CN109739230A - Driving locus generation method, device and storage medium - Google Patents
Driving locus generation method, device and storage medium Download PDFInfo
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- CN109739230A CN109739230A CN201811631342.8A CN201811631342A CN109739230A CN 109739230 A CN109739230 A CN 109739230A CN 201811631342 A CN201811631342 A CN 201811631342A CN 109739230 A CN109739230 A CN 109739230A
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Abstract
The application provides a kind of driving locus generation method, device and storage medium, hot standby module of this method suitable for vehicle control syetem, the vehicle control syetem includes: main control module and hot standby module, wherein, this method comprises: when determining main control module operation irregularity, obtain reference information collection, the reference information collection includes: lane line information, the car status information of obstacle information and at least one vehicle, the effective reference information concentrated according to the reference information, generate the driving locus of automatic driving vehicle, effective reference information is the reference information that confidence level is higher than preset threshold.In the technical solution, hot standby module generates driving locus according to the reference information collection got, it can control automatic driving vehicle using the driving locus to drive safely, the security hidden trouble that the vehicle control syetem for solving automatic driving vehicle is likely to occur when breaking down.
Description
Technical field
This application involves automatic Pilot technical fields more particularly to a kind of driving locus generation method, device and storage to be situated between
Matter.
Background technique
Automatic driving vehicle is also known as automatic driving vehicle, is that one kind by computer system realizes unpiloted intelligent vehicle
, artificial intelligence, vision calculating, radar, monitoring device and global positioning system cooperative cooperating are relied on, the computer system of vehicle is made
System can operate vehicle to automatic safe in the case where unattended.
In the prior art, automatic driving vehicle in the process of moving, lead it is possible that failure problems by vehicle control syetem
It causes the driving behavior of automatic driving vehicle abnormal, there is the hidden danger for traffic accident occur.Thus, it needs to propose that a kind of method solves
The security risk that the vehicle control syetem of automatic driving vehicle is likely to occur when breaking down.
Summary of the invention
The application provides a kind of driving locus generation method, device and storage medium, to solve the vehicle of automatic driving vehicle
The problem of borne control system is likely to occur security risk when breaking down.
A kind of driving locus generation method that the application first aspect provides, the hot standby mould suitable for vehicle control syetem
Block, the vehicle control syetem include: main control module and the hot standby module, which comprises
When determining the main control module operation irregularity, reference information collection is obtained, the reference information collection includes: lane line
The car status information of information, obstacle information and at least one vehicle；
According to effective reference information that the reference information is concentrated, the driving locus of automatic driving vehicle is generated, it is described to have
Effect reference information is the reference information that confidence level is higher than preset threshold.
In a kind of possible design of first aspect, it is described according to the reference information concentrate effective reference information,
Before the driving locus for generating automatic driving vehicle, the method also includes:
Determine that the reference information concentrates the confidence level of each reference information；
The inactive reference information that the confidence level that the reference information is concentrated is lower than the preset threshold is rejected, the ginseng is retained
Examine effective reference information that information concentrates confidence level to be higher than the preset threshold.
In the alternatively possible design of first aspect, the effective reference information concentrated according to the reference information,
Generate the driving locus of automatic driving vehicle, comprising:
According to effective vehicle shape of effective lane line information and the automatic driving vehicle in effective reference information
State information determines the destination path track of the automatic driving vehicle；
According to effective vehicle shape of effective obstacle information and at least one vehicle in effective reference information
State information determines the target speed information of the automatic driving vehicle；
Based on the destination path track and the target speed information, the driving locus is generated.
In the above-mentioned possible design of first aspect, effective lane line information according in effective reference information
With effective car status information of the automatic driving vehicle, the destination path track of the automatic driving vehicle is determined, comprising:
According to effective lane line information, the lane middle line of automatic driving vehicle institute traveling lane and described is determined
The feasible interval range in lane；
According to effective car status information of the automatic driving vehicle, on the basis of the lane middle line, described in determination
Preset quantity reference point in lane；
Position based on the smooth characteristic of driving locus and the preset quantity reference point, in the feasible region in the lane
Between in range, generate the destination path track of the automatic driving vehicle.
Another in first aspect may design, at least one described vehicle includes: the automatic driving vehicle, institute
Having in the first vehicle barrier and/or adjacent lane of risk of collision in lane has collision wind where stating automatic driving vehicle
Second vehicle barrier of danger.
In the above-mentioned possible design of first aspect, effective obstacle information according in effective reference information
With effective car status information of at least one vehicle, the target speed information of the automatic driving vehicle is determined, comprising:
According to the present speed of automatic driving vehicle described in effective car status information, the automatic driving vehicle
The default brake stopping time between, determine the first acceleration when the automatic driving vehicle decelerates to stopping from the present speed is even；
According to the effective of effective car status information of first vehicle barrier and/or second vehicle barrier
Car status information, determine when the automatic driving vehicle decelerates to target vehicle speed from the present speed is even the smallest second plus
Speed, the target vehicle speed are the minimum speeies in first vehicle barrier and/or second vehicle barrier；
According to the range information of fixed obstacle in the automatic driving vehicle and effective obstacle information, institute is determined
State automatic driving vehicle the smallest third acceleration when stopping before colliding with the fixed obstacle；
Based on first acceleration, second acceleration, the third acceleration, the target velocity letter is determined
Breath, the corresponding speed trajectory of the target speed information is added with first acceleration, second acceleration, the third
Maximum value in speed is the track that the uniformly retarded motion of deceleration is formed.
The application second aspect provides a kind of driving locus generating means, the hot standby mould suitable for vehicle control syetem
Block, the vehicle control syetem include: main control module and the hot standby module, and described device includes: to obtain module and generation mould
Block；
The acquisition module, for obtaining reference information collection, the reference when determining the main control module operation irregularity
Information collection includes: the car status information of lane line information, obstacle information and at least one vehicle；
The generation module, effective reference information for being concentrated according to the reference information generate automatic driving vehicle
Driving locus, effective reference information be confidence level be higher than preset threshold reference information.
