CN106289271A - A kind of bend vehicle locating device and method - Google Patents

A kind of bend vehicle locating device and method Download PDF

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Publication number
CN106289271A
CN106289271A CN201610597703.6A CN201610597703A CN106289271A CN 106289271 A CN106289271 A CN 106289271A CN 201610597703 A CN201610597703 A CN 201610597703A CN 106289271 A CN106289271 A CN 106289271A
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China
Prior art keywords
vehicle
bend
region
scanning element
angle
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CN201610597703.6A
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CN106289271B (en
Inventor
蒋难得
胡攀攀
房颜明
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Wuhan Wanji Photoelectric Technology Co Ltd
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Beijing Wanji Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders

Abstract

The invention provides a kind of bend vehicle locating device and method, wherein, described device includes: laser scan unit and CPU；Described laser scan unit, for Real-time Collection curved areas ranging waveform；Described CPU, it is connected with described laser scan unit, for receiving the curved areas ranging waveform that described laser scan unit sends, and present frame ranging waveform is carried out Coordinate Conversion, ELIMINATION OF ITS INTERFERENCE and local range search, determine the scanning element positional information that present frame vehicle region is corresponding；Present frame vehicle region and former frame vehicle region are carried out Region Matching, determines that described present frame vehicle region correspondence bend newly enters vehicle or curved areas traveling vehicle；According to the scanning element positional information that described present frame vehicle region is corresponding, it is thus achieved that and export vehicle real-time positioning parameter.The present invention positions in real time, positioning precision high and location abundant information, it is possible to the problem solving to assist the safety bend in driving or being unmanned.

Description

A kind of bend vehicle locating device and method
Technical field
The present invention relates to field of computer technology, particularly relate to a kind of bend vehicle locating device and method.
Background technology
Auxiliary drive and unmanned be the primary study view in current automobile making, traffic safety and intelligent transportation field Topic.Key technology vehicle location in driving as auxiliary and be unmanned, becomes the most important thing.
Vehicle location in running is broadly divided into straight way location and bend positions two kinds.Straight way is as the most common Road line style, is kept by the straight way of vision or GPS location can realize easily.The impact of curvature is there is in bend due to it, There is certain difficulty in location and track holding aspect.When vehicle travels in bend, either as auxiliary drive time pre- Positioning service when police reminds or be unmanned, there is parameter as shown in Figure 1 needs to provide.Wherein, radius of turn ρ=O ' P, Headstock to the arc length distance going out curved stop line isThe tailstock to the arc length distance going out curved stop line isHeadstock and stop line Between between angle α=∠ HO ' S, the tailstock and stop line angle β=∠ TO ' S, linear velocity ν of Ackermann steer angle and vehicle body side with The angle theta of Y direction.
At present conventional technological means and method have: image vision technology, GPS location technology, wireless signal power method, RFID positioning mode and map and differential navigation method.
Image vision method uses imageing sensor, extracts lane boundary by the pavement strip in collection vehicle front Line, thus determine that vehicle is generally in the position in track away from boundary line.Such method is done track in straight way and is kept comparing Properly, but turn curvature cannot be obtained fast and accurately due to limited view in bend, and subsequent time distance can not be predicted The distance of bend outlet.
GPS location technology advantage in terms of automobile navigation highlights, and there is inadequate the asking of positioning precision in terms of bend location Topic, when especially the conversion of bend curvature is bigger, GPS location can only substantially determine whether vehicle enters bend and whether vehicle is sailed From bend.
Wireless signal power method is to determine car by mobile phone WIFI or other wireless network signals are strong and weak with apart from mating Approximate location.Distance is relative for determine between car and car at car networking arenas with the method that wireless signal power blends There is certain practical value position, and the location ignoring road information in terms of bend location has little significance.
RFID positioning mode is to provide positional information by placement passive electronic label on road key coordinate node.Should Whether class method can only provide vehicle through key point and the position that determined vehicle by several key points, then passes through key point Information portrayal goes out vehicle driving trace.RFID positioning mode is big, at bend at library or supermarket locating goods practical value The key that doing vehicle location needs is counted more, and the bend location information provided is very few.
Map and differential navigation method are to improve positioning precision, then with ground by increase differential navigation module on vehicle Figure information matches determines that vehicle is in the position of bend.The method relatively GPS positioning mode is greatly improved in positioning precision, permissible Determine the vehicle concrete coordinate figure at bend.But there is the problem that location information refresh rate is not prompt enough in differential navigation, and defeated Go out is also the coordinate information of bend, lacks anti-relative to the position relationship of elbow curve and radius of turn of body gesture Feedback.
In the most all multi-methods: image vision method is done straight way track and kept on top prominent；GPS positioning mode is at bend positioning accurate Degree deficiency；It is feasible relative to position detection that wireless signal power method makees car car, have ignored the feedback of bus or train route information；RFID positioning mode exists Bend implement on need more passive electronic label as key coordinate point, it is provided that positional information single；Map is led with difference Boat method is higher at straight way and bend practical value, and positioning precision is higher, but there is location and refresh problem not in time, and cannot give Go out the information such as vehicle pose.
Therefore, be badly in need of finding one have concurrently location in real time, precision is high, position informative method solves auxiliary and drive Or the problem of the safety bend in unmanned.
Summary of the invention
For the defect of prior art, the present invention provide one have concurrently location in real time, precision is high, it is informative curved to position Road vehicle locating device and method, it is possible to the problem solving to assist the safety bend in driving or being unmanned.
