CN109263644B - Target identification method and device - Google Patents

Target identification method and device Download PDF

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Publication number
CN109263644B
CN109263644B CN201811141107.2A CN201811141107A CN109263644B CN 109263644 B CN109263644 B CN 109263644B CN 201811141107 A CN201811141107 A CN 201811141107A CN 109263644 B CN109263644 B CN 109263644B
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Prior art keywords
vehicle
road
curve
target
road information
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CN201811141107.2A
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CN109263644A (en
Inventor
王学鹏
孟梅
张广清
于双飞
管珊珊
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Weichai Power Co Ltd
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Weichai Power Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/072—Curvature of the road

Abstract

The invention discloses a target identification method and a device, which are used for collecting road information within a preset distance from a positioning center of a vehicle; calculating a road curve of the road where the vehicle is located according to the road information; and the target vehicle identified on the target identification area positioned in front of the vehicle in the road curve is used as a main target. According to the method and the device, the automatic cruise control function of the vehicle can more accurately select the main target vehicle in front of the vehicle by calculating the road curve according to the road information, so that the damage to a driver caused by the loss or the selection error of the main target is avoided.

Description

Target identification method and device
Technical Field
The invention relates to the field of data processing, in particular to a target identification method and a target identification device.
Background
Adaptive cruise control is an automotive function that allows a vehicle cruise control system to adapt to traffic conditions by adjusting speed. The function detects whether a target vehicle exists on the advancing road of the vehicle during the running process of the vehicle, and adjusts the speed of the vehicle according to the detection result and the state of the target vehicle.
The target recognition method adopted in the existing cruise control system on the market generally only recognizes a target through one millimeter wave radar sensor, when a vehicle runs on a curve, if the radian of the curve is large, the target is easy to lose, and if a plurality of targets exist on the curve, the wrong target is easy to recognize.
Disclosure of Invention
The invention provides a target identification method and a target identification device, which can solve the problem that in the prior art, only one millimeter wave radar is adopted to identify a target, so that the target is lost or identified incorrectly, and danger is brought to a driver.
In order to achieve the purpose, the invention provides the following technical scheme:
an object recognition method, comprising:
collecting road information within a preset distance from a positioning center of a vehicle;
calculating a road curve of the road where the vehicle is located according to the road information;
and the target vehicle identified on the target identification area positioned in front of the vehicle in the road curve is used as a main target.
Optionally, the acquiring the road information within a preset distance from the positioning center of the vehicle includes:
and collecting road information within a preset distance from a positioning center of the vehicle from a road map and a positioning system.
Optionally, the calculating a road curve of the road on which the vehicle is located according to the road information includes:
establishing a rectangular coordinate system by taking the current position of the positioning center of the vehicle as an origin, wherein x is a horizontal coordinate, and y is a vertical coordinate;
and calculating the road curve according to the current position of the positioning center of the vehicle and the road information, wherein the road curve is represented by a formula of y ═ ax2+ bx + c, and a, b and c are constants.
Optionally, after the calculating the road curve according to the current position of the positioning center of the vehicle and the road information, the method further includes:
taking the road curve as a central line, and forming a curve belt by taking two curves of y-ax 2+ bx + c-d and y-ax 2+ bx + c + d;
and taking the area in the curve belt positioned in front of the vehicle as a target identification area.
An object recognition apparatus comprising:
the acquisition unit is used for acquiring road information within a preset distance from a positioning center of a vehicle;
the calculation unit is used for calculating a road curve of the road where the vehicle is located according to the road information;
and the identification unit is used for identifying a target vehicle on a target identification area positioned in front of the vehicle in the road curve as a main target.
Optionally, the collecting unit is configured to collect road information within a preset distance from a positioning center of the vehicle from a road map and a positioning system.
Optionally, the computing unit includes:
the system comprises an establishing unit, a calculating unit and a calculating unit, wherein the establishing unit is used for establishing a rectangular coordinate system by taking the current position of the positioning center of the vehicle as an origin, wherein x is a horizontal coordinate, and y is a vertical coordinate;
a first calculating subunit, configured to calculate the road curve according to the current position of the positioning center of the vehicle and the road information, where the road curve is represented by a formula y ═ ax2+ bx + c, where a, b, and c are constants.
Optionally, the object recognition apparatus further includes:
the second calculating subunit is used for forming a curve belt by taking the road curve as a central line and taking two curves of y ═ ax2+ bx + c-d and y ═ ax2+ bx + c + d;
and taking the area in the curve band in front of the vehicle as a target identification area.
According to the technical scheme, the target identification method and the target identification device collect road information within a preset distance from a positioning center of a vehicle; calculating a road curve of the road where the vehicle is located according to the road information; and the target vehicle identified on the target identification area positioned in front of the vehicle in the road curve is used as a main target. According to the method and the device, the automatic cruise control function of the vehicle can more accurately select the main target vehicle in front of the vehicle by calculating the road curve according to the road information, so that the damage to a driver caused by the loss or the selection error of the main target is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of a target identification method disclosed in the embodiments of the present invention;