In a kind of possible design of second aspect, described device further include: preprocessing module；
The preprocessing module, effective reference information for being concentrated in the generation module according to the reference information,
It before the driving locus for generating automatic driving vehicle, determines that the reference information concentrates the confidence level of each reference information, rejects
The confidence level that the reference information is concentrated is lower than the inactive reference information of the preset threshold, retains the reference information concentration and sets
Reliability is higher than effective reference information of the preset threshold.
In the alternatively possible design of second aspect, the generation module, comprising: the first determination unit, second determine
Unit and generation unit；
First determination unit, for according to effective lane line information in effective reference information and described automatic
The effective car status information for driving vehicle, determines the destination path track of the automatic driving vehicle；
Second determination unit, for according in effective reference information effective obstacle information and it is described at least
Effective car status information of one vehicle, determines the target speed information of the automatic driving vehicle；
The generation unit generates the driving for being based on the destination path track and the target speed information
Track.
In the above-mentioned possible design of second aspect, first determination unit is specifically used for according to effective lane
Line information determines the lane middle line of automatic driving vehicle institute traveling lane and the feasible interval range in the lane, according to
Effective car status information of the automatic driving vehicle is determined default in the lane on the basis of the lane middle line
Quantity reference point, the position based on the smooth characteristic of driving locus and the preset quantity reference point, in the lane
In feasible interval range, the destination path track of the automatic driving vehicle is generated.
Another in second aspect may design, at least one described vehicle includes: the automatic driving vehicle, institute
Having in the first vehicle barrier and/or adjacent lane of risk of collision in lane has collision wind where stating automatic driving vehicle
Second vehicle barrier of danger.
In the above-mentioned possible design of second aspect, second determination unit is specifically used for according to effective vehicle
The present speed of automatic driving vehicle described in status information, the automatic driving vehicle the default brake stopping time between, determine described in
The first acceleration when automatic driving vehicle decelerates to stopping from the present speed is even, according to first vehicle barrier
Effective car status information of effective car status information and/or second vehicle barrier, determines the automatic Pilot vehicle
The smallest second acceleration when decelerating to target vehicle speed from the present speed is even, the target vehicle speed is first vehicle
Minimum speed in barrier and/or second vehicle barrier, according to the automatic driving vehicle and effective obstacle
The range information of fixed obstacle in object information determines that the automatic driving vehicle stops before colliding with the fixed obstacle
When the smallest third acceleration, be based on first acceleration, second acceleration, the third acceleration, determine described in
Target speed information, the corresponding speed trajectory of the target speed information be with first acceleration, second acceleration,
Maximum value in the third acceleration is the track that the uniformly retarded motion of deceleration is formed.
The application third aspect provides a kind of driving locus generating means, including processor, memory and is stored in described
On memory and the computer program that can run on a processor, the processor realize such as above-mentioned first when executing described program
Method described in aspect and the various possible designs of first aspect.
The application fourth aspect provides a kind of storage medium, and instruction is stored in the storage medium, when it is in computer
When upper operation, so that computer executes the method as described in first aspect and the various possible designs of first aspect.
The aspect of the application the 5th provides a kind of chip of operating instruction, the chip for execute above-mentioned first aspect and
The first aspect various possible designs method.
Driving locus generation method, device and storage medium provided by the embodiments of the present application, hot standby module are determining master control
When module operation irregularity, reference information collection is obtained, which includes: lane line information, obstacle information and at least
The car status information of one vehicle generates driving for automatic driving vehicle according to effective reference information that the reference information is concentrated
Track is sailed, which is the reference information that confidence level is higher than preset threshold.In the technical solution, hot standby module according to
The reference information collection got generates driving locus, can control automatic driving vehicle using the driving locus and drives safely,
Traffic accident is avoided to a certain extent, and the vehicle control syetem for solving automatic driving vehicle may when breaking down
The security hidden trouble of appearance.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of vehicle control syetem provided by the embodiments of the present application；
Fig. 2 is the flow diagram of driving locus generation method embodiment one provided by the embodiments of the present application；
Fig. 3 is the flow diagram of driving locus generation method embodiment two provided by the embodiments of the present application；
Fig. 4 is the flow diagram of driving locus generation method embodiment three provided by the embodiments of the present application；
Fig. 5 is the flow diagram of driving locus generation method example IV provided by the embodiments of the present application；
Fig. 6 for automatic driving vehicle institute traveling lane schematic diagram of a scenario；
Fig. 7 is the flow diagram of driving locus generation method embodiment five provided by the embodiments of the present application；
Fig. 8 is the structural schematic diagram of driving locus generating means embodiment one provided by the embodiments of the present application；
Fig. 9 is the structural schematic diagram of driving locus generating means embodiment two provided by the embodiments of the present application；
Figure 10 is the structural schematic diagram of driving locus generating means embodiment three provided by the embodiments of the present application；
Figure 11 is the structural schematic diagram of driving locus generating means example IV provided by the embodiments of the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall in the protection scope of this application.
Driving locus generation method provided by the embodiments of the present application is applied in the vehicle control syetem of automatic driving vehicle,
Fig. 1 is the structural schematic diagram of vehicle control syetem provided by the embodiments of the present application.As shown in Figure 1, the vehicle control syetem includes:
Main control module 11 and hot standby module 12.It is automatic using the hot standby temporarily control of module 12 when the main control module 11 breaks down
Drive the driving status of vehicle.
Optionally, the main control module 11 and hot standby module 12 can be connected with each other, it is generally the case that the main control module 11 is just
Often when work, which controls the automatic running of automatic driving vehicle, which can assist main control module
The driving status of 11 control automatic driving vehicles, when 11 abnormal work of main control module, which can replace the master
The driving status that module 11 controls automatic driving vehicle is controlled, to guarantee the safety traffic of automatic driving vehicle.
Illustratively, in the present embodiment, which is the higher system of performance, it is generally the case that vehicle-mounted control
System processed is only using main control module 11 according to the car status information got and the reality of the automatic driving vehicle institute driving path
When traffic information (including traffic congestion information, path restricted information) control the driving status of automatic driving vehicle, and detect
When occurring abnormal to the working condition of the main control module 11, then failure locating for automatic driving vehicle is obtained using hot standby module 12
The reference information collection of scene, and the driving status of the driving locus control automatic driving vehicle determined according to reference information collection.
