CN108536139B - 驾驶车辆的系统和方法 - Google Patents
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Abstract
一种车辆以及驾驶所述车辆的系统和方法。雷达系统获得车辆环境中的对象的测量位置。处理器预测对象的位置,确定对象的预测位置和对象的测量位置之间的距离,基于所述确定的距离确定对象的预测位置的置信度,基于所述置信度选择对象跟踪状态,并且根据所述对象的所述跟踪状态驾驶车辆以避开所述对象。处理器和雷达系统可以在车辆上。
Description
技术领域
本公开涉及用于对相对于车辆的目标进行跟踪的系统和方法,具体涉及基于轨道的估计置信度激活和停用跟踪。
背景技术
车辆越来越多地包括驾驶辅助技术以提供更安全的驾驶,并且预期会有自主或“无人驾驶”的车辆。这种技术需要能够定位和跟踪对象或目标,例如相对于所述车辆的另一车辆或行人。由于在车辆环境中往往有很多目标,所以需要跟踪许多目标,并确定需要跟踪的目标的优先顺序。
跟踪保持定义了何时开始或结束跟踪以及在何种条件下跟踪应被激活或停用。跟踪保持的一种方法记录对象的预测位置是否在多个时间步骤期间击中或错过对象的测量或实际位置,当记录到有足够数量的击中时激活跟踪,当记录到有足够数量的错过时停止跟踪。这种跟踪方法没有考虑预测位置的置信度或预测位置与测量位置有多近。因此,期望提供一种基于可归因于预测位置和测量位置之间的相对距离的置信度来激活和/或停用跟踪的方法。
发明内容
在一个示例性实施例中,公开了一种驾驶车辆的方法。该方法包括确定在选定时间车辆环境中的对象的预测位置和在选定时间对象的测量位置之间的距离,基于所述确定的距离确定对象的预测位置的置信度,基于所述置信度选择对象跟踪状态,并且根据所述对象的所述跟踪状态驾驶车辆以避开所述对象。
可以基于对象的选定轨道来估计车辆的路线,车辆可以沿着估计路线行驶。对象在选定时间的位置可以使用对象的先前状态来预测。确定置信度可以包括定义围绕预测位置的区域,将置信度函数定义为区域中的距离的函数,并且如置信度函数所指示的那样确定与所确定的距离相对应的置信度。在各种实施例中,置信度函数随着与预测位置之间的距离而减小,其为以下函数之一:线性函数、双曲线函数和指数函数。置信度函数在预测位置可能最大,在区域的边界下降为零。当置信度上升到激活阈值以上时,对象的跟踪可以被激活,并且当置信度下降到停用阈值以下时,对象的跟踪可以被停用。
在另一示例性实施例中,公开了一种驾驶车辆的系统。该系统包括用于获得车辆环境中的对象的测量位置的雷达系统,以及处理器。该处理器被配置为预测对象的位置,确定对象的预测位置和对象的测量位置之间的距离,基于所述确定的距离确定对象的预测位置的置信度,基于所述置信度选择对象跟踪状态,并且根据所述对象的所述跟踪状态驾驶车辆以避开所述对象。
该系统可以包括避碰系统,该避碰系统基于所选择的对象的跟踪来确定避开对象的车辆的路线并且沿着估计路线驾驶车辆。处理器可以使用对象的先前状态预测对象在选定时间的位置。处理器可以通过定义围绕预测位置的区域,将置信度函数定义为区域中的距离的函数,并且如置信度函数所指示的那样确定与所确定的距离相对应的置信度来确定置信度。在各种实施例中,置信度函数随着与预测位置之间的距离而变化,其为以下函数之一:线性函数、双曲线函数和指数函数。置信度函数在预测位置可能最大,在区域的边界下降为零。当置信度上升到激活阈值以上时,处理器可以激活对对象的跟踪,并且当置信度下降到停用阈值以下时,处理器可以停用对对象的跟踪。
在又一示例性实施例中,公开了一种车辆。该车辆包括用于获得车辆环境中的对象的测量位置的雷达系统,以及处理器。该处理器被配置为预测对象的位置,确定对象的预测位置和对象的测量位置之间的距离,基于所述确定的距离确定对象的预测位置的置信度,基于所述置信度选择对象跟踪状态,并且根据所述对象的所述跟踪状态驾驶车辆以避开所述对象。
该车辆可以包括避碰系统,该避碰系统基于所选择的对象的跟踪来确定避开对象的车辆的路线并且沿着估计路线驾驶车辆。处理器可以基于对象的先前状态预测对象的位置。处理器可以通过定义围绕预测位置的区域,将置信度函数定义为区域中的距离的函数,并且如置信度函数所指示的那样确定与所确定的距离相对应的置信度来确定置信度。在各种实施例中,置信度函数随着与预测位置之间的距离而减小,其为以下函数之一:线性函数、双曲线函数和指数函数。当置信度上升到激活阈值以上时,处理器可以激活对对象的跟踪,并且当置信度下降到停用阈值以下时,处理器可以停用对对象的跟踪。
从以下结合附图的详细描述中,本公开的以上特征和优点以及其他特征和优点将变得显而易见。
附图说明
其他特征、优点和细节,仅作为示例,出现在以下详细描述中,该详细描述参考附图,其中:
图1示出一种车辆,比如汽车,其包括相对于车辆环境中的各种对象驾驶车辆的自主驾驶系统;
图2示出了在一个实施例中用于确定对象的置信度的方法的示意图;
图3示出了用于基于置信度确定是否跟踪对象的过程;以及
图4示出了在一个实施例中相对于对象或者为了避免与对象碰撞的驾驶车辆的方法的流程图。
具体实施方式
以下描述本质上仅仅是示例性的,并不意图限制本公开以及其应用或用途。应该理解,在整个本附图中,相应的附图标记表明类似或相应的部分及特征。
根据本公开的示例性实施例,图1示出车辆100,比如汽车,其包括相对于车辆环境中的各种对象驾驶车辆100的自主驾驶系统102。自主驾驶系统102包括适于提供射频信号的雷达系统104,该射频信号可用于确定各种对象相对于车辆100的距离和/或相对速度。在图1所示的实施例中,雷达系统104包括发射器106和接收器108。在替代实施例中,雷达系统104可以是包括发射器阵列和接收器阵列的MIMO(多输入多输出)雷达系统。雷达系统104控制并操作发射器106以产生射频波前(“源信号”120)。在一个实施例中,源信号120包括经常被称为啁啾信号的线性调频连续波(LFM-CW)。可选地,源信号120可以是脉冲信号或脉冲信号和啁啾信号的组合。源信号120被车辆100环境中的各种对象反射。图1中所示的示例性对象包括但不限于行人122、车辆124、灯柱126和路缘128。这些对象中的一些(例如灯柱126和路缘128)在其环境中是静止的,而其他对象(例如行人122和车辆124)相对于其环境运动。车辆124的运动由向量v 1 表示,行人122的运动由向量v 2 表示。这些对象中的每一个响应于接收到源信号122而生成反射信号。行人122产生反射信号130。车辆124产生反射信号132。灯杆126产生反射信号134。路缘128产生反射信号136。回波信号在雷达系统104的接收器108处被接收,雷达系统104通常包括用于对回波信号130、132、134、136进行采样的电路。回波信号130、132、134、136由雷达系统104提供给控制单元110,控制单元110包括处理器114,处理器114执行本文公开的用于跟踪对象中的至少一个的方法以及激活和停用对该至少一个对象的跟踪的方法。
控制单元110激活对对象的跟踪并将轨道提供给避碰系统112。避碰系统112控制转向和加速/减速分量以对车辆100执行适当的操纵以避开对象。通过跟踪对象,车辆100可以,例如,通过加速或减速车辆100或转向来避开对象。可选地,控制单元110可以提供信号以警告车辆100的驾驶员,使得驾驶员可以采取任何合适的动作来避开该对象。
为了向避碰系统112提供对象的轨道,控制单元110确定或选择对象的跟踪状态。控制单元110预测在给定时间对象将处于的位置,然后从雷达系统104接收在给定时间对象的实际位置的测量结果。确定测量位置和预测位置之间的距离。该距离用于获得表示预测位置的置信度的值。置信度是距离的函数,并通常随着预测位置和测量位置之间的距离增加而减小。置信度可以与各种阈值进行比较,以便激活对象的跟踪或停用对象的跟踪。主动轨道被提供给避碰系统112。
图2示出了在一个实施例中用于确定对象的置信度的方法的示意图200。示意图200包括跟踪图202和置信度函数204。跟踪图202示出了对象的轨道206。轨道206连接不同时间步长(0……k-1)上对象的各种状态S 0 ……S(k-3)、S(k-2)、S(k-1)。每个状态由其状态变量表示,其中包括对象的位置和速度向量。例如,状态S(k-1)由其位置向量及其速度向量表示。
跟踪图202还示出时间步长k处的预测状态S(k)和测量状态M(k)。预测状态S(k)由位置向量和速度向量表示。测量状态M(k)由位置向量和速度向量表示。在时间步长k-1处的状态S(k-1)的状态变量可以用来预测对象在时间步长k处的状态S(k)。在时间步长k处,雷达系统(104,图1)获得对象的测量状态M(k)。
一旦获得预测状态S(k)和测量状态M(k),就可以由它们的位置向量确定S(k)和M (k)之间的距离。确定对象的预测位置和对象的测量位置(即距离)之间的距离。基于预测状态S(k)和测量状态M(k)之间的距离d来确定预测状态S(k)的置信度。特别地,将所确定的距离d输入到置信度函数w中,以获得对象的预测状态S(k)的置信度,如方程(1)所示:
置信度函数w是相对于预测位置定义的函数。示例性置信函数204在图2中示出。在一个实施例中,一旦预测到对象的位置,就在预测位置周围定义区域,其中该区域是具有半径R 最大值 的球形区域。置信函数w可以是线性函数,或者可以是在该区域内定义的双曲线函数、幂函数、指数函数等。置信度函数具有最大值,通常在对象的预测位置处等于1,并且随着与预测位置的距离而减小。在各种实施例中,置信度函数在定义区域的半径R 最大值 处下降为零。图2的说明性置信度函数在预测位置处具有一个值,并且在与预测位置的距离为R 最大值 处线性下降为零。
