CN108332979A - A kind of vehicle crimping detection method - Google Patents
A kind of vehicle crimping detection method Download PDFInfo
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- CN108332979A CN108332979A CN201810129520.0A CN201810129520A CN108332979A CN 108332979 A CN108332979 A CN 108332979A CN 201810129520 A CN201810129520 A CN 201810129520A CN 108332979 A CN108332979 A CN 108332979A
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
A kind of vehicle crimping detection method comprising：Obtain the vehicle location coordinate of vehicle to be analyzed, wherein vehicle location coordinate characterizes the coordinate of specified point in vehicle vehicle's contour；Vehicle's contour coordinate is determined according to vehicle location coordinate；Judge that vehicle's contour whether there is intersection point with the lane line in test site according to vehicle's contour coordinate and track line coordinates, wherein there is currently crimping behaviors if it is present judging vehicle to be analyzed, and otherwise judging vehicle to be analyzed, there is currently no crimping behaviors.Compared to existing detection method, the accuracy of detection higher, real-time of this method are more preferable, it can be applicable in the automatic driving vehicle test evaluation of different automobile types, portability with height, it can be widely applied to the test and its quantitative assessment of automatic driving vehicle level of intelligence, to peomote the fast development of unmanned technology, ensure the traveling that automatic driving vehicle can be safe under true traffic environment.
Description
Technical field
The present invention relates to automatic Pilot evaluation technology fields, specifically, being related to a kind of vehicle crimping detection method.
Background technology
With the rapid development of unmanned technology, associated test evaluation technology is also in synchronized development.Initial stage, respectively
A research and development unit carries out individual event according to the vehicle that own situation researches and develops it or partial function requirement carries out test evaluation.With being
Unite integrated technology and unmanned technology maturation, occur with intelligent vehicle compete based on third party evaluation mechanism.
For example, the 1990s US military promotion under, U.S. national defense pre research Plan Bureau (The Defense
Advanced Research Projects Agency, referred to as DAPRA) hold more entitled DARPA Grand
The intelligent vehicle of Challenge is competed.From 2004 to 2007 year, this contest is greatly promoted the hair of unmanned technology
Exhibition, while a new research direction, the i.e. test evaluation of automatic driving vehicle have also been drawn, this match is in cross-country section
It carries out, therefore test evaluation has only used the deadline and two evaluation indexes of accident whether occur.
2009, National Natural Science Foundation of China (NSFC) committee Major Research Plan " cognition of audio visual information calculates "
Promotion under, the match of Chinese intelligent vehicle Challenges for Future starts to hold.From 2009 to 2017 year, 9 are held, but has been tested
Evaluation be also mainly by judge observation judge intelligent vehicle whether delay unloading diatom with violate the traffic regulations.This test evaluation mode
There are prodigious subjectivity and inconveniences, and therefore, the automatic test evaluation of automatic driving vehicle becomes research hotspot.
Invention content
To solve the above problems, the present invention provides a kind of vehicle crimping detection method, the method includes：
Step 1: obtaining the vehicle location coordinate of vehicle to be analyzed, wherein the vehicle location coordinate characterizes vehicle vehicle wheel
The coordinate of specified point in exterior feature；
Step 2: determining vehicle's contour coordinate according to the vehicle location coordinate；
Step 3: judging vehicle's contour and the track in test site according to the vehicle's contour coordinate and track line coordinates
Line whether there is intersection point, wherein if it is present there is currently crimping behaviors for the judgement vehicle to be analyzed, otherwise judge institute
Stating vehicle to be analyzed, there is currently no crimping behaviors.
According to one embodiment of present invention, in the step 2, the vertex based on vehicle's contour and the vehicle wheel
The relative distance relationship of specified point in exterior feature, the apex coordinate of the vehicle's contour is determined according to the vehicle location coordinate.