It is worth noting that in embodiments herein, which can be that cost is relatively low, system resource has
The hardware platform of limit, the limited resources having can substitute the temporary work of main control module 11 when main control module 11 breaks down
Make a period of time, to avoid there is traffic accident.
Illustratively, in the present embodiment, which can also include: and the main control module 11 and this is hot standby
The detection module 13 and alarm module 14 that module 12 connects.The detection module 13 can be used for detecting main control module 11 and this is hot standby
The working condition of module 12, alarm module 14 can be used for occurring in the working condition of main control module 11 and/or hot standby module 12
When abnormal, alarm.
Optionally, embodiment shown in fig. 1 includes main control module 11, hot standby module 12, detection mould with vehicle control syetem
It is illustrated for block 13, alarm module 14.It is worth noting that the vehicle control syetem can also include detecting devices, control
The other kinds of equipment such as control equipment and power-supply device.The embodiment of the present application not to the concrete composition of vehicle control syetem into
Row limits, and can be determined according to the actual situation.
The embodiment of the present application proposes a kind of driving locus generation method, device and storage medium, is determining main control module
When operation irregularity, hot standby module obtains reference information collection, the reference information collection include: lane line information, obstacle information and
The car status information of at least one vehicle generates automatic driving vehicle according to effective reference information that the reference information is concentrated
Driving locus, effective reference information be confidence level be higher than preset threshold reference information.In the technical solution, hot standby module
Driving locus is generated according to the reference information collection got, can control automatic driving vehicle security row using the driving locus
It sails, avoids traffic accident to a certain extent.
In the following, being described in detail by technical solution of the specific embodiment to the application.It should be noted that below this
Several specific embodiments can be combined with each other, may in certain embodiments no longer for the same or similar concept or process
It repeats.
Fig. 2 is the flow diagram of driving locus generation method embodiment one provided by the embodiments of the present application.This method is suitable
For the hot standby module in vehicle control syetem shown in Fig. 1.As shown in Fig. 2, the driving locus generation method may include as follows
Step:
Step 21: in the operation irregularity for determining main control module, obtaining reference information collection, which includes: vehicle
The car status information of diatom information, obstacle information and at least one vehicle.
Illustratively, in the present embodiment, automatic in order to guarantee when the main control module of vehicle control syetem breaks down
Driving vehicle still can be with normally travel for a period of time, which can use the sensor real-time detection being installed on vehicle
Around the automatic driving vehicle, for example, the lane line information of the automatic driving vehicle institute traveling lane, with the automatic driving vehicle
The car status information of obstacle information and at least one vehicle within the scope of pre-determined distance.Optionally, the present embodiment
In at least one vehicle include: automatic driving vehicle itself and other vehicles.
In the present embodiment, the hot standby module of vehicle control syetem can according to get lane line information, barrier
Scene information locating for information and the comprehensive determining automatic driving vehicle of the car status information of at least one vehicle, and generate
Corresponding driving locus.
Illustratively, in the present embodiment, which may include: positioned at the automatic driving vehicle institute Travel vehicle
Fixed obstacle in road, just in the process of moving but vehicle for having risk of collision with the automatic driving vehicle etc..This implementation
Example does not limit the specific manifestation form of obstacle information, can be determines according to actual conditions.
Illustratively, in a kind of possible design, hot standby module can use the spy being arranged on automatic driving vehicle
Measurement equipment obtains above-mentioned reference information collection by visual perception or barrier perception.Wherein, which includes: source, laser apparatus
Standby, picture pick-up device, radar equipment, infrared equipment.
Illustratively, which may include but be not limited to include any one in following equipment: radar is set
Standby, laser equipment, picture pick-up device, radar equipment, infrared equipment.For example, the detecting devices can also be ultrasonic listening equipment,
Ranging detecting devices, visual detection equipment etc. and combinations thereof.
In the present embodiment, for automatic driving vehicle during traveling, vehicle control syetem can be by setting certainly
The dynamic detecting devices driven on vehicle sends detectable signal to surrounding, to obtain within the scope of the automatic driving vehicle pre-determined distance
The relevant information of object.For example, being obtained using the object around detecting devices scanning by visual perception or method for barrier perception
The friendship of the car status informations such as pick-up diatom information, obstacle information, the position of each vehicle, speed, acceleration and trackside
Ventilating signal lamp and road condition information, and using these information as the reference information collection of automatic driving vehicle generation driving locus.
Step 22: the effective reference information concentrated according to the reference information generates the driving locus of automatic driving vehicle.
Wherein, which is the reference information that confidence level is higher than preset threshold.
In the present embodiment, in order to enable confidence level can be higher than preset threshold by accurate driving locus, hot standby module
Reference information as reference frame, to generate the driving locus of the automatic driving vehicle.It illustratively, will in the present embodiment
The reference information that the reference information concentrates confidence level to be higher than preset threshold is known as effective reference information.
Illustratively, hot standby module can be based on effective vehicle of the effective lane line information, at least one vehicle that get
Status information generates destination path track, effective vehicle-state based on the obstacle information and at least one vehicle that get
Information generates target speed information.The destination path track and target speed information can be integrated into the driving of automatic driving vehicle
Track.
It is worth noting that in the present embodiment, requirement of the hot standby module to hardware resource is lower, it is only necessary to ensure master control
Module operation irregularity starts not crash during to user's adapter tube automatic driving vehicle, continues a journey or stops along original lane
Stop.Thus, it is in the present embodiment, not high to the performance requirement of hot standby module, reduce the cost of automatic driving vehicle.
Specifically, the driving locus generation method of the present embodiment is particularly suitable for High-Speed Automatic driving, and main control module is sent out
It is switched to when raw failure under the scene of hot standby module control.Since hot standby module can be with based on the above-mentioned reference information collection got
Safety, rational driving locus are generated, reduces iteration bring resource overhead and complexity density, therefore the hot standby module
It generates that hardware resource required for the driving locus is few, chip processing capabilities are low, thus reduces costs.
