CN109835337A - Servo Control method, apparatus and automatic driving vehicle - Google Patents
Servo Control method, apparatus and automatic driving vehicle Download PDFInfo
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- CN109835337A CN109835337A CN201910147449.3A CN201910147449A CN109835337A CN 109835337 A CN109835337 A CN 109835337A CN 201910147449 A CN201910147449 A CN 201910147449A CN 109835337 A CN109835337 A CN 109835337A
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Abstract
The invention discloses a kind of Servo Control method, apparatus and automatic driving vehicles, wherein method includes: the present image information for obtaining and being located in front of automatic driving vehicle；The dynamic-change information of lane line vanishing point in current lane line information is identified according to present image information, and the lane line curvature and bending direction of current curve are identified according to dynamic-change information；According to the turning action of lane line curvature and the turning executing agency of bending direction control automatic driving vehicle.Control method according to an embodiment of the present invention can accurately control lateral direction of car movement, while comfort level by bus is effectively ensured, improve the safety of vehicle when close to bend.
Description
Technical field
The present invention relates to automobile technical field, in particular to a kind of Servo Control method, apparatus and automatic driving vehicle.
Background technique
Currently, many vehicles have drive assistance function, such as adaptive cruise, automatic emergency brake, therefore these vehicles
The environment of vehicle periphery can be automatically perceived, so that relative distance and relative velocity with front vehicles are assessed in real time, and
And the traffic environments information such as identification lane line information, road sign board information and traffic, realize drive assistance function.
However, automatic driving vehicle be once not equipped with automatic Pilot needed for map, cannot be in real time to front
Whether road has bend to carry out accurate judgement, and can not judge the directional information of bend, is easy to influence trajectory path planning,
It cannot achieve drive assistance function, occur too late when vehicle is in high speed close to bend to the control of lateral direction of car movement
Situation not only substantially reduces comfort level by bus, and there are certain security risks.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, the first purpose of this invention is to propose a kind of Servo Control method of automatic driving vehicle, the control
While comfort level by bus can be effectively ensured in method, the safety of vehicle is improved.
Second object of the present invention is to propose a kind of Servo Control device of automatic driving vehicle.
Third object of the present invention is to propose a kind of automatic driving vehicle.
In order to achieve the above objectives, one aspect of the present invention embodiment proposes a kind of Servo Control side of automatic driving vehicle
Method, comprising the following steps: obtain the present image information being located in front of automatic driving vehicle；Known according to the present image information
The dynamic-change information of lane line vanishing point in other current lane line information, and according to dynamic-change information identification when antecurvature
The lane line curvature and bending direction in road；The automatic driving vehicle is controlled according to the lane line curvature and the bending direction
Turning executing agency turning action.
The Servo Control method of the automatic driving vehicle of the embodiment of the present invention can be believed according to the present image of vehicle front
The lane line curvature and bending direction of breath identification current curve, so that it is accurate to carry out to lateral direction of car movement when close to bend
Control, while comfort level by bus is effectively ensured, improves the safety of vehicle, effectively avoids safety accident occur in turning.
In addition, the Servo Control method of automatic driving vehicle according to the above embodiment of the present invention can also have it is following attached
The technical characteristic added:
Further, in one embodiment of the invention, described that current lane is identified according to the present image information
The dynamic-change information of lane line vanishing point in line information, comprising: binary conversion treatment is carried out to the present image information, with
Jump identification is carried out to the gray level image to gray level image, and line by line, to extract lane line feature；It is special according to the lane line
Sign identifies the current lane line information, and identifies the line of lane line intersection, with the determination lane line vanishing point；Identification institute
The change information of lane line and/or steering wheel angle is stated, to obtain the dynamic-change information of the lane line vanishing point.
Further, in one embodiment of the invention, before obtaining the dynamic-change information, further includes: sentence
Whether the change information that breaks is effective；If it is valid, identifying the change information according to the effective change information.
Further, in one embodiment of the invention, described that current curve is identified according to the dynamic-change information
Lane line curvature and bending direction, comprising: obtain current lane line vanishing point location information；According to vanishing point different curved
The change in location information of full curve and the current lane line vanishing point that the maximum lateral displacement under the radius in road obtains
Determine whether that there are the current curves.