According to one embodiment of present invention, in the step 2,
According to the vehicle location coordinate and course angle, first straight line equation is built；
The relative distance relationship on vertex and specified point in the vehicle's contour based on vehicle's contour is straight according to described first
Line equation builds the linear equation for the straight line that two neighboring vertex is formed in four vertex of vehicle's contour respectively, and correspondence obtains four
A vertex―straight line equation；
The intersection point for calculating separately four vertex―straight line equations obtains the apex coordinate of the vehicle's contour.
According to one embodiment of present invention, in the step 2, the vertex based on the vehicle's contour and the vehicle
Default quantitative relationship in profile between specified point and course angle, it is true according to the vehicle location coordinate and course angle of the vehicle
The apex coordinate of the fixed vehicle's contour.
According to one embodiment of present invention, in the step 3,
The coordinate that lane line collection point is transferred from default place map data base, according to the seat of the lane line collection point
Mark and vehicle's contour coordinate judge line segment and two neighboring lane line collection point in the lane line that the vehicle's contour is formed
The line segment of formation whether there is intersection point, wherein if there is intersection point, then judge that there is currently crimping rows for the vehicle to be analyzed
Otherwise to judge that there is currently no crimping behaviors for the vehicle to be analyzed.
According to one embodiment of present invention, when judging that two lines section whether there is intersection point,
According to the coordinate of two endpoints of first line segment in two lines section, the straight line side of first line segment is determined
Journey；
According to the coordinate of two endpoints of Article 2 line segment in two lines section, the straight line side of the Article 2 line segment is determined
Journey；
The linear equation of the linear equation and Article 2 line segment of first line segment, judges whether simultaneous equations have described in simultaneous
Solution, wherein if without solution, judge that intersection point is not present in two lines section.
According to one embodiment of present invention, if there are one solutions for simultaneous equations, further judge the solution of simultaneous equations
Longitude or latitude whether within the longitude intersection or latitude intersection of two lines section, if it is, judging that this two lines section is deposited
In intersection point, otherwise judge that intersection point is not present in this two lines section；
If simultaneous equations there are infinite solution, take two endpoints of wherein one line segment, and judge the two endpoints
Whether longitude or latitude are within the longitude range of another line segment or latitude scope, if at least one point in the two endpoints
Longitude or latitude within the longitude range of another line segment or latitude scope, then judge that there are intersection points for this two lines section, it is no
Then judge that intersection point is not present in this two lines section.
According to one embodiment of present invention, the coordinate of the lane line collection point stored in the default place map office is
It is divided according to section subregion, in the step 3, lane line collection point is transferred from default place map data base
Coordinate before, determine residing section subregion of the vehicle to be analyzed in place also according to the vehicle location coordinate, and from
The coordinate of the lane line collection point corresponding to section subregion residing for the vehicle to be analyzed is transferred in the default place map office.
According to one embodiment of present invention, when determining residing section subregion of the vehicle to be analyzed in place,
Judge whether vehicle to be analyzed is in the point of each section subregion outermost respectively according to the vehicle location coordinate
In each polygon that line is formed, the section subregion corresponding to the internal polygon comprising the vehicle to be analyzed is determined, from
And obtain residing section subregion of the vehicle to be analyzed in place.
According to one embodiment of present invention, according to the apex coordinate of the vehicle location coordinate and polygon, along the inverse time
Needle direction, judges whether the vehicle to be analyzed is always at the left side for the line segment for constituting the polygon, wherein if so,
Then judge that the vehicle to be analyzed is in the polygon.