Driving locus generation method provided by the embodiments of the present application, hot standby module when determining main control module operation irregularity,
Reference information collection is obtained, which includes: the vehicle shape of lane line information, obstacle information and at least one vehicle
State information is concentrated confidence level higher than effective reference information of the reference information of preset threshold, is generated automatic according to the reference information
Drive the driving locus of vehicle.In the technical solution, driving locus that automatic driving vehicle is generated according to hot standby module is after continuing
It sails, traffic accident can be avoided to a certain extent, it is ensured that automatic driving vehicle safety traffic.
Illustratively, on the basis of the above embodiments, Fig. 3 is driving locus generation method provided by the embodiments of the present application
The flow diagram of embodiment two.As shown in figure 3, in the present embodiment, (being concentrated according to the reference information in above-mentioned steps 22
Effective reference information generates the driving locus of automatic driving vehicle) before, this method can also include the following steps:
Step 31: determining that the reference information concentrates the confidence level of each reference information.
Illustratively, in the present embodiment, hot standby module gets the ginseng of the automatic driving vehicle by detecting devices etc.
After examining information collection, lane line information that hot standby module analysis difference detecting devices is exported in different moments, obstacle information and extremely
The car status information of a few vehicle, calculates the confidence level that the reference information concentrates each reference information.
For example, for the barrier on the automatic driving vehicle institute traveling lane, the available laser radar of hot standby module,
Multiple description informations for the barrier that picture pick-up device, infrared equipment export at multiple continuous moment, by multiple
Description information carries out comprehensive analysis, determines correct information therein and error message, according to correct information and error message
Ratio in multiple description information determines the confidence level of the obstacle information got.
Similarly, lane line information, the confidence level of the car status information of at least one vehicle concentrated for reference information
Determine that method is similar with the method for determining obstacle information confidence level, details are not described herein again.
Step 32: the confidence level for rejecting reference information concentration is lower than the inactive reference information of preset threshold, retains the ginseng
Examine effective reference information that information concentrates confidence level to be higher than preset threshold.
Illustratively, in the present embodiment, the threshold value of confidence level can be previously set in hot standby module, for example, to preset threshold
It is worth the reference information as the line of demarcation for determining inactive reference information and effective reference information, by confidence level lower than preset threshold to claim
For inactive reference information, the reference information that confidence level is higher than preset threshold is known as effective reference information.
It, can be by reference information in order to improve the reasonability and safety of the driving locus being subsequently generated in the present embodiment
The inactive reference information of concentration is rejected, and effective reference information of reference information concentration is retained so that hot standby module can only according to
The driving locus of automatic driving vehicle is generated according to effective reference information that the reference information is concentrated.
Driving locus generation method provided by the embodiments of the present application, hot standby module determine that the reference information concentrates each reference
The confidence level of information, and the confidence level for rejecting reference information concentration is lower than the inactive reference information of preset threshold, retains the ginseng
Effective reference information that information concentrates confidence level to be higher than preset threshold is examined, module hot standby in this way can be concentrated only according to reference information
Effective reference information generate driving locus, improve the reasonability and safety of driving locus, be automatic driving vehicle peace
Full traveling is laid a good foundation.
Illustratively, on the basis of the above embodiments, Fig. 4 is driving locus generation method provided by the embodiments of the present application
The flow diagram of embodiment three.As shown in figure 4, in the present embodiment, above-mentioned steps 22 (have according to what the reference information was concentrated
Reference information is imitated, the driving locus of automatic driving vehicle is generated) it can be achieved by the steps of:
Step 41: according to effective vehicle of effective lane line information and the automatic driving vehicle in effective reference information
Status information determines the destination path track of the automatic driving vehicle.
In the present embodiment, hot standby module can be determined first using effective lane line information in effective reference information
Reference line function and its interval range on the lane of the automatic driving vehicle on institute's traveling lane, certainly in conjunction with this
The dynamic effective car status information for driving vehicle determines the preset travel distance in preset time period, and then determines that this is automatic
Drive destination path track of the vehicle in the preset travel distance range.
Specific implementation about the step 41 may refer to the record of following embodiment illustrated in fig. 5, no longer superfluous herein
It states.
Step 42: according to effective vehicle shape of effective obstacle information and at least one vehicle in effective reference information
State information determines the target speed information of the automatic driving vehicle.
In the present embodiment, hot standby module is automatic by this first using effective obstacle information in effective reference information
Traveling lane where driving vehicle or the obstacle information on adjacent lane are divided into a variety of situations, for example, the automatic driving vehicle
In institute's traveling lane there are fixed obstacle and/or the vehicle barrier or adjacent lane that have risk of collision there are collisions
The vehicle barrier etc. of risk.Secondly, effective car status information according at least one vehicle is found out under different situations respectively,
The traveling acceleration of the automatic driving vehicle, finally, determining the target speed information of the automatic driving vehicle.
Specific implementation about the step 42 may refer to the record of following embodiment illustrated in fig. 7, no longer superfluous herein
It states.
It is worth noting that the embodiment of the present application do not limit the step 42 and step 41 execute sequence, hot standby module
Step 42 can be first carried out and generate target speed information, then execute step 41 and generate target trajectory information, also may be performed simultaneously
Step 41 and step 42 can be determined according to the actual situation with obtaining destination path track and target speed information.
Step 43: being based on the destination path track and target speed information, generate driving locus.
In the present embodiment, when hot standby module determines destination path track and the target velocity letter of the automatic driving vehicle
After breath, which is integrated on the destination path track at corresponding moment, generates the driving locus at corresponding moment
Point set, the curve that all driving locus point sets are formed are the driving locus of automatic driving vehicle.
Driving locus generation method provided by the embodiments of the present application is believed according to effective lane line in effective reference information
Effective car status information of breath and the automatic driving vehicle, determines the destination path track of the automatic driving vehicle, according to this
Effective car status information of effective obstacle information and at least one vehicle in effective reference information, determines the automatic Pilot
The target speed information of vehicle finally generates driving locus based on the destination path track and target speed information.The technical side
Case, hot standby module determine destination path track and target speed information according to the effective reference information got respectively, regeneration
At trace information, the reasonability and safety of driving locus are improved.