First aspect, the invention provides a kind of bend vehicle locating device, and described device includes: laser scan unit and CPU；
Described laser scan unit, is fixed in installation vertical rod, is positioned at curve inner side centre point or turning radius extension Stretch at linear distance lane line predeterminable range, for Real-time Collection curved areas ranging waveform；
Described CPU, is connected with described laser scan unit, is used for receiving described laser scan unit and sends Curved areas ranging waveform, and present frame ranging waveform is carried out Coordinate Conversion, ELIMINATION OF ITS INTERFERENCE and local range search, determines current The scanning element positional information that frame vehicle region is corresponding；Present frame vehicle region and former frame vehicle region are carried out Region Matching, Determine that described present frame vehicle region correspondence bend newly enters vehicle or curved areas traveling vehicle；According to described present frame vehicle The scanning element positional information that region is corresponding, it is thus achieved that and export vehicle real-time positioning parameter.
Preferably, when described laser scan unit is positioned at outside turning radius extension linear distance lane line predeterminable range, Described predeterminable range is more than or equal to 2000mm；
Described laser scan unit distance pavement-height is more than or equal to 700mm and less than or equal to 850mm；
Described laser scan unit is with rate of scanning f and scanning angle resolutionIt is parallel to place, road surface plane sweep Retouch；Preferably, described rate of scanning f=50Hz,
The described laser scan unit scan angle scope in each scan period is 0-270 °.
Second aspect, the invention provides a kind of bend vehicle positioning method, and described method includes:
Laser scan unit Real-time Collection curved areas ranging waveform；
CPU receives the curved areas ranging waveform that described laser scan unit sends, and finds range present frame Waveform carries out Coordinate Conversion, ELIMINATION OF ITS INTERFERENCE and local range search, determines the scanning element positional information that present frame vehicle region is corresponding；
Present frame vehicle region and former frame vehicle region are carried out Region Matching by described CPU, determine described Present frame vehicle region correspondence bend newly enters vehicle or curved areas traveling vehicle；
Described CPU is according to scanning element positional information corresponding to described present frame vehicle region, it is thus achieved that and export Vehicle real-time positioning parameter.
Preferably, described method also includes:
Described bend is newly entered vehicle and carries out real-time tracking by described CPU, sails newly entering vehicle at described bend Described vehicle is removed when curved areas.
Preferably, described Coordinate Conversion, including:
Coordinate Conversion is carried out according to a pair present frame ranging waveform of formula:
Wherein, i is scanning element sequence number, and L (i) is scanning element i to laser scan unit central point distance, n0For laser scanning Unit is launched the launch point sequence number that light overlaps with ox axle,For the scanning angle resolution of laser scan unit, x (i) is Scanning element i abscissa in oxy rectangular coordinate system, y (i) is scanning element i vertical coordinate in oxy rectangular coordinate system.
Preferably, described ELIMINATION OF ITS INTERFERENCE, including:
Step one: be calculated scanning element i distance L ' (i) to the curve inner side center of circle according to formula two:
Step 2: be calculated scanning element i and place, curve inner side center of circle straight line and ox axle place radius according to formula three Between angle Q (i):
Wherein, with laser scan unit central point for coordinate system round dot o, laser scan unit side is coordinate axes oy, hangs down It is ox axle that straight oy axle crosses o point straight line；
Step 3: use formula four by not in bend and not scanning in the range of bend track according to Q (i) and L ' (i) Point is got rid of:
Wherein, R1For border, bend nearly center of circle arc section radius, R2For border, bend remote center of circle arc section radius, Q1For curved Angle between road starting point and curve inner side center of circle place straight line and ox axle place radius, Q2For in bend terminating point and bend Angle between the center of circle, side place straight line and ox axle place radius.
Preferably, described local range search, including:
Boundary point corresponding to present frame vehicle region and described vehicle district is determined according to the scanning element coordinate after ELIMINATION OF ITS INTERFERENCE Point belonging to territory:
If x (i-1)=0 and x (i) > 0, then judge the scanning element i start boundary point as vehicle region；
If x (i-1) > 0 and x (i) > 0, then judge scanning element i point belonging to scanning element i-1 region；
If x (i) > 0 and x (i+1)=0, then judge that scanning element i terminates boundary point as vehicle region.
Preferably, described present frame vehicle region and former frame vehicle region are carried out Region Matching, determine described currently Frame vehicle region correspondence bend newly enters vehicle or curved areas traveling vehicle, including:
Bounds relation according to present frame vehicle region Yu former frame vehicle region distinguish bend newly enter vehicle or Tracking curved areas traveling vehicle:
If present frame vehicle region (SQ(Qmin,Qmax),SL′(L ' min, L ' max)) and former frame vehicle region (S 'Q (Qmin,Qmax),S′L′(L ' min, L ' max)) there is overlapping part, then Region Matching success, it is determined that present frame vehicle region pair Answer traveling vehicle；Region Matching is successfully judged by formula five:
If Current vehicle region is mated unsuccessful with former frame vehicle region, then judge present frame vehicle region correspondence bend Newly enter vehicle；
Wherein, (Qmin, Qmax) represents the range intervals that vehicle region scanning element angle minimax is constituted, (L ' min, L ' max) represent the range intervals that vehicle region scanning element is constituted, S to center of circle distance minimaxQ(Qmin, Qmax) represents and works as The range intervals that front frame vehicle region scanning element angle minimax is constituted, SL′(L ' min, L ' max) represents present frame vehicle district The range intervals that territory scanning element is constituted to center of circle distance minimax, S 'Q(Qmin, Qmax represent that former frame vehicle region scans The range intervals that some angle minimax is constituted, S 'L′(L ' min, L ' max represents that former frame vehicle region scanning element is to distance of center circle The range intervals constituted from minimax.
Preferably, described vehicle real-time positioning parameter includes: vehicle is curved to going out by radius of turn ρ during bend, headstock The arc length distance of stop lineThe tailstock is to the arc length distance going out curved stop lineBody gesture angle θ, vehicle bend linear velocity ν, headstock and the angle α gone out between curved stop line and the tailstock and the angle β gone out between curved stop line.
