmitting the adjusted information to the obstacle obtaining module and performing circulating screening on the obstacles.

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