Illustratively, on the basis of the above embodiments, Fig. 5 is driving locus generation method provided by the embodiments of the present application
The flow diagram of example IV.As shown in figure 5, in the present embodiment, above-mentioned steps 41 are (according in effective reference information
Effective car status information of effective lane line information and the automatic driving vehicle, determines the destination path of the automatic driving vehicle
Track) it can be achieved by the steps of:
Step 51: according to effective lane line information, determine the automatic driving vehicle institute traveling lane lane middle line and
The feasible interval range in the lane.
Optionally, in the present embodiment, hot standby module determines the automatic driving vehicle according to effective lane line information
The two sides lane line parameter of institute's traveling lane, according to the relative position of two sides lane line, using the center line of two sides lane line as
Lane middle line, using the vertical distance range between the lane line of two sides as the feasible interval range in the lane.
For example, schematic diagram of a scenario of the Fig. 6 for automatic driving vehicle institute traveling lane.As shown in fig. 6, automatic driving vehicle is just
Traveling is on lane 60, which is respectively lane line 601 and lane line 602, correspondingly, the center line in the lane claims
For lane middle line 61, the range between lane line 601 and lane line 602 is the feasible interval range in lane.
Step 52: according to effective car status information of the automatic driving vehicle, on the basis of the lane middle line, determining should
Preset quantity reference point in lane.
Optionally, in the present embodiment, hot standby module is from the effective status information of the automatic driving vehicle got,
It determines current driving speed, preset quantity reference point is determined on the lane according to the current driving speed, adjacent two
The distance between a reference point is related with current driving speed and sampling time interval.
About reference point quantity and sampling time interval can determines according to actual conditions, the present embodiment not to its into
Row limits.
Step 53: the position based on driving locus smooth characteristic and the preset quantity reference point, in the lane can
In row interval range, the destination path track of the automatic driving vehicle is generated.
In the present embodiment, the characteristic smooth based on practical driving locus, the destination path track of generation should be one
Smoothly, curvature and curvature interconversion rate are lesser, and level off to the curve that line function is referred in the lane.
Illustratively, in the present embodiment, the driving locus of automatic driving vehicle can be mapped on two-dimensional surface.It is false
If the destination path track of the automatic driving vehicle is using vehicle as the function y (x) of origin=ax3+bx2+ cx, the function were
Origin and trivalent differentiable functions, the reference line function of the destination path track are z (x)=dx3+ex2+fx+g.Wherein, x is indicated certainly
The dynamic vehicle that drives is in the coordinate of driving direction, when y (x) indicates that automatic driving vehicle is at x, on lane line and x Vertical Square
To coordinate.A, b, c are the coefficient of path locus to be solved；D, e, f, g be can be according to two sides lane line parameter and lane
The known constant that middle line solves.
Optionally, in order to guarantee the safety traffic of the automatic driving vehicle, the destination path track of the automatic driving vehicle
Function is preferably minimum with reference line function absolute value of the difference at corresponding coordinate, i.e. target are as follows:Wherein,After representative function y (x) seeks three subderivatives
Function,Representative function y (x) seeks the function after second derivative.
In the present embodiment, in order to guarantee the driving locus of automatic driving vehicle in this lane, which needs
Meet following constraint condition: left (x)≤ax3+bx2+ cx≤right (x), wherein left (x) indicates the automatic driving vehicle
Before being with vehicle heading, on the left of lane line function, right (x) indicates the automatic driving vehicle with vehicle driving side
Xiang Weiqian, on the right side of lane line function.
That is, the purpose of the present embodiment beWhen optimal, ask
The problem of solving coefficient a, b, c in function y (x).Illustratively, the problem of solving coefficient a, b, c in function y (x) can adopt
It is solved with convex optimization method, the scheme about convex optimization method belongs to the prior art, and details are not described herein again.
Driving locus generation method provided by the embodiments of the present application, hot standby module are determined according to effective lane line information
The lane middle line of the automatic driving vehicle institute traveling lane and the feasible interval range in the lane, according to the automatic driving vehicle
Effective car status information determines the preset quantity reference point in the lane on the basis of the lane middle line, based on driving rail
The position of mark smooth characteristic and preset quantity reference point generates automatic Pilot vehicle in the feasible interval range in the lane
Destination path track.In the technical solution, the destination path track that hot standby module generates is smooth and curvature and curvature become
Rate is small, and trend is the curve travelled along lane middle line, and reasonability is high, and safety is good, improves the safety of traveling.
Illustratively, in a kind of possible design of the present embodiment, at least one above-mentioned vehicle includes: the automatic Pilot vehicle
, have touching in the first vehicle barrier and/or adjacent lane of risk of collision in lane where the automatic driving vehicle
Hit the second vehicle barrier of risk.
Correspondingly, on the basis of the above embodiments, Fig. 7 is that driving locus generation method provided by the embodiments of the present application is real
Apply the flow diagram of example five.As shown in fig. 7, in the present embodiment, above-mentioned steps 42 are (according to having in effective reference information
The effective car status information for imitating obstacle information and at least one vehicle determines the target velocity letter of the automatic driving vehicle
Breath) it can be achieved by the steps of:
Step 71: according to the present speed of automatic driving vehicle in effective car status information, automatic driving vehicle
Between the default stopping time of stopping, the first acceleration when the automatic driving vehicle decelerates to stopping from present speed is even is determined.
In the present embodiment, in order to guarantee that automatic driving vehicle under High-Speed Automatic driving task scene, can be protected simultaneously
Hinder the smoothing processing of speed and body-sensing acceleration.Therefore, it is possible to according to effective vehicle of obstacle information and at least one vehicle
Status information determines most reasonable target speed information.
As an example, it is assumed that without barrier in automatic driving vehicle institute traveling lane, hot standby module can basis
Between the present speed of automatic driving vehicle, the default brake stopping time of automatic driving vehicle, influenced in the comfort on user the smallest
In the case of, the first acceleration is calculated, when which is that the automatic driving vehicle decelerates to stopping from present speed is even
Acceleration.