Vehicle crimping detection method provided by the present invention based on vehicle geometric profile come in real time, automatically detect vehicle and be
No crimping.Compared to existing detection method, accuracy of detection higher, the real-time of detection method provided by the present invention are more preferable,
It can be applicable in the automatic driving vehicle test evaluation of different automobile types, and the portability with height can be widely applied to nobody
The test and its quantitative assessment for driving Vehicular intelligent level ensure to peomote the fast development of unmanned technology
Automatic driving vehicle can be safe under true traffic environment traveling.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The purpose of the present invention and other advantages can be by specification, rights
Specifically noted structure is realized and is obtained in claim and attached drawing.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is required attached drawing in technology description to do simple introduction：
Fig. 1 is the implementation process schematic diagram of vehicle crimping detection method according to an embodiment of the invention；
Fig. 2 is the implementation process schematic diagram of determining vehicle's contour coordinate according to an embodiment of the invention；
Fig. 3 is vehicle's contour schematic diagram according to an embodiment of the invention；
Fig. 4 is the realization stream that judgement vehicle to be analyzed according to an embodiment of the invention currently whether there is crimping behavior
Journey schematic diagram；
Fig. 5 is the implementation process schematic diagram of the coordinate according to an embodiment of the invention for transferring lane line collection point；
Fig. 6 is the schematic diagram of the polygon of certain a road section subregion in test site according to an embodiment of the invention；
Fig. 7 is the implementation process schematic diagram that judgement two lines section according to an embodiment of the invention whether there is intersection point；
Fig. 8 is the schematic diagram of two lines section according to an embodiment of the invention.
Specific implementation mode
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, how to be applied to the present invention whereby
Technological means solves technical problem, and the realization process for reaching technique effect can fully understand and implement.It needs to illustrate
As long as not constituting conflict, each embodiment in the present invention and each feature in each embodiment can be combined with each other,
It is formed by technical solution within protection scope of the present invention.
Meanwhile in the following description, for illustrative purposes and numerous specific details are set forth, to provide to of the invention real
Apply the thorough understanding of example.It will be apparent, however, to one skilled in the art, that the present invention can not have to tool here
Body details or described ad hoc fashion are implemented.
In addition, step shown in the flowchart of the accompanying drawings can be in the department of computer science of such as a group of computer-executable instructions
It is executed in system, although also, logical order is shown in flow charts, and it in some cases, can be to be different from herein
Sequence execute shown or described step.
It is existing to judge whether intelligent vehicle delays unloading diatom and the method that violates the traffic regulations is typically by judging into pedestrian
Work differentiates.However, there is prodigious subjectivity and tendentiousness for the observation of judge, and since match process is nervous and judge
The influence of the factors such as angle, the visibility of observation, test result is likely to be unfair and objectivity.
For the above problem present in the prior art, the present invention provides a kind of new vehicle crimping detection methods, should
Method is detected especially suitable for the lane line crimping in intelligent vehicle test process.This method can in conjunction with vehicle geometric parameter,
Vehicle position data and high-precision map to detect the behavior that vehicle whether there is solid line of delaying unloading in the process of moving in real time.
Certainly, according to actual needs, this method is readily applicable to the lane line crimping detection scene for other reasonable vehicles.
Fig. 1 shows the implementation process schematic diagram for the vehicle crimping detection method that the present embodiment is provided.
As shown in Figure 1, the vehicle crimping detection method that the present embodiment is provided can obtain in step S101 wait for point first
Analyse the vehicle location coordinate of vehicle.Wherein, which characterizes the coordinate of specified point in vehicle's contour.
Specifically, in the present embodiment, this method preferably obtains vehicle by the GPS positioning device being arranged on vehicle
Position coordinates.Regard vehicle's contour as a rectangle, ignores height of car, before testing vehicle to be analyzed on roof
Some fixed placement vehicle GPS positioning devices are arbitrarily looked for, the GPS data accessed by such vehicle GPS positioning device is namely
The coordinate of the point has also just obtained the vehicle location coordinate of vehicle to be analyzed in this way.
In the present embodiment, this method can also get the boat of vehicle to be analyzed while getting vehicle location coordinate
To angle.
It should be pointed out that in other embodiments of the invention, the equipment for obtaining vehicle location coordinate can be with
For other reasonable equipment (such as big-dipper satellite data receiver etc.), the invention is not limited thereto.