Preferably, described body gesture angle θ, calculate by formula six:
θ=arctan (κ) formula six；
Wherein, κ is the slope that body side section scanning element fitting a straight line is corresponding；
Described vehicle, by radius of turn ρ during bend, is calculated by formula seven:
Wherein, pbFor vehicle body side and headstock or the flex point of tail part, phFor headstock terminating point, ptFor headstock starting point, L′(pb) it is vehicle body side and the distance of the flex point of headstock or tail part to the center of circle, L ' (ph) it is that headstock terminating point arrives the center of circle Distance, L ' (pt) it is the car starting point distance to the center of circle, Q (ph) it is the angle of headstock terminating point, Q (pt) it is headstock starting point Angle；
Described headstock and the angle α gone out between curved stop line, calculated by formula eight:
Wherein, Qmax=max{ Δ Q1,ΔQ2,ΔQ3…ΔQn, expression is that vehicle passes through car in all frames of bend process Put the difference maximum of angle, Δ Q end to endi=| Q (ph)-Q(pt) | the difference of the i-th frame headstock tail point angle, Q2Represent curved stop line Angle；
Described headstock is to the arc length distance going out curved stop lineCalculate by formula nine:
The described tailstock and the angle β gone out between curved stop line, calculated by formula ten:
The described tailstock is to the arc length distance going out curved stop lineCalculate by formula 11:
Described vehicle bend linear velocity ν, is calculated by formula 12:
Wherein, ν (i) represents the i-th frame vehicle bend linear velocity；Represent that when bend crossed by vehicle, the i-th frame headstock is to going out curved stopping The only arc length distance of line, { definite value in 1,2,3,4,5}, f represents the rate of scanning of laser scan unit to n ∈.
As shown from the above technical solution, the present invention provides a kind of bend vehicle locating device and method, passes through laser scanning Unit Real-time Collection curved areas ranging waveform, CPU then carries out Coordinate Conversion, interference to present frame ranging waveform Get rid of and local range search, determine the scanning element positional information that present frame vehicle region is corresponding, with by present frame vehicle region with front One frame vehicle region carries out Region Matching, determines that described present frame vehicle region correspondence bend newly enters vehicle or curved areas row Enter vehicle, and according to scanning element positional information corresponding to described present frame vehicle region, it is thus achieved that and export vehicle real-time positioning ginseng Number.As can be seen here, the present invention is capable of the real-time positioning of vehicle in bend, uses laser scan unit to be scanned, scanning Frequency is high；And laser ranging is not affected by ambient light, range accuracy is high, substantially increases positioning precision；And it is obtained in that rich Rich positional parameter, does for automatic driving vehicle and turns strategy or do the speed early warning in auxiliary driving procedure or turnover bend Remind.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to Other accompanying drawing is obtained according to these figures.
Fig. 1 is the schematic diagram of existing bend positional parameter；
Fig. 2 is the structural representation of a kind of bend vehicle locating device in the embodiment of the present invention 1；
Fig. 3 is the schematic diagram that in the embodiment of the present invention 1, laser scan unit is installed on curve inner side circle centre position；
Fig. 4 is the schematic diagram that in the embodiment of the present invention 1, laser scan unit is installed on the outer extension line of turning radius；
Fig. 5 is the schematic flow sheet of a kind of bend vehicle positioning method in the embodiment of the present invention 2；
Fig. 6 is the schematic diagram of the crooked road distance waveform in the embodiment of the present invention 2；
Fig. 7 is the schematic diagram of Coordinate Conversion in the embodiment of the present invention 2；
Fig. 8 be in the embodiment of the present invention 2 scanning element to the schematic diagram of bend center of circle distance；
Fig. 9 is the schematic diagram of curved road surface parameter in the embodiment of the present invention 2；
Figure 10 is the schematic diagram of range searching in the embodiment of the present invention 2；
Figure 11 is the schematic diagram at body gesture angle in the embodiment of the present invention 2；
Figure 12 is the schematic diagram that in the embodiment of the present invention 3, bend vehicle locating device is installed on bend external diameter extension line；
Figure 13 is the schematic diagram of crooked road distance waveform in the embodiment of the present invention 3；
Figure 14 be a kind of in the embodiment of the present invention 3 in the case of the schematic diagram of present frame vehicle region；
Figure 15 is the schematic diagram of former frame vehicle region in the embodiment of the present invention 3；
Figure 16 be a kind of in the embodiment of the present invention 3 in the case of the schematic diagram at body gesture angle；
Figure 17 is the schematic diagram of the present frame vehicle region in the embodiment of the present invention 3 in the case of another kind；
Figure 18 is the schematic diagram at the body gesture angle in the embodiment of the present invention 3 in the case of another kind；
Figure 19 is the schematic diagram that in the embodiment of the present invention 4, bend vehicle locating device is installed on curve inner side circle centre position.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise Embodiment, broadly falls into the scope of protection of the invention.
Embodiment 1
Fig. 2 is the structural representation of a kind of bend vehicle locating device that the embodiment of the present invention 1 provides, as in figure 2 it is shown, should Device includes: laser scan unit 1 and CPU 2；
Described laser scan unit 1, is fixed in installation vertical rod 2, is positioned at outside curve inner side centre point or turning radius At extension line distance lane line predeterminable range, for Real-time Collection curved areas ranging waveform.Wherein, laser scan unit 1 when being positioned at curve inner side centre point, as shown in Figure 3；Laser scan unit 1 is positioned at outside turning radius extension linear distance lane boundary During line predeterminable range Dis, as shown in Figure 4.
Described CPU 2, is connected with described laser scan unit 1, is used for receiving described laser scan unit 1 The curved areas ranging waveform sent, and present frame ranging waveform is carried out Coordinate Conversion, ELIMINATION OF ITS INTERFERENCE and local range search, determine and work as The scanning element positional information that front frame vehicle region is corresponding；Present frame vehicle region and former frame vehicle region are carried out region Join, determine that described present frame vehicle region correspondence bend newly enters vehicle or curved areas traveling vehicle；According to described present frame The scanning element positional information that vehicle region is corresponding, it is thus achieved that and export vehicle real-time positioning parameter.