Step 72: according to effective car status information of first vehicle barrier and/or second vehicle barrier
Effective car status information determines when the automatic driving vehicle decelerates to target vehicle speed from present speed is even that the smallest second accelerates
Degree.
Wherein, which is the minimum speed in the first vehicle barrier and/or the second vehicle barrier.
Optionally, as another example, it is assumed that there are the of risk of collision in automatic driving vehicle institute traveling lane
The second vehicle barrier for having risk of collision in one vehicle barrier and/or adjacent lane, in order to avoid automatic driving vehicle
It collides risk with the first vehicle barrier or the second vehicle barrier, the target velocity of the automatic driving vehicle should be less than
Minimum speed among one vehicle barrier and the second vehicle barrier.
So in the present embodiment, hot standby module is under the premise of considering interior users'comfort, according to first vehicle
Effective car status information of barrier and/or effective car status information of second vehicle barrier calculate second and add
Speed, the smallest second accelerates when which decelerates to target vehicle speed from present speed is even for the automatic driving vehicle
Degree.
Step 73: according to the range information of fixed obstacle in the automatic driving vehicle and effective obstacle information,
Determine the automatic driving vehicle the smallest third acceleration when stopping before colliding with the fixed obstacle.
Optionally, as another example, it is assumed that there are fixed obstacle in automatic driving vehicle institute traveling lane, in order to
The risk that collides is avoided, automatic driving vehicle needs stop before driving to the fixed obstacle position, thus,
Hot standby module needs to calculate automatic driving vehicle the smallest third acceleration when stopping before colliding with the fixed obstacle.
Step 74: being based on first acceleration, the second acceleration, third acceleration, determine the target speed information, the mesh
The corresponding speed trajectory of mark velocity information is with the maximum value in the first acceleration, the second acceleration, third acceleration for deceleration
The track that the uniformly retarded motion of degree is formed.
Illustratively, in the present embodiment, hot standby module scene according to locating for automatic driving vehicle calculated first adds
Speed, the second acceleration and third acceleration can carry out real-time update in automatic driving vehicle driving process, thus, in this reality
It applies in example, automatic driving vehicle can select corresponding acceleration to form actual target velocity letter according to actually located scene
Breath.
Optionally, the corresponding speed trajectory of the target speed information is accelerated with the first acceleration, the second acceleration, third
Maximum value in degree is the track that the uniformly retarded motion of deceleration is formed.
Driving locus generation method provided by the embodiments of the present application, hot standby module combine in effective car status information certainly
The dynamic present speed for driving vehicle, the automatic driving vehicle the default brake stopping time between and the first vehicle barrier effective vehicle
Effective car status information of status information and/or the second vehicle barrier, in conjunction with automatic driving vehicle and effective barrier
The range information for hindering fixed obstacle in object information, determines target speed information.In the technical solution, what hot standby module determined
Target speed information is more bonded actual scene, can guarantee safety traffic of the automatic driving vehicle in main control module failure.
It is worth noting that the driving locus generation method of the present embodiment is especially heavy for the automatic Pilot scene of high speed
It wants, this is because safety is absolutely to ensure, it is the basic of automatic driving vehicle, and the core with competing condition ratio
Heart competitiveness.In the present embodiment, optimal selection of the hot standby module as safety frame, wherein driving locus generation side
Method is the core function that hot standby module guarantees automatic driving vehicle normally travel, being capable of limited in hardware resource to processing capacity
Under the premise of effective, guarantee automatic driving vehicle safety traffic.
Following is the application Installation practice, can be used for executing the application embodiment of the method.It is real for the application device
Undisclosed details in example is applied, the application embodiment of the method is please referred to.
Fig. 8 is the structural schematic diagram of driving locus generating means embodiment one provided by the embodiments of the present application.The device can
To be integrated in the hot standby module in vehicle control syetem, can also be realized by the hot standby module, the vehicle control syetem packet
It includes: main control module and hot standby module.As shown in figure 8, the apparatus may include: obtain module 81 and generation module 82.
Wherein, acquisition module 81, for obtaining reference information collection, institute when determining the main control module operation irregularity
State the car status information that reference information collection includes: lane line information, obstacle information and at least one vehicle；
The generation module 82, effective reference information for being concentrated according to the reference information generate automatic driving vehicle
Driving locus, effective reference information be confidence level be higher than preset threshold reference information.
Illustratively, Fig. 9 is the structural schematic diagram of driving locus generating means embodiment two provided by the embodiments of the present application.
As shown in figure 9, in the present embodiment, which can also include: preprocessing module 91.
The preprocessing module 91, effective reference information for being concentrated in the generation module 82 according to the reference information,
It before the driving locus for generating automatic driving vehicle, determines that the reference information concentrates the confidence level of each reference information, rejects
The confidence level that the reference information is concentrated is lower than the inactive reference information of the preset threshold, retains the reference information concentration and sets
Reliability is higher than effective reference information of the preset threshold.
Illustratively, Figure 10 is the structural representation of driving locus generating means embodiment three provided by the embodiments of the present application
Figure.As shown in Figure 10, in the present embodiment, above-mentioned generation module 82, comprising: the first determination unit 101, the second determination unit
102 and generation unit 103.
First determination unit 101, for according in effective reference information effective lane line information and it is described from
The dynamic effective car status information for driving vehicle, determines the destination path track of the automatic driving vehicle；
Second determination unit 102, for according in effective reference information effective obstacle information and it is described extremely
Effective car status information of a few vehicle, determines the target speed information of the automatic driving vehicle；
The generation unit 103 generates the driving for being based on the destination path track and the target speed information
Track.
Illustratively, in the present embodiment, first determination unit 101 is specifically used for being believed according to effective lane line
Breath, determines the lane middle line of automatic driving vehicle institute traveling lane and the feasible interval range in the lane, according to described
Effective car status information of automatic driving vehicle determines the preset quantity in the lane on the basis of the lane middle line
A reference point, the position based on the smooth characteristic of driving locus and the preset quantity reference point, in the feasible of the lane
In interval range, the destination path track of the automatic driving vehicle is generated.