FIG. 2 is a schematic view of a curve in which the vehicle is located;
fig. 3 is a schematic diagram of a target identification apparatus according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a target identification method and a target identification device, which can solve the problem that in the prior art, only one millimeter wave radar is adopted to identify a target, so that the target is lost or identified incorrectly, and danger is brought to a driver.
As shown in fig. 1, an embodiment of the present invention discloses a target method, including the following steps:
s101, collecting road information within a preset distance from a positioning center of a vehicle.
Optionally, the road information within a preset distance from the positioning center of the vehicle may be collected from a road map and a positioning system.
And S102, calculating a road curve of the road where the vehicle is located according to the road information.
Optionally, as shown in fig. 2, a schematic diagram of a curve where a vehicle is located is shown, and a rectangular coordinate system is established with a current position of a positioning center of the vehicle as an origin, where x is an abscissa and y is an ordinate.
And calculating the road curve according to the current position of the positioning center of the vehicle and the road information.
The road curve may be represented by the formula y ═ ax2+ bx + c, where a, b, and c are constants. The road curve may also be represented by other functions.
Optionally, after the calculating the road curve according to the current position of the positioning center of the vehicle and the road information, the method further includes:
and taking the road curve as a central line, and forming a curve belt by taking two curves of y-ax 2+ bx + c-d and y-ax 2+ bx + c + d.
As shown in fig. 2, two curves, i.e., y ═ ax2+ bx + c-d and y ═ ax2+ bx + c + d, are generated by positively and negatively offsetting a preset value from a center curve, i.e., y ═ ax2+ bx + c, and the preset value can be set in a specific situation.
And taking the area in the curve belt positioned in front of the vehicle as a target identification area.
And S103, taking the target vehicle identified on the target identification area positioned in front of the vehicle in the road curve as a main target.
As shown in fig. 2, since the target recognition area of the present invention is the same curve band as the curve of the curve, the target vehicle a on the same road is necessarily selected without selecting the target vehicle B on the other road when selecting the main target vehicle, ensuring the accuracy of the main target selection.
In the target identification method disclosed in this embodiment, road information within a preset distance from a positioning center of a vehicle is collected; calculating a road curve of the road where the vehicle is located according to the road information; and the target vehicle identified on the target identification area positioned in front of the vehicle in the road curve is used as a main target. According to the method and the device, the automatic cruise control function of the vehicle can more accurately select the main target vehicle in front of the vehicle by calculating the road curve according to the road information, so that the damage to a driver caused by the loss or the selection error of the main target is avoided.
Based on the object recognition method disclosed in the above embodiment of the present invention, fig. 3 specifically discloses an object recognition device applying the object recognition method.
As shown in fig. 3, another embodiment of the present invention discloses an object recognition apparatus, which includes:
the acquisition unit 301 is used for acquiring road information within a preset distance from a positioning center of a vehicle;
a calculating unit 302, configured to calculate a road curve of a road where the vehicle is located according to the road information;
an identifying unit 303, configured to identify, as a main target, a target vehicle identified on a target identification area located in front of the vehicle in the road curve.
Optionally, the collecting unit 301 is configured to collect road information within a preset distance from a positioning center of the vehicle from a road map and a positioning system.
Optionally, the calculating unit 302 includes:
the system comprises an establishing unit, a calculating unit and a calculating unit, wherein the establishing unit is used for establishing a rectangular coordinate system by taking the current position of the positioning center of the vehicle as an origin, wherein x is a horizontal coordinate, and y is a vertical coordinate;
a first calculating subunit, configured to calculate the road curve according to the current position of the positioning center of the vehicle and the road information, where the road curve is represented by a formula y ═ ax2+ bx + c, where a, b, and c are constants.
Optionally, the calculating unit 302 further includes:
the second calculating subunit is used for forming a curve belt by taking the road curve as a central line and taking two curves of y ═ ax2+ bx + c-d and y ═ ax2+ bx + c + d;
and taking the area in the curve band in front of the vehicle as a target identification area.
For the specific working processes of the acquisition unit 301, the calculation unit 302 and the identification unit 303 in the target identification device disclosed in the embodiment of the present invention, reference may be made to the corresponding contents in the target identification method disclosed in the above embodiment of the present invention, and details are not described here again.
In the target recognition device disclosed in this embodiment, the acquisition unit acquires road information within a preset distance from a positioning center of a vehicle; the calculation unit calculates a road curve of the road where the vehicle is located according to the road information; the identification unit identifies a target vehicle, as a main target, on a target identification area located in front of the vehicle in the road curve. According to the method and the device, the automatic cruise control function of the vehicle can more accurately select the main target vehicle in front of the vehicle by calculating the road curve according to the road information, so that the damage to a driver caused by the loss or the selection error of the main target is avoided.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (4)