As shown in Figure 1, after obtaining vehicle location coordinate, this method will be in step s 102 according to above-mentioned vehicle location
Coordinate determines vehicle's contour coordinate.Specifically, in the present embodiment, this is in step s 102 advantageously according to the top of vehicle's contour
The relative distance relationship of point and the specified point in vehicle's contour, to determine that the vertex of vehicle's contour is sat according to vehicle location coordinate
Mark.
In order to clearly illustrate the principle and process that determine vehicle's contour coordinate according to vehicle location coordinate, with
This method determines shown in the implementation process schematic diagram and Fig. 3 of vehicle's contour coordinate in lower combination the present embodiment illustrated in fig. 2
The vehicle's contour schematic diagram that goes out is further described.
As shown in Figures 2 and 3, the vehicle location coordinate (i.e. coordinate (x of A points is being got0,y0)) and course angle θ (examples
Such as the angle between vehicle heading and direct north) after, this method can be in step s 201 according to above-mentioned vehicle location
Coordinate and course angle θ build to obtain first straight line equation (i.e. straight line L1Equation).
For vehicle to be analyzed, since positions of the point A in vehicle's contour is geostationary, while vehicle's contour
Geometric parameter be also changeless, therefore Fig. 3 middle conductors a, line segment b, the length of line segment c and line segment d are namely fixed
Constant, i.e. the relative distance relationship of four vertex (i.e. point B, point C, point D and point E) between point A of vehicle's contour is fixed
It is constant and known.It is specified in this method also can be in step S202 based on vehicle's contour in this way vertex and vehicle's contour
Relative distance relationship between point (i.e. point A) builds vehicle respectively according to constructed obtained first straight line equation in step S201
Two neighboring vertex is formed by the linear equation of straight line in four vertex in profile, and correspondence obtains four vertex―straight line equations
(i.e. point B and point C is formed by straight line, point C and point D is formed by straight line, point D and point E is formed by straight line and point B and point E institutes
The equation of the straight line of formation).
After obtaining aforementioned four vertex―straight line equation, this method can calculate separately this four vertex in step S203
The intersection point of linear equation, to the apex coordinate on corresponding four vertex for obtaining vehicle's contour.
It should be pointed out that in other embodiments of the invention, according to actual needs, this method can also use other
Reasonable manner according to vehicle location coordinate determines vehicle's contour coordinate, and the invention is not limited thereto.For example, the present invention's
In one embodiment, this method is also based in the vertex and vehicle's contour of vehicle's contour pre- between specified point and course angle
Magnitude relation is set, to determine the apex coordinate of vehicle's contour according to the current vehicle location coordinate of vehicle and current course angle.
In this embodiment, the default quantitative pass in the vertex of vehicle's contour and vehicle's contour between specified point and course angle
System is that prior structure obtains, and vehicle-mounted GPS equipment can be utilized accurately to measure the coordinate of the point A of different moments, course together
The coordinate at angle and the vertex of vehicle's contour, to determine the coordinate and boat on each vertex and point A of vehicle's contour respectively
To the quantitative relationship between angle.
Again as shown in Figure 1, in the present embodiment, after obtaining vehicle's contour coordinate (i.e. the apex coordinate of vehicle's contour),
This method can judge according to above-mentioned vehicle's contour coordinate and track line coordinates in vehicle's contour and test site in step s 103
Lane line whether there is intersection point.Wherein, if there is intersection point, then party's rule can judge vehicle to be analyzed in step S104
There is currently crimping behaviors, and vehicle to be analyzed otherwise can be then judged in step S105, and there is currently no crimping behaviors.
Specifically, as shown in figure 4, in the present embodiment, this method can be in step S401 from default place map data base
The coordinate of middle extraction lane line collection point, and the coordinate based on vehicle's contour coordinate and lane line collection point in step S402 come
Judge that two neighboring lane line collection point is formed by line segment with the presence or absence of intersection point in the line segment and lane line that vehicle's contour is formed.
Wherein, if there is intersection point (two neighboring lane line collection point in lane line is formed by for all line segments, is existed
With vehicle's contour formed line segment intersection line segment), then this method also it is determined that vehicle to be analyzed there is currently crimpings
Behavior；And if there is no intersection point, then this method also it is determined that vehicle to be analyzed there is currently no crimping behaviors.