Illustratively, in the present embodiment, at least one described vehicle include: the automatic driving vehicle, it is described automatic
Drive where vehicle have risk of collision the having in the first vehicle barrier and/or adjacent lane of risk of collision in lane
Two vehicle barriers.
Correspondingly, in the present embodiment, which is specifically used for being believed according to effective vehicle-state
The present speed of automatic driving vehicle described in breath, the automatic driving vehicle the default brake stopping time between, determine and described drive automatically
The first acceleration when vehicle decelerates to stopping from the present speed is even is sailed, according to effective vehicle of first vehicle barrier
Effective car status information of status information and/or second vehicle barrier, determines the automatic driving vehicle from institute
State that present speed is even to decelerate to the smallest second acceleration when target vehicle speed, the target vehicle speed is first vehicle barrier
And/or the minimum speed in second vehicle barrier, according to the automatic driving vehicle and effective obstacle information
The range information of middle fixed obstacle determines that the automatic driving vehicle is minimum when stopping before colliding with the fixed obstacle
Third acceleration, be based on first acceleration, second acceleration, the third acceleration, determine target speed
Spend information, the corresponding speed trajectory of the target speed information is with first acceleration, second acceleration, described the
Maximum value in three acceleration is the track that the uniformly retarded motion of deceleration is formed.
Device provided by the embodiments of the present application can be used for executing method of the Fig. 2 into embodiment illustrated in fig. 7, realize former
Reason is similar with technical effect, and details are not described herein.
It should be noted that it should be understood that the modules of apparatus above division be only a kind of logic function division,
It can completely or partially be integrated on a physical entity in actual implementation, it can also be physically separate.And these modules can be with
All realized by way of processing element calls with software；It can also all realize in the form of hardware；It can also part mould
Block realizes that part of module passes through formal implementation of hardware by way of processing element calls software.For example, determining module can be with
For the processing element individually set up, it also can integrate and realized in some chip of above-mentioned apparatus, in addition it is also possible to program
The form of code is stored in the memory of above-mentioned apparatus, is called by some processing element of above-mentioned apparatus and is executed above true
The function of cover half block.The realization of other modules is similar therewith.Furthermore these modules completely or partially can integrate together, can also
With independent realization.Processing element described here can be a kind of integrated circuit, the processing capacity with signal.In the process of realization
In, each step of the above method or the above modules can by the integrated logic circuit of the hardware in processor elements or
The instruction of software form is completed.
For example, the above module can be arranged to implement one or more integrated circuits of above method, such as:
One or more specific integrated circuits (application specific integrated circuit, ASIC), or, one
Or multi-microprocessor (digital signal processor, DSP), or, one or more field programmable gate array
(field programmable gate array, FPGA) etc..For another example, when some above module dispatches journey by processing element
When the form of sequence code is realized, which can be general processor, such as central processing unit (central
Processing unit, CPU) or it is other can be with the processor of caller code.For another example, these modules can integrate one
It rises, is realized in the form of system on chip (system-on-a-chip, SOC).
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
It is existing.When implemented in software, it can entirely or partly realize in the form of a computer program product.The computer program
Product includes one or more computer instructions.When loading on computers and executing the computer program instructions, all or
It partly generates according to process or function described in the embodiment of the present application.The computer can be general purpose computer, dedicated meter
Calculation machine, computer network or other programmable devices.The computer instruction can store in computer readable storage medium
In, or from a computer readable storage medium to the transmission of another computer readable storage medium, for example, the computer
Instruction can pass through wired (such as coaxial cable, optical fiber, number from a web-site, computer, server or data center
User's line (DSL)) or wireless (such as infrared, wireless, microwave etc.) mode to another web-site, computer, server or
Data center is transmitted.The computer readable storage medium can be any usable medium that computer can access or
It is comprising data storage devices such as one or more usable mediums integrated server, data centers.The usable medium can be with
It is magnetic medium, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk
Solid state disk (SSD)) etc..
Figure 11 is the structural schematic diagram of driving locus generating means example IV provided by the embodiments of the present application.Such as Figure 11 institute
Show, the apparatus may include: processor 111, memory 112, communication interface 113 and system bus 114, the memory 112
It connect and completes mutual communication, institute with the processor 111 by the system bus 114 with the communication interface 113
Memory 112 is stated for storing computer executed instructions, the communication interface 113 is used for and other equipment are communicated, described
Processor 111 realizes such as scheme of the above-mentioned Fig. 2 into embodiment illustrated in fig. 7 when executing the computer program.
The system bus mentioned in the Figure 11 can be Peripheral Component Interconnect standard (peripheral component
Interconnect, PCI) bus or expanding the industrial standard structure (extended industry standard
Architecture, EISA) bus etc..The system bus can be divided into address bus, data/address bus, control bus etc..For
Convenient for indicating, only indicated with a thick line in figure, it is not intended that an only bus or a type of bus.Communication interface
For realizing the communication between database access device and other equipment (such as client, read-write library and read-only library).Memory
May include random access memory (random access memory, RAM), it is also possible to further include nonvolatile memory
(non-volatile memory), for example, at least a magnetic disk storage.
Above-mentioned processor can be general processor, including central processor CPU, network processing unit (network
Processor, NP) etc.；It can also be digital signal processor DSP, application-specific integrated circuit ASIC, field programmable gate array
FPGA or other programmable logic device, discrete gate or transistor logic, discrete hardware components.
Optionally, the embodiment of the present application also provides a kind of storage medium, and instruction is stored in the storage medium, when its
When being run on computer, so that computer executes the method such as above-mentioned Fig. 2 to embodiment illustrated in fig. 7.
Optionally, the embodiment of the present application also provides a kind of chip of operating instruction, and the chip is for executing above-mentioned Fig. 2 extremely
The method of embodiment illustrated in fig. 7.
The embodiment of the present application also provides a kind of program product, and described program product includes computer program, the computer
Program is stored in a storage medium, at least one processor can read the computer program from the storage medium, described
The method that at least one processor can realize above-mentioned Fig. 2 to embodiment illustrated in fig. 7 when executing the computer program.