1. A method of object recognition, comprising:
collecting road information within a preset distance from a positioning center of a vehicle;
according to the road information, calculating a road curve of the road where the vehicle is located, wherein the road curve comprises the following steps: establishing a rectangular coordinate system by taking the current position of the positioning center of the vehicle as an origin, wherein the driving direction of the vehicle is taken as an abscissa x, and the direction perpendicular to the driving direction is taken as an ordinate y;
calculating the road curve according to the current position of the positioning center of the vehicle and the road information, wherein the road curve is represented by the formula y ═ ax2+ bx + c, wherein a, b, c are constants;
taking the road curve as a central line, and taking y as ax2+ bx + c-d and y ═ ax2The two curves of + bx + c + d form a curve band;
taking an area in the curve band in front of the vehicle as a target identification area;
and the target vehicle identified on the target identification area positioned in front of the vehicle in the road curve is used as a main target.
2. The object recognition method of claim 1, wherein the collecting road information within a preset distance from a positioning center of a vehicle comprises:
and collecting road information within a preset distance from a positioning center of the vehicle from a road map and a positioning system.
3. An object recognition apparatus, comprising:
the acquisition unit is used for acquiring road information within a preset distance from a positioning center of a vehicle;
the calculation unit is used for calculating a road curve of the road where the vehicle is located according to the road information;
an identification unit configured to identify a target vehicle, as a main target, identified on a target identification area located in front of the vehicle in the road curve;
the calculation unit includes:
the system comprises an establishing unit, a positioning unit and a control unit, wherein the establishing unit is used for establishing a rectangular coordinate system by taking the current position of the positioning center of the vehicle as an origin, and taking the driving direction of the vehicle as a horizontal coordinate x and the direction vertical to the driving direction as a vertical coordinate y;
a first calculating subunit, configured to calculate the road curve according to the current position of the positioning center of the vehicle and the road information, where the road curve is represented by a formula y ═ ax2+ bx + c, wherein a, b, c are constants;
a second calculating subunit, configured to use the road curve as a center line and use y as ax2+ bx + c-d and y ═ ax2The two curves of + bx + c + d form a curve band;
and taking the area in the curve band in front of the vehicle as a target identification area.
4. The object recognition device of claim 3, wherein the collection unit is configured to collect road information within a preset distance from a positioning center of the vehicle from a road map and positioning system.
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CN110422151A (en) * 2019-07-18 2019-11-08 浙江吉利新能源商用车集团有限公司 A kind of vehicle auxiliary braking method, device, system and terminal
CN110696828B (en) * 2019-11-14 2022-01-14 驭势科技（北京）有限公司 Forward target selection method and device and vehicle-mounted equipment
CN113269974A (en) * 2021-04-09 2021-08-17 东风汽车集团股份有限公司 Target loss early warning and control method and device

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JP3470453B2 (en) * 1995-04-06 2003-11-25 株式会社デンソー Inter-vehicle distance control device
JP3656301B2 (en) * 1995-12-28 2005-06-08 株式会社デンソー Obstacle warning device for vehicles
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