In the present embodiment, the coordinate of the lane line collection point stored in default place map office is carried out according to section subregion
It divides, as shown in figure 5, before the coordinate for transferring lane line collection point in default place map data base, this method can also be
Residing section subregion of the vehicle to be analyzed in place is determined according to vehicle location coordinate in step S501, and in step S502
It is transferred from default place map office and the vehicle corresponding to section subregion residing for the vehicle to be analyzed determined in step S501
The coordinate of diatom collection point.
Specifically, in the present embodiment, when building place map office, this method can preferably draw entire test site
Lane line map, and subregion is carried out according to section, number is respectively：1st area, 2nd area, 3rd area ..., the areas N.Wherein, the same section
Two travel directions number be：The areas 1a, the areas 2a ..., the areas Na；The areas 1b, the areas 2b ..., the areas Nb.
Then, this method (including can be stopped using devices such as RTK equipment come solid line lane line all in collecting test place
Only line).Wherein, linear vehicle diatom acquires the GPS coordinate of a point at interval of the first pre-determined distance (such as 5.0m).Real road
In bend lane line curvature of curve it is smaller, therefore this method replaces curve, bend track using the straight line approximation between 2 points
The GPS coordinate that the second pre-determined distance of line interval (such as 0.5m) acquires a point is arc-shaped to fit smoothly to.
This method collected coordinate points by 1,2 ..., name in the way of N, and be referred to section partition number
Under, i.e., under each section subregion Na, Nb the coordinate points number of lane line be 1,2,3 ..., N.
It should be pointed out that in different embodiments of the invention, according to actual needs, above-mentioned first pre-determined distance and the
Two pre-determined distances are also configured as other reasonable values, wherein the second pre-determined distance is preferably less than the first pre-determined distance, with true
Protect the accuracy of bend lane line.
This method can be by two neighboring coordinate points line in same subregion, according to real road structure and lane line connection side
Formula builds the high-precision map of entire test site, and precision reaches lane line rank (such as Centimeter Level).Wherein, each region is most
The point line of periphery can constitute a polygon.
When determining residing section subregion of the vehicle to be analyzed in place according to vehicle location coordinate, this method is preferably
Judge whether vehicle to be analyzed is in each of the point line formation of each section subregion outermost respectively according to vehicle location coordinate
In a polygon, it is also assured that out the section subregion corresponding to the internal polygon comprising vehicle to be analyzed in this way, to
Obtain residing section subregion of the vehicle to be analyzed in place.
Specifically, in the present embodiment, this method advantageously according to vehicle location coordinate and polygon fixed point coordinate, along inverse
Clockwise, judges whether vehicle to be analyzed is always at the left side for the line segment for constituting polygon, wherein if it is, judgement
Vehicle to be analyzed is in the polygon.
For example, as shown in Figure 6, it is assumed that there are two point P1, (coordinate is (x in polygon6,y6)) and P2 (coordinate be (x7,
y7)), if to judge target point A (coordinate is (x, y)) whether in the polygon, in the present embodiment, this method is excellent
Selection of land can be first according to following expression calculating parameter T：
T=(y-y6)(x7-x6)-(x-x6)(y7-y6) (1)
Then, this method can judge whether the value of parameter T is greater than or equal to zero.Wherein, if the value of parameter T is more than
Zero, then then showing that target point A is located at line segment P1-P2Left side (i.e. by point P1To point P2Directed line segment left side)；If ginseng
The value of number T is equal to zero, then then showing that target point A is located at line segment P1-P2On；And if the value of parameter T is less than zero,
Then show that target point A is located at line segment P1-P2Right side.