In the application, "at least one" refers to one or more, and " multiple " refer to two or more."and/or",
The incidence relation of affiliated partner is described, indicates may exist three kinds of relationships, for example, A and/or B, can indicate: individualism A,
Exist simultaneously A and B, the case where individualism B, wherein A, B can be odd number or plural number.Character "/" typicallys represent front and back and closes
Connection object is a kind of relationship of "or"；In formula, character "/" indicates that forward-backward correlation object is the relationship of a kind of " being divided by ".
At least one of " following (a) " or its similar expression, refer to these in any combination, including individual event (a) or complex item
Any combination of (a).
It is understood that the area that the various digital numbers involved in embodiments herein only carry out for convenience of description
Point, it is not intended to limit the range of embodiments herein.
It is understood that magnitude of the sequence numbers of the above procedures are not meant to execute in embodiments herein
Sequence it is successive, the execution of each process sequence should be determined by its function and internal logic, without coping with embodiments herein
Implementation process constitutes any restriction.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the application, rather than its limitations；To the greatest extent
Pipe is described in detail the application referring to foregoing embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, each embodiment technology of the application that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of driving locus generation method, the hot standby module suitable for vehicle control syetem, the vehicle control syetem packet
It includes: main control module and the hot standby module, which is characterized in that the described method includes:
When determining the main control module operation irregularity, reference information collection is obtained, the reference information collection includes: lane line letter
The car status information of breath, obstacle information and at least one vehicle；
According to effective reference information that the reference information is concentrated, the driving locus of automatic driving vehicle, effective ginseng are generated
Examining information is the reference information that confidence level is higher than preset threshold.
2. the method according to claim 1, wherein in the effective reference concentrated according to the reference information
Information, before the driving locus for generating automatic driving vehicle, the method also includes:
Determine that the reference information concentrates the confidence level of each reference information；
The inactive reference information that the confidence level that the reference information is concentrated is lower than the preset threshold is rejected, is retained described with reference to letter
Breath concentrates confidence level higher than effective reference information of the preset threshold.
3. method according to claim 1 or 2, which is characterized in that the effective ginseng concentrated according to the reference information
Information is examined, the driving locus of automatic driving vehicle is generated, comprising:
Believed according to effective vehicle-state of effective lane line information and the automatic driving vehicle in effective reference information
Breath, determines the destination path track of the automatic driving vehicle；
Believed according to effective vehicle-state of effective obstacle information and at least one vehicle in effective reference information
Breath, determines the target speed information of the automatic driving vehicle；
Based on the destination path track and the target speed information, the driving locus is generated.
4. according to the method described in claim 3, it is characterized in that, effective lane according in effective reference information
Effective car status information of line information and the automatic driving vehicle determines the destination path rail of the automatic driving vehicle
Mark, comprising:
According to effective lane line information, determine automatic driving vehicle institute traveling lane lane middle line and the lane
Feasible interval range；
The lane is determined on the basis of the lane middle line according to effective car status information of the automatic driving vehicle
Interior preset quantity reference point；
Position based on the smooth characteristic of driving locus and the preset quantity reference point, the feasible section model in the lane
In enclosing, the destination path track of the automatic driving vehicle is generated.
5. according to the method described in claim 3, it is characterized in that, at least one described vehicle includes: the automatic Pilot vehicle
, have having in the first vehicle barrier and/or adjacent lane of risk of collision in lane where the automatic driving vehicle
Second vehicle barrier of risk of collision.
6. according to the method described in claim 5, it is characterized in that, effective obstacle according in effective reference information
Effective car status information of object information and at least one vehicle determines the target velocity letter of the automatic driving vehicle
Breath, comprising:
According to the present speed of automatic driving vehicle described in effective car status information, the automatic driving vehicle it is pre-
If between the stopping time of stopping, determining the first acceleration when the automatic driving vehicle decelerates to stopping from the present speed is even；
According to effective vehicle of effective car status information of first vehicle barrier and/or second vehicle barrier
Status information determines when the automatic driving vehicle decelerates to target vehicle speed from the present speed is even that the smallest second accelerates
Degree, the target vehicle speed is the minimum speed in first vehicle barrier and/or second vehicle barrier；
According to the range information of fixed obstacle in the automatic driving vehicle and effective obstacle information, determination is described certainly
It is dynamic to drive vehicle the smallest third acceleration when stopping before colliding with the fixed obstacle；
Based on first acceleration, second acceleration, the third acceleration, the target speed information, institute are determined
Stating the corresponding speed trajectory of target speed information is with first acceleration, second acceleration, the third acceleration
In maximum value be deceleration uniformly retarded motion formed track.
7. a kind of driving locus generating means, the hot standby module suitable for vehicle control syetem, the vehicle control syetem packet
It includes: main control module and the hot standby module, which is characterized in that described device includes: to obtain module and generation module；
The acquisition module, for obtaining reference information collection, the reference information when determining the main control module operation irregularity
Collection includes: the car status information of lane line information, obstacle information and at least one vehicle；
The generation module, effective reference information for being concentrated according to the reference information, generates driving for automatic driving vehicle
Track is sailed, effective reference information is the reference information that confidence level is higher than preset threshold.
8. device according to claim 7, which is characterized in that the generation module, comprising: the first determination unit, second
Determination unit and generation unit；
First determination unit, for according in effective reference information effective lane line information and the automatic Pilot
Effective car status information of vehicle determines the destination path track of the automatic driving vehicle；
Second determination unit, for according in effective reference information effective obstacle information and it is described at least one
Effective car status information of vehicle, determines the target speed information of the automatic driving vehicle；
The generation unit generates the driving locus for being based on the destination path track and the target speed information.
9. a kind of driving locus generating means, including processor, memory and it is stored on the memory and can be in processor
The computer program of upper operation, which is characterized in that the processor realizes that the claims 1-6 such as appoints when executing described program
Method described in one.
10. a kind of storage medium, which is characterized in that instruction is stored in the storage medium, when run on a computer,
So that computer executes as the method according to claim 1 to 6.
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