As can be seen here, the present embodiment passes through laser scan unit 1 Real-time Collection curved areas ranging waveform, and central authorities process single Unit 2 then carries out Coordinate Conversion, ELIMINATION OF ITS INTERFERENCE and local range search to present frame ranging waveform, determines that present frame vehicle region is corresponding Scanning element positional information, so that present frame vehicle region and former frame vehicle region are carried out Region Matching, determines described present frame Vehicle region correspondence bend newly enters vehicle or curved areas traveling vehicle, and according to described corresponding the sweeping of present frame vehicle region Described point positional information, it is thus achieved that and export vehicle real-time positioning parameter.As can be seen here, vehicle in the present embodiment is capable of bend Real-time positioning, uses laser scan unit to be scanned, and rate of scanning is high；And laser ranging is not affected by ambient light, range finding Precision is high, substantially increases positioning precision；And it is obtained in that abundant positional parameter, do turning strategy for automatic driving vehicle Or do the speed early warning in auxiliary driving procedure or turnover bend prompting.
Further, the bend vehicle locating device in above-described embodiment also includes: power supply unit 4, swashs for being respectively Light scanning unit 1 and CPU 2 are powered.
Wherein, when described laser scan unit 1 is positioned at outside turning radius extension linear distance lane line predeterminable range, institute State predeterminable range Dis more than or equal to 2000mm；Described laser scan unit distance road surface height H degree more than or equal to 700mm and is less than Equal to 850mm.
Described laser scan unit 1 is with rate of scanning f and scanning angle resolutionIt is parallel to place, road surface plane carry out Scanning.Preferably, described rate of scanning f=50Hz,
The described laser scan unit scan angle scope in each scan period is 0-270 °.
It should be noted that rate of scanning f represents that 1s time inner laser scanning element (1) completes the number of times of scan period； Scanning angle resolutionRepresent the angle interval between laser scan unit scanning element.If scanning angle resolutionI.e. angle between scanning element is spaced apart 0.5 °.
Embodiment 2
Fig. 5 is the schematic flow sheet of a kind of bend vehicle positioning method that the present invention real-time 2 provides, as it is shown in figure 5, this is curved Road vehicle positioning method comprises the steps:
S1: laser scan unit Real-time Collection curved areas ranging waveform.
For example, curved areas ranging waveform is as shown in Figure 6.
S2: CPU receives the curved areas ranging waveform that described laser scan unit sends, and to present frame Ranging waveform carries out Coordinate Conversion, ELIMINATION OF ITS INTERFERENCE and local range search, determines the scanning element position letter that present frame vehicle region is corresponding Breath；
Present frame vehicle region and former frame vehicle region are carried out Region Matching by S3: described CPU, determine Described present frame vehicle region correspondence bend newly enters vehicle or curved areas traveling vehicle；
S4: described CPU is according to scanning element positional information corresponding to described present frame vehicle region, it is thus achieved that and Output vehicle real-time positioning parameter.
Wherein, vehicle real-time positioning parameter includes: vehicle by radius of turn ρ during bend, headstock to going out curved stop line Arc length distanceThe tailstock is to the arc length distance going out curved stop lineBody gesture angle θ, vehicle bend linear velocity ν, headstock And the angle α gone out between curved stop line and the tailstock and the angle β etc. gone out between curved stop line.
Further, in an alternate embodiment of the present invention where, described bend vehicle positioning method also includes that Fig. 5 does not shows The following steps gone out:
Described bend is newly entered vehicle and carries out real-time tracking by S5: described CPU, newly to enter car at described bend Described vehicle is removed when sailing out of curved areas.
Specifically, CPU carries out real-time tracking, when this vehicle sails out of bend district to the vehicle entering bend During territory, CPU understands this vehicle, even if then laser scan unit remains to scan this vehicle, CPU is also This vehicle is not positioned and follows the tracks of.
Specifically, the described Coordinate Conversion in step S2, specifically include:
According to formula (1) present frame ranging waveform carried out Coordinate Conversion:
Wherein, i is scanning element sequence number, and L (i) is scanning element i to laser scan unit central point distance, n0For laser scanning Unit is launched the launch point sequence number that light overlaps with ox axle,For the scanning angle resolution of laser scan unit, x (i) is Scanning element i abscissa in oxy rectangular coordinate system, y (i) is scanning element i vertical coordinate in oxy rectangular coordinate system.
It should be noted that as it is shown in fig. 7, with laser scan unit central point for coordinate system round dot o, laser scan unit Side is coordinate axes oy, and it is that ox axle sets up rectangular coordinate system oxy that vertical oy axle crosses o point straight line.Scanning element n0The transmitting light at place Line overlaps with ox axle.The angle launched between light and ox axle for arbitrary scan point i place isThen according to triangle Geometrical relationship, scanning element i to laser scan unit central point distance L (i) meets above-mentioned coordinate transformation relation.
Specifically, the described ELIMINATION OF ITS INTERFERENCE in step S2, specifically include following steps:
Step one: be calculated scanning element i distance L ' (i) to the curve inner side center of circle according to formula (2):
Wherein, when the curve inner side center of circle is in for laser scan unit, laser scan unit center o and curve inner side circle Heart point o ' coincidence, then scanning element i to central point distance value L (the i)=L ' (i) of laser scan unit.
When laser scan unit is on the outer extension line of turning radius, as shown in Figure 8, OM=Dis, O ' M=R2, then Above-mentioned calculating can be derived according to the geometrical relationship between scanning element i, laser scan unit central point O and curve inner side center of circle o ' Formula.