For constituting the line segment of the polygon, this method can be distinguished according to sequence counterclockwise by identical principle
Judge target point A and line segment P1-P2, line segment P2-P3..., line segment Pn-1-PnPosition relationship.Wherein, if A points exist always
The left side (including on line segment) of above-mentioned line segment, the i.e. value of parameter T be consistently greater than or zero, then this method can also think
Target point is in the polygon.And the minus line segment of the value of parameter T is enabled simply by the presence of one, then this method is also
Think target point outside the polygon.
Since the lane line map of entire test site can be divided into multiple section subregions, each section subregion is outermost
The point enclosed can constitute a polygon, and two points of arbitrary neighborhood can be linked to be a line segment, therefore this method can be with
Residing section subregion of the vehicle to be analyzed in place is determined using the above method.
It should be pointed out that there is the driving trace due to vehicle continuity, this method to determine vehicle to be analyzed
When residing section subregion in place, it can sentence in conjunction with residing section subregion of the previous moment vehicle to be analyzed in place
It is disconnected to be presently in section subregion, to reduce data processing amount.
Specifically, if section subregion residing for previous moment vehicle is the areas 3a, since the driving trace of vehicle has
Continuity, therefore section subregion residing for current time vehicle may be then the areas 3a, the areas 4a or the areas 3b.It can also reduce in this way
Unnecessary data processing amount, to improve the efficiency of this method.
Certainly, in other embodiments of the invention, this method can also be determined to be analyzed using other rational methods
Section subregion residing for vehicle, the invention is not limited thereto.
In the present embodiment, this method in default place map data base after transferring the coordinate of lane line collection point, meeting
In step S402 based on vehicle's contour coordinate and the coordinate of lane line collection point come judge vehicle's contour formed line segment with
Two neighboring lane line collection point is formed by line segment with the presence or absence of intersection point in lane line.
Fig. 7 shows that this method judges that two lines section whether there is the implementation process schematic diagram of intersection point in the present embodiment, with
Lower combination two lines section shown in Fig. 8 is further elaborated the process, wherein what line segment KT was characterized can be vehicle
On one side, what line segment MR was characterized can be the point company of residing section subregion outermost of the vehicle to be analyzed in place to certain of profile
The a line for the polygon that line is constituted.
As shown in Figure 7 and Figure 8, in the present embodiment, this method is judging line segment line segment KT and line segment MR with the presence or absence of intersection point
When, it first can be in step s 701 according to two endpoint (i.e. endpoint K of first line segment (such as line segment KT) in two lines section
With endpoint T) coordinate, determine the linear equation of first line segment.
This method has had confirmed the apex coordinate of vehicle's contour in above-mentioned steps, and what line segment KT was characterized is vehicle
Certain of profile on one side, therefore certain two adjacent vertex of two endpoints of line segment KT i.e. vehicle's contour, the two ends
The coordinate of point is clearly known.According to the coordinate of the two endpoints, this method can also build to obtain first line segment institute
Locate the linear equation of straight line.
Similarly, this method can also be in step S702 according to two endpoints of the Article 2 line segment in two lines section
Coordinate, to determine the linear equation of Article 2 line segment.It is on the scene that this method has extracted vehicle to be analyzed in above-mentioned steps
The coordinate of the lane line collection point of residing section subregion in ground, what Article 2 line segment was characterized is vehicle to be analyzed in place
Residing section subregion outermost the point line a line of polygon that is constituted, therefore two endpoints of Article 2 line segment
Coordinate is also known.According to the coordinate of the two endpoints, this method can equally build to obtain residing for Article 2 line segment
The linear equation of straight line.
In step S703, this method meeting simultaneous above-mentioned two linear equation, and judge whether simultaneous equations have solution.Its
In, if simultaneous equations without solution, also mean that intersection point (two straight line parallels i.e. in plane) is not present in this two straight lines,
Therefore intersection point is also just necessarily not present with Article 2 line segment in first line segment.