图3示出了用于基于置信度305确定是否跟踪对象的过程。图300示出说明性轨道的置信度的时间演变。置信度(Conf)显示在纵坐标上。时间显示在横坐标上。为了说明的目的,沿着纵坐标轴示出了两个阈值。第一阈值是激活阈值(Conf 激活阈值 )301。第二阈值是停用阈值(Conf 停用阈值 )303。停用阈值303低于激活阈值301,即Conf 激活阈值 >Conf 停用阈值 。当对象的置信度305从低于激活阈值301上升到高于激活阈值301时,控制单元110激活对对象的跟踪。当对象的置信度305从高于停用阈值303下降到低于停用阈值303时,控制单元110停用对对象的跟踪。
如图3所示,置信度305在时间A与时间B之间的时间间隔内上升,在此期间处理器不跟踪对象,即T 激活阈值 =0。在时间B处,置信度305上升到激活阈值301之上(即,Conf> Conf 激活阈值 ),由此在控制单元110处启动跟踪程序以跟踪对象。在时间B和时间C之间的时间间隔内,置信度305保持在停用阈值303之上,因此处理器继续跟踪对象,即T 激活阈值 =1。在点C处,置信度305下降到停用阈值303以下(即,Conf<Conf 停用阈值 ),从而导致处理器停用对对象的跟踪,即T 激活阈值 =0。
图4示出了在一个实施例中相对于对象或者为了避免与对象发生干扰的驾驶车辆的方法的流程图400。在框402中,预测对象在选定时间的位置。在框404中,获得对象在选定时间的测量位置。在框406中,确定预测位置与测量位置之间的距离。在框408中,针对确定的距离确定置信度,在框410中,置信度被用于确定对象的跟踪状态。在框412中,基于对对象的跟踪,相对于对象操纵车辆(例如避开对象)。
因此,本文所公开的跟踪方法考虑到与预测的预测位置与测量位置之间的距离相关联的置信度,以便选择用于跟踪的对象。因此,控制单元110不保持对与其具有低置信度的对象的跟踪。因此,本文所公开的方法减少了被跟踪对象的数量,从而减少了用于跟踪对象的处理器的计算次数。
虽然已经参照示例性实施例描述了以上公开内容,但是本领域技术人员将会理解,在不脱离其范围的情况下,可以做出各种改变并且可以用等同物替换其元件。另外,在不脱离本发明的实质范围的情况下,可以进行许多修改以使特定的情况或材料适应本公开的教导。因此,意图是本公开不限于所公开的特定实施例,而是将包括落入本申请范围内的所有实施例。
Claims (6)
1.一种驾驶车辆的方法,包括:
确定在选定时间所述车辆环境中的对象的预测位置和在所述选定时间所述对象的测量位置之间的距离;
基于确定的距离确定所述对象的所述预测位置的置信度,其中确定所述置信度进一步包括定义围绕所述预测位置的区域,将置信度函数定义为所述区域中的距离的函数,并且如所述置信度函数所指示的那样确定与所述确定的距离相对应的置信度;
基于所述置信度选择所述对象的跟踪状态;以及
根据所述对象的所述跟踪状态驾驶所述车辆以避开所述对象;
其中所述方法还包括:当所述置信度上升到激活阈值以上时激活所述对象的所述跟踪,并且当所述置信度下降到停用阈值以下时停用所述对象的所述跟踪。
2.根据权利要求1所述的方法,进一步包括基于所述对象的选定轨道确定所述车辆的路线,并且沿着所确定的路线驾驶所述车辆。
3.根据权利要求1所述的方法,进一步包括使用所述对象的先前状态预测所述对象在所述选定时间的位置。
4.一种驾驶车辆的系统,包括:
雷达系统,其用于获得所述车辆环境中的对象的测量位置;
处理器,其配置成:
预测所述对象的位置,
确定所述对象的预测位置和所述对象的所述测量位置之间的距离,
基于确定的距离确定所述对象的所述预测位置的置信度,
基于所述置信度选择所述对象的跟踪状态,以及
根据所述对象的所述跟踪状态驾驶所述车辆以避开所述对象,
其中所述处理器通过定义围绕所述预测位置的区域,将置信度函数定义为所述区域中的距离的函数,并且如所述置信度函数所指示的那样确定与所述确定的距离相对应的置信度来确定所述置信度,
其中所述处理器在所述置信度上升到激活阈值以上时激活所述对象的所述跟踪,并且在所述置信度下降到停用阈值以下时停用所述对象的所述跟踪。
5.根据权利要求4所述的系统,进一步包括避碰系统,所述避碰系统基于所选择的所述对象的跟踪来确定避开所述对象的所述车辆的路线并且沿着所估计的路线驾驶所述车辆。
6.根据权利要求4所述的系统,其中所述处理器使用所述对象的先前状态预测所述对象在选定时间的位置。
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