Step 2: be calculated scanning element i and place, curve inner side center of circle straight line and ox axle place radius according to formula (3) Between angle Q (i):
Q ( i ) = arcsin ( y ( i ) L ′ ( i ) ) - - - ( 3 )
Wherein, with laser scan unit central point for coordinate system round dot o, laser scan unit side is coordinate axes oy, hangs down It is ox axle that straight oy axle crosses o point straight line；
Step 3: use formula (4) by not in bend and not scanning in the range of bend track according to Q (i) and L ' (i) Point is got rid of:
Wherein, as it is shown in figure 9, R1For border, bend nearly center of circle arc section radius, R2For border, bend remote center of circle arc section half Footpath, Q1For the angle between bend starting point and curve inner side center of circle place straight line and ox axle place radius, Q2For bend terminating point And the angle between curve inner side center of circle place straight line and ox axle place radius.
Specifically, the described local range search in step S2, specifically include:
Boundary point corresponding to present frame vehicle region and described vehicle district is determined according to the scanning element coordinate after ELIMINATION OF ITS INTERFERENCE Point belonging to territory, determines point belonging to present frame vehicle region boundary point and vehicle region with specific reference to following method:
If x (i-1)=0 and x (i) > 0, then judge the scanning element i start boundary point as vehicle region；
If x (i-1) > 0 and x (i) > 0, then judge scanning element i point belonging to scanning element i-1 region；
If x (i) > 0 and x (i+1)=0, then judge that scanning element i terminates boundary point as vehicle region.
Such as, as shown in Figure 10, point 3 meets x (2)=0 and x (3) > 0, then 3 is the start boundary point in region；Point 4 is full Foot x (3) > 0 and x (4) > 0, then 4 belong to the same area with point 3；In like manner put 5,6 and 7 and all belong to the same area with putting 3；Point 8 meets X (8) > 0 and x (9)=0, then 8 is zone ends boundary point.Can search and a little 3,4,5,6,7,8 belong to same region.
Specifically, present frame vehicle region and former frame vehicle region are carried out Region Matching, really by described in step S3 Fixed described present frame vehicle region correspondence bend newly enters vehicle or curved areas traveling vehicle, specifically includes:
Bounds relation according to present frame vehicle region Yu former frame vehicle region distinguish bend newly enter vehicle or Tracking curved areas traveling vehicle:
If present frame vehicle region (SQ(Qmin,Qmax),SL′(L ' min, L ' max)) and former frame vehicle region (S 'Q (Qmin,Qmax),S′L′(L ' min, L ' max)) there is overlapping part, then Region Matching success, it is determined that present frame vehicle region pair Answer traveling vehicle；Region Matching is successfully pressed formula (5) and is judged:
If Current vehicle region is mated unsuccessful with former frame vehicle region, then judge present frame vehicle region correspondence bend Newly enter vehicle；
Wherein, (Qmin, Qmax) represents the range intervals that vehicle region scanning element angle minimax is constituted, (L ' min, L ' max) represent the range intervals that vehicle region scanning element is constituted, S to center of circle distance minimaxQ(Qmin, Qmax) represents and works as The range intervals that front frame vehicle region scanning element angle minimax is constituted, SL′(L ' min, L ' max) represents present frame vehicle district The range intervals that territory scanning element is constituted to center of circle distance minimax, S 'Q(Qmin, Qmax represent that former frame vehicle region scans The range intervals that some angle minimax is constituted, S 'L′(L ' min, L ' max represents that former frame vehicle region scanning element is to distance of center circle The range intervals constituted from minimax.
Further, as it is shown in figure 1, described vehicle real-time positioning parameter includes: vehicle is by radius of turn during bend θ, headstock are to the arc length distance going out curved stop lineThe tailstock is to the arc length distance going out curved stop lineBody gesture angle θ, car Bend linear velocity ν, headstock and the angle α gone out between curved stop line and the tailstock and the angle β gone out between curved stop line.
Wherein, described body gesture angle θ, calculate by formula (6):
θ=arctan (κ) (6)
Wherein, κ is the slope that body side section scanning element fitting a straight line is corresponding.
For example, when calculating body gesture angle, as shown in figure 11, in vehicle region, vehicle body side and car are first found Head or flex point p of tail partb, headstock phWith tailstock pt, then by matching vehicle body side section pt pbInterscan point place is straight Line, obtains slope κ=-0.460 of straight line, then θ=arctan (-0.460)=-24.7 ° after matching.
Wherein, described vehicle, by radius of turn ρ during bend, is calculated by formula (7):
ρ = L ′ ( p b ) + L ′ ( p h ) 2 ( Q ( p h ) > 0 ) L ′ ( p b ) + L ′ ( p t ) 2 ( Q ( p t ) > 0 ) - - - ( 7 )
Wherein, pbFor vehicle body side and headstock or the flex point of tail part, phFor headstock terminating point, ptFor headstock starting point, L′(pb) it is vehicle body side and the distance of the flex point of headstock or tail part to the center of circle, L ' (ph) it is that headstock terminating point arrives the center of circle Distance, L ' (pt) it is the car starting point distance to the center of circle, Q (ph) it is the angle of headstock terminating point, Q (pt) it is headstock starting point Angle；
Described headstock and the angle α gone out between curved stop line, calculated by formula (8):
α = | Q ( p h ) - Q 2 | ( Q ( p h ) ≤ 0 ) | Q ( p t ) + Q m a x - Q 2 | ( Q ( p h ) > 0 ) - - - ( 8 )
Wherein, Qmax=max{ Δ Q1,ΔQ2,ΔQ3…ΔQn, expression is that vehicle passes through car in all frames of bend process Put the difference maximum of angle, Δ Q end to endi=| Q (ph)-Q(pt) | the difference of the i-th frame headstock tail point angle, Q2Represent curved stop line Angle；
Wherein, described headstock is to the arc length distance going out curved stop lineCalculate by formula (9):
The described tailstock and the angle β gone out between curved stop line, calculated by formula (10):
β = | Q ( p h ) - Q max - Q 2 | ( Q ( p h ) ≤ 0 ) | Q ( p t ) - Q 2 | ( Q ( p h ) > 0 ) - - - ( 10 )
The described tailstock is to the arc length distance going out curved stop lineCalculate by formula (11):
Described vehicle bend linear velocity ν, is calculated by formula 12:
Wherein, ν (i) represents the i-th frame vehicle bend linear velocity；Represent that when bend crossed by vehicle, the i-th frame headstock is to going out curved stopping The only arc length distance of line, { definite value in 1,2,3,4,5}, f represents the rate of scanning of laser scan unit to n ∈.