And if simultaneous equations have solution, party's rule that can further judge the solution of the simultaneous equations in step S705
Quantity whether be one (i.e. only whether there are one solutions for simultaneous equations).If only there are one solutions for simultaneous equations, also with regard to table
Show that there are intersection points for this two straight lines.However, two straight lines not necessarily indicate the two lines section in this two straight lines there are intersection point
There is also intersection points.Therefore, in the present embodiment, method will judge the longitude or latitude of the solution of simultaneous equations in step S706 at this time
Whether degree is within the longitude intersection or latitude intersection of two lines section.If so, party's rule can judge in step S709
There are intersection points for this two lines section, otherwise can then judge that intersection point is not present in this two lines section in step S704.
And if simultaneous equations there are infinite solutions, as shown in fig. 7, in the present embodiment, party's rule can be in step S707
Take two endpoints of wherein one line segment, and judge in step S708 the two endpoints longitude or latitude whether at another
Within the longitude range or latitude scope of line segment.Wherein, if at least one in above-mentioned two endpoint is in another line segment
Within longitude range or latitude scope, then this method can also judge this two lines section there are intersection point in step S709,
Otherwise it can then judge that intersection point is not present in this two lines section in step S704.
Certainly, in other embodiments of the invention, according to actual needs, this method can also use other rational methods
Two neighboring lane line collection point is formed by line segment with the presence or absence of friendship in line segment and lane line to judge vehicle's contour formation
Point, the invention is not limited thereto.
Based on above-mentioned principle, this method also it may determine that go out to constitute each line segment of vehicle's contour with it is adjacent in lane line
Two lane line collection points are formed by each line segment and whether there is intersection point.
Again as shown in figure 4, in the present embodiment, as long as two neighboring track in line segment and lane line that vehicle's contour is formed
Line collection point is formed by each line segment a line segment there are intersection point, then this method is also it is determined that vehicle to be analyzed at this time
There is currently crimping behaviors；And if vehicle's contour formed line segment and lane line in two neighboring lane line collection point institute shape
At each line segment all be not present intersection point, then this method is also it is determined that there is currently no crimping rows for vehicle to be analyzed at this time
For.
From foregoing description as can be seen that vehicle crimping detection method provided by the present invention based on vehicle geometric profile come
In real time, automatically detect vehicle whether crimping.Compared to existing detection method, the detection of detection method provided by the present invention
Precision higher, real-time are more preferable, can be applicable in the automatic driving vehicle test evaluation of different automobile types, the portable with height
Property, the test and its quantitative assessment of automatic driving vehicle level of intelligence are can be widely applied to, it is unmanned to peomote
The fast development of technology ensures the traveling that automatic driving vehicle can be safe under true traffic environment.
It should be understood that disclosed embodiment of this invention is not limited to specific structure disclosed herein or processing step
Suddenly, the equivalent substitute for these features that those of ordinary skill in the related art are understood should be extended to.It should also be understood that
It is that term as used herein is used only for the purpose of describing specific embodiments, and is not intended to limit.
" one embodiment " or " embodiment " mentioned in specification means the special characteristic described in conjunction with the embodiments, structure
Or characteristic includes at least one embodiment of the present invention.Therefore, the phrase " reality that specification various places throughout occurs
Apply example " or " embodiment " the same embodiment might not be referred both to.
Although above-mentioned example is used to illustrate principle of the present invention in one or more application, for the technology of this field
For personnel, without departing substantially from the principle of the present invention and thought, hence it is evident that can in form, the details of usage and implementation
It is upper that various modifications may be made and does not have to make the creative labor.Therefore, the present invention is defined by the appended claims.
Claims (10)
1. a kind of vehicle crimping detection method, which is characterized in that the method includes：
Step 1: obtaining the vehicle location coordinate of vehicle to be analyzed, wherein in the vehicle location coordinate characterization vehicle vehicle's contour
The coordinate of specified point；
Step 2: determining vehicle's contour coordinate according to the vehicle location coordinate；
Step 3: judging that vehicle's contour is with the lane line in test site according to the vehicle's contour coordinate and track line coordinates
No there are intersection points, wherein if it is present there is currently crimping behaviors for the judgement vehicle to be analyzed, is otherwise waited for described in judgement
Analyzing vehicle, there is currently no crimping behaviors.
2. the method as described in claim 1, which is characterized in that in the step 2, the vertex based on vehicle's contour and institute
The relative distance relationship for stating specified point in vehicle's contour determines that the vertex of the vehicle's contour is sat according to the vehicle location coordinate
Mark.
3. method as claimed in claim 2, which is characterized in that in the step 2,
According to the vehicle location coordinate and course angle, first straight line equation is built；
The relative distance relationship on vertex and specified point in the vehicle's contour based on vehicle's contour, according to the first straight line side
Journey builds the linear equation for the straight line that two neighboring vertex is formed in four vertex of vehicle's contour respectively, corresponding to obtain four tops
Point linear equation；
The intersection point for calculating separately four vertex―straight line equations obtains the apex coordinate of the vehicle's contour.
4. the method as described in claim 1, which is characterized in that in the step 2, the vertex based on the vehicle's contour
With the default quantitative relationship in the vehicle's contour between specified point and course angle, according to the vehicle location coordinate of the vehicle and
Course angle determines the apex coordinate of the vehicle's contour.
5. method as described in any one of claims 1 to 4, which is characterized in that in the step 3,
The coordinate that lane line collection point is transferred from default place map data base, according to the coordinate of the lane line collection point and
Vehicle's contour coordinate judges that the line segment that the vehicle's contour is formed is formed with two neighboring lane line collection point in the lane line
Line segment whether there is intersection point, wherein if there is intersection point, then judge the vehicle to be analyzed there is currently crimping behavior, it is no
Then judge that there is currently no crimping behaviors for the vehicle to be analyzed.
6. method as claimed in claim 5, which is characterized in that when judging that two lines section whether there is intersection point,
According to the coordinate of two endpoints of first line segment in two lines section, the linear equation of first line segment is determined；
According to the coordinate of two endpoints of Article 2 line segment in two lines section, the linear equation of the Article 2 line segment is determined；
The linear equation of the linear equation and Article 2 line segment of first line segment, judges whether simultaneous equations have solution described in simultaneous,
Wherein, if without solution, judge that intersection point is not present in two lines section.
7. method as claimed in claim 6, which is characterized in that if simultaneous equations further judge simultaneous there are one solution
The longitude or latitude of non trivial solution whether within the longitude intersection or latitude intersection of two lines section, if it is, judge this two
There are intersection points for line segment, otherwise judge that intersection point is not present in this two lines section；
If simultaneous equations there are infinite solution, take two endpoints of wherein one line segment, and judge the longitude of the two endpoints
Or whether latitude within the longitude range of another line segment or latitude scope, if in the two endpoints at least one point warp
Degree or latitude then judge that there are intersection points for this two lines section, otherwise sentence within the longitude range of another line segment or latitude scope
Intersection point is not present in this fixed two lines section.
8. the method as described in any one of claim 5~7, which is characterized in that stored in the default place map office
The coordinate of lane line collection point is divided according to section subregion, in the step 3, from default place map datum
Before the coordinate for transferring lane line collection point in library, determine the vehicle to be analyzed in place also according to the vehicle location coordinate
Residing section subregion, and transferred corresponding to section subregion residing for the vehicle to be analyzed from the default place map office
The coordinate of lane line collection point.
9. method as claimed in claim 8, which is characterized in that determining residing section of the vehicle to be analyzed in place
When subregion,
Judge whether vehicle to be analyzed is in the point line of each section subregion outermost respectively according to the vehicle location coordinate
In each polygon formed, the section subregion corresponding to the internal polygon comprising the vehicle to be analyzed is determined, to
To residing section subregion of the vehicle to be analyzed in place.
10. method as claimed in claim 9, which is characterized in that sat according to the vertex of the vehicle location coordinate and polygon
Mark, in the counterclockwise direction, judges whether the vehicle to be analyzed is always at the left side for the line segment for constituting the polygon,
In, if it is, the judgement vehicle to be analyzed is in the polygon.
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