As can be seen here, in the present embodiment, using laser scan unit scanning, its rate of scanning is high, at least can be One-time positioning is made, therefore, it is possible to realize bend real-time positioning in 20ms；Laser ranging is not affected by ambient light etc., range finding essence Spend high, substantially increase positioning precision.Plus these apparatus and method with actual bend as foundation, it is achieved be curved areas Interior location, it can avoid median error to produce；Positional parameter in the present embodiment be included in vehicle speed in track, Pose, distance go out the important parameters such as curved stop line distance, radius of turn, can do turning strategy for automatic driving vehicle or do auxiliary The speed early warning in driving procedure or turnover bend is helped to remind.
Embodiment 3
In the present embodiment, as shown in figure 12, bend vehicle locating device is installed on outside turning radius extension linear distance car At the predeterminable range of boundary line, road.Wherein, border, bend nearly center of circle arc section radius R1=10000mm, border, bend remote center of circle circle Segmental arc radius R2Angle Q between=14000mm, bend starting point and curve inner side center of circle place straight line and ox axle place radius1 =-45 °, the angle Q between bend terminating point and curve inner side center of circle place straight line and ox axle place radius2=45 °.
Wherein, bend vehicle locating device includes: laser scan unit 1, CPU 2, installation vertical rod 3 and power supply Unit 4 forms, and laser scan unit 1 is fixed in installation vertical rod 3, is in outside turning radius extension linear distance lane line Dis=2000mm distance, is H=700mm away from pavement-height, with rate of scanning f=50HZ and scanning angle resolutionIt is parallel to place, road surface plane and is 0-180 ° of scanning, scanning element n0=180 launch light overlaps with ox axle, in real time Collection vehicle is by vehicle body ranging waveform during curved areas.
Wherein, CPU 2, it is connected with laser scan unit 1, is used for receiving and process laser scan unit 1 and adopts The ranging waveform of collection, processes and exports vehicle real-time positioning parameter.
When vehicle is by the bend of installing this device, the following bend vehicle positioning method using the present embodiment to provide enters The detection in real time of driving and location:
(1) laser scan unit Real-time Collection curved areas ranging waveform；
(2) CPU carries out Coordinate Conversion, ELIMINATION OF ITS INTERFERENCE and local range search to present frame ranging waveform；
(5) CPU is according to present frame local range search result and former frame local range search Comparative result feasible region Coupling, distinguishes and newly enters vehicle or follow the tracks of traveling vehicle；
(6) CPU carries out the calculating of real-time vehicle positional parameter according to Region Matching result and exports the most calmly Position result；
(7) CPU carries out vehicle and sails out of distinguishing of bend according to newly entering vehicle tracking result, and removes and sail out of Vehicle.
Wherein, Coordinate Conversion, ELIMINATION OF ITS INTERFERENCE, local range search and Region Matching are consistent with embodiment 2, the most superfluous at this State.
When vehicle is by bend, headstock not 0 dotted line, headstock excessively can be there is and cross 2 kinds of situations of 0 dotted line.
In one-time detection position fixing process, 0 dotted line do not crossed by situation 1 vehicle run into, laser scan unit Real-time Collection Curved areas ranging waveform is as shown in figure 13.
After CPU Coordinate Conversion, ELIMINATION OF ITS INTERFERENCE and local range search, the vehicle region obtained such as Figure 14 institute Show.
CPU is right with former frame local range search result (as shown in figure 15) according to present frame local range search result Ratio, finds that two vehicle region exist overlapping part, and the match is successful with former frame vehicle region to obtain present frame vehicle region, it is judged that Current vehicle region is the vehicle being traveling at, it is achieved the tracking of traveling vehicle.
Meanwhile, as shown in figure 16, by the scanning element of body side section is carried out fitting a straight line, straight line after matching is obtained Slope κ=-0.396, then the real-time body gesture angle θ=arctan (-0.396)=-21.6 ° calculated；
Now, due to Q (ph)=-4.63 ° < 0, radius of turn ρ through bend:
&rho; = L &prime; ( p b ) + L &prime; ( p h ) 2 = 12338 m m ;
Between headstock and stop line, angle α is:
α=| Q (ph)-Q2|=|-4.63 °-45 ° |=49.63 °；
Headstock is to the arc length distance going out curved stop lineFor:
Between the tailstock and stop line, angle β is:
β=| Q (ph)-Qmax-Q2|=|-4.63 °-16 °-45 ° |=65.63 °；
The described tailstock is to the arc length distance going out curved stop lineFor:
Vehicle bend linear velocity ν is:
Situation 2 headstock run into has crossed 0 dotted line, carries out Coordinate Conversion, ELIMINATION OF ITS INTERFERENCE, local range search through CPU With the vehicle region after Region Matching as shown in figure 17.
By the scanning element of body side section being carried out fitting a straight line, as shown in figure 18, the oblique of straight line after matching is obtained Rate κ=0.230, then the real-time body gesture angle θ=arctan (0.230)=12.95 ° calculated；
Now, due to Q (ph)=21.17 ° > 0, then through radius of turn ρ of bend:
&rho; = L &prime; ( p b ) + L &prime; ( p t ) 2 = 12041.83 m m ;
Between headstock and stop line, angle α is:
α=| Q (pt)+Qmax-Q2|=| 4.74 °+16 °-45 ° |=24.26 °；
Headstock is to the arc length distance going out curved stop lineFor:
Between the tailstock and stop line, angle β is:
β=| Q (pt)-Q2|=| 4.74 °-45 ° |=40.26 °；
The described tailstock is to the arc length distance going out curved stop lineFor:
Vehicle bend linear velocity ν is:
Embodiment 4
In the present embodiment, as shown in figure 19, bend vehicle locating device is installed at curve inner side centre point.Wherein, Border, bend nearly center of circle arc section radius R1=6000mm, border, bend remote center of circle arc section radius R2=10000mm, bend rises Angle Q between initial point and curve inner side center of circle place straight line and ox axle place radius1=-45 °, in bend terminating point and bend Angle Q between the center of circle, side place straight line and ox axle place radius2=45 °.
Wherein, bend vehicle locating device includes: laser scan unit 1, CPU 2, installation vertical rod 3 and power supply Unit 4 forms, and laser scan unit 1 is fixed in installation vertical rod 3, is in curve inner side circle centre position, is H=away from pavement-height 700mm, with rate of scanning f=50HZ and scanning angle resolutionIt is parallel to place, road surface plane and does 0-180 ° of scanning, Scanning element n0=180 launch light overlaps with ox axle, for Real-time Collection vehicle by vehicle body ranging waveform during bend.
Wherein, CPU 2, it is connected with laser scan unit 1, is used for receiving and process laser scan unit 1 and adopts The ranging waveform of collection, processes and exports vehicle real-time positioning parameter.
When vehicle is by the bend of installing this device, the following bend vehicle positioning method using the present embodiment to provide enters The detection in real time of driving and location:
(1) laser scan unit Real-time Collection curved areas ranging waveform；
(2) CPU carries out Coordinate Conversion, ELIMINATION OF ITS INTERFERENCE and local range search to present frame ranging waveform；
(5) CPU is according to present frame local range search result and former frame local range search Comparative result feasible region Coupling, distinguishes and newly enters vehicle or follow the tracks of traveling vehicle；
(6) CPU carries out the calculating of real-time vehicle positional parameter according to Region Matching result and exports the most calmly Position result；
(7) CPU carries out vehicle and sails out of distinguishing of bend according to newly entering vehicle tracking result, and removes and sail out of Vehicle.
Wherein, Coordinate Conversion, ELIMINATION OF ITS INTERFERENCE, local range search and Region Matching are consistent with embodiment 2, the most superfluous at this State.
Embodiment 4 is with the difference of embodiment 3 maximum, and the installation site of laser scan unit is installed on curve inner side circle At the heart, calculate scanning element i when ELIMINATION OF ITS INTERFERENCE different to distance value L ' (i) in the curve inner side center of circle, additive method one simultaneously Cause, do not repeat them here.
One of ordinary skill in the art will appreciate that: all or part of step realizing above-mentioned each method embodiment is permissible The hardware relevant by programmed instruction completes.Aforesaid program can be stored in a computer read/write memory medium.Should Program upon execution, performs to include the step of above-mentioned each method embodiment；And aforesaid storage medium includes: ROM, RAM, magnetic disc Or the various medium that can store program code such as CD.
Also, it should be noted in this article, the relational terms of such as first and second or the like is used merely to one Entity or operation separate with another entity or operating space, and not necessarily require or imply between these entities or operation There is relation or the order of any this reality.And, term " includes ", " comprising " or its any other variant are intended to contain Comprising of lid nonexcludability, so that include that the process of a series of key element, method, article or equipment not only include that those are wanted Element, but also include other key elements being not expressly set out, or also include for this process, method, article or equipment Intrinsic key element.In the case of there is no more restriction, statement " including ... " key element limited, it is not excluded that Including process, method, article or the equipment of described key element there is also other identical element.
Above example only in order to technical scheme to be described, is not intended to limit；Although with reference to previous embodiment The present invention is described in detail, it will be understood by those within the art that: it still can be to aforementioned each enforcement Technical scheme described in example is modified, or wherein portion of techniques feature is carried out equivalent；And these amendment or Replace, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.

Claims (10)

1. a bend vehicle locating device, it is characterised in that described device includes: laser scan unit and central authorities process single Unit；
Described laser scan unit, is fixed in installation vertical rod, is positioned at curve inner side centre point or the outer extension line of turning radius At distance lane line predeterminable range, for Real-time Collection curved areas ranging waveform；
Described CPU, is connected with described laser scan unit, for receiving the curved of described laser scan unit transmission Region, road ranging waveform, and present frame ranging waveform is carried out Coordinate Conversion, ELIMINATION OF ITS INTERFERENCE and local range search, determine present frame car The scanning element positional information that region is corresponding；Present frame vehicle region and former frame vehicle region are carried out Region Matching, determines Described present frame vehicle region correspondence bend newly enters vehicle or curved areas traveling vehicle；According to described present frame vehicle region Corresponding scanning element positional information, it is thus achieved that and export vehicle real-time positioning parameter.
Device the most according to claim 1, it is characterised in that described laser scan unit is positioned at the outer extension line of turning radius During distance lane line predeterminable range, described predeterminable range is more than or equal to 2000mm；
Described laser scan unit distance pavement-height is more than or equal to 700mm and less than or equal to 850mm；
Described laser scan unit is with rate of scanning f and scanning angle resolutionIt is parallel to place, road surface plane be scanned；
The described laser scan unit scan angle scope in each scan period is 0-270 °.
3. a bend vehicle positioning method, it is characterised in that described method includes:
Laser scan unit Real-time Collection curved areas ranging waveform；
CPU receives the curved areas ranging waveform that described laser scan unit sends, and to present frame ranging waveform Carry out Coordinate Conversion, ELIMINATION OF ITS INTERFERENCE and local range search, determine the scanning element positional information that present frame vehicle region is corresponding；
Present frame vehicle region and former frame vehicle region are carried out Region Matching by described CPU, determine described currently Frame vehicle region correspondence bend newly enters vehicle or curved areas traveling vehicle；
Described CPU is according to scanning element positional information corresponding to described present frame vehicle region, it is thus achieved that and export vehicle Real-time positioning parameter.
Method the most according to claim 3, it is characterised in that described method also includes:
Described bend is newly entered vehicle and carries out real-time tracking by described CPU, sails out of curved newly entering vehicle at described bend Described vehicle is removed during region, road.
Method the most according to claim 3, it is characterised in that described Coordinate Conversion, including:
Coordinate Conversion is carried out according to a pair present frame ranging waveform of formula:
Wherein, i is scanning element sequence number, and L (i) is scanning element i to laser scan unit central point distance, n0For laser scan unit The launch point sequence number that middle transmitting light overlaps with ox axle,For the scanning angle resolution of laser scan unit, x (i) is scanning Point i abscissa in oxy rectangular coordinate system, y (i) is scanning element i vertical coordinate in oxy rectangular coordinate system.
Method the most according to claim 5, it is characterised in that described ELIMINATION OF ITS INTERFERENCE, including:
Step one: be calculated scanning element i distance L ' (i) to the curve inner side center of circle according to formula two:
Step 2: be calculated between scanning element i and curve inner side center of circle place straight line and ox axle place radius according to formula three Angle Q (i):
Wherein, with laser scan unit central point for coordinate system round dot o, laser scan unit side is coordinate axes oy, vertical oy It is ox axle that axle crosses o point straight line；
Step 3: use formula four by not bend and not scanning element row in the range of bend track according to Q (i) and L ' (i) Remove:
Wherein, R1For border, bend nearly center of circle arc section radius, R2For border, bend remote center of circle arc section radius, Q1Rise for bend Angle between initial point and curve inner side center of circle place straight line and ox axle place radius, Q2For bend terminating point and curve inner side circle Angle between heart place straight line and ox axle place radius.
Method the most according to claim 6, it is characterised in that described local range search, including:
Boundary point corresponding to present frame vehicle region and described vehicle region institute is determined according to the scanning element coordinate after ELIMINATION OF ITS INTERFERENCE Genus point:
If x (i-1)=0 and x (i) > 0, then judge the scanning element i start boundary point as vehicle region；
If x (i-1) > 0 and x (i) > 0, then judge scanning element i point belonging to scanning element i-1 region；
If x (i) > 0 and x (i+1)=0, then judge that scanning element i terminates boundary point as vehicle region.
Method the most according to claim 3, it is characterised in that described by present frame vehicle region and former frame vehicle region Carry out Region Matching, determine that described present frame vehicle region correspondence bend newly enters vehicle or curved areas traveling vehicle, including:
Bounds relation according to present frame vehicle region Yu former frame vehicle region distinguishes that bend newly enters vehicle or tracking Curved areas traveling vehicle:
If present frame vehicle region (SQ(Qmin,Qmax),SL′(L ' min, L ' max)) and former frame vehicle region (S 'Q(Qmin, Qmax),S′L′(L ' min, L ' max)) there is overlapping part, then Region Matching success, it is determined that present frame vehicle region correspondence is advanced Vehicle；Region Matching is successfully judged by formula five:
If Current vehicle region is mated unsuccessful with former frame vehicle region, then judge that present frame vehicle region correspondence bend newly enters Vehicle；
Wherein, (Qmin, Qmax) represents the range intervals that vehicle region scanning element angle minimax is constituted, (L ' min, L ' Max) range intervals that vehicle region scanning element is constituted, S are represented to center of circle distance minimaxQ(Qmin, Qmax) represents current The range intervals that frame vehicle region scanning element angle minimax is constituted, SL′(L ' min, L ' max) represents present frame vehicle region The range intervals that scanning element is constituted to center of circle distance minimax, S 'Q(Qmin, Qmax represent former frame vehicle region scanning element The range intervals that angle minimax is constituted, S 'L′(L ' min, L ' max represents that former frame vehicle region scanning element is to center of circle distance The range intervals that minimax is constituted.
Method the most according to claim 3, it is characterised in that described vehicle real-time positioning parameter includes: vehicle is by curved Radius of turn ρ during road, headstock are to the arc length distance going out curved stop lineThe tailstock is to the arc length distance going out curved stop line Body gesture angle θ, vehicle bend linear velocity ν, headstock and the angle α gone out between curved stop line and the tailstock and the folder gone out between curved stop line Angle beta.
Method the most according to claim 9, it is characterised in that
Described body gesture angle θ, is calculated by formula six:
θ=arctan (κ) formula six；
Wherein, κ is the slope that body side section scanning element fitting a straight line is corresponding；
Described vehicle, by radius of turn ρ during bend, is calculated by formula seven:
Wherein, pbFor vehicle body side and headstock or the flex point of tail part, phFor headstock terminating point, ptFor headstock starting point, L ' (pb) it is vehicle body side and the distance of the flex point of headstock or tail part to the center of circle, L ' (ph) be headstock terminating point to the center of circle away from From, L ' (pt) it is the car starting point distance to the center of circle, Q (ph) it is the angle of headstock terminating point, Q (pt) it is the angle of headstock starting point Degree；
Described headstock and the angle α gone out between curved stop line, calculated by formula eight:
Wherein, Qmax=max{ Δ Q1,ΔQ2,ΔQ3…ΔQn, expression is that vehicle passes through headstock tail in all frames of bend process The difference maximum of some angle, Δ Qi=| Q (ph)-Q(pt) | the difference of the i-th frame headstock tail point angle, Q2Represent the angle of curved stop line Degree；
Described headstock is to the arc length distance going out curved stop lineCalculate by formula nine:
The described tailstock and the angle β gone out between curved stop line, calculated by formula ten:
The described tailstock is to the arc length distance going out curved stop lineCalculate by formula 11:
Described vehicle bend linear velocity ν, is calculated by formula 12:
Wherein, ν (i) represents the i-th frame vehicle bend linear velocity；Represent that when bend crossed by vehicle, the i-th frame headstock is to going out curved stop line Arc length distance, { definite value in 1,2,3,4,5}, f represents the rate of scanning of laser scan unit to n ∈.
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