Further, in one embodiment of the invention, described that current curve is identified according to the dynamic-change information
Lane line curvature and bending direction, further includes: the current lane line vanishing point be moved to the left and laterally value be greater than described in
When the maximum lateral displacement, there are the current curves, and the bending direction is to the left；In the current lane line vanishing point
Move right and when laterally value is greater than the maximum lateral displacement, there are the current curve, and the bending direction for
It is right；The lane line curvature of the current curve is obtained according to the full curve.
In order to achieve the above objectives, another aspect of the present invention embodiment proposes a kind of Servo Control dress of automatic driving vehicle
It sets, comprising: module is obtained, for obtaining the present image information being located in front of automatic driving vehicle；Identification module is used for basis
The dynamic-change information of lane line vanishing point in the present image information identification current lane line information, and according to the dynamic
The lane line curvature and bending direction of change information identification current curve；Control module, for according to the lane line curvature with
The bending direction controls the turning action of the turning executing agency of the automatic driving vehicle.
The Servo Control device of the automatic driving vehicle of the embodiment of the present invention can be believed according to the present image of vehicle front
The lane line curvature and bending direction of breath identification current curve, so that it is accurate to carry out to lateral direction of car movement when close to bend
Control, while comfort level by bus is effectively ensured, improves the safety of vehicle, effectively avoids safety accident occur in turning.
In addition, the Servo Control device of automatic driving vehicle according to the above embodiment of the present invention can also have it is following attached
The technical characteristic added:
Further, in one embodiment of the invention, the identification module includes: extraction unit, for described
Present image information carries out binary conversion treatment, to obtain gray level image, and carries out jump identification to the gray level image line by line, with
Extract lane line feature；Recognition unit for identifying the current lane line information according to the lane line feature, and identifies
The line of lane line intersection, with the determination lane line vanishing point；First acquisition unit, for identification lane line and/or side
To the change information of disk corner, to obtain the dynamic-change information of the lane line vanishing point.
Further, in one embodiment of the invention, the identification module further include: second acquisition unit is used for
Obtain the location information of current lane line vanishing point；First judging unit, for according to vanishing point under the radius of different bends
The obtained change in location information of full curve and the current lane line vanishing point of the maximum lateral displacement determine whether to deposit
In the current curve.
Further, in one embodiment of the invention, the identification module further include: second judgment unit is used for
When the current lane line vanishing point is moved to the left and laterally value is greater than the maximum lateral displacement, exist described when antecurvature
Road, and the bending direction be to the left, and the current lane line vanishing point move right and laterally value be greater than described in most
When big transversal displacement, there are the current curves, and the bending direction is to the right；Third acquiring unit, for according to institute
State the lane line curvature that full curve obtains the current curve.
In order to achieve the above objectives, third aspect present invention embodiment proposes a kind of automatic driving vehicle comprising above-mentioned
Automatic driving vehicle Servo Control device.The automatic driving vehicle can be identified according to the present image information of vehicle front
The lane line curvature and bending direction of current curve, to accurately control, have to lateral direction of car movement when close to bend
While effect guarantees comfort level by bus, the safety of vehicle is improved, effectively avoids safety accident occur in turning.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the flow chart according to the Servo Control method of the automatic driving vehicle of the embodiment of the present invention；
Fig. 2 is the schematic illustration according to the Servo Control method of the automatic driving vehicle of one embodiment of the invention；
Fig. 3 is to be illustrated according to the principle of the Servo Control method of the automatic driving vehicle of a specific embodiment of the invention
Figure；
Fig. 4 is the schematic diagram according to the full curve of one embodiment of the invention；And
Fig. 5 is the block diagram according to the Servo Control device of the automatic driving vehicle of the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
The Servo Control method, apparatus proposed according to embodiments of the present invention and automatic Pilot vehicle are described with reference to the accompanying drawings
, the Servo Control method of the automatic driving vehicle proposed according to embodiments of the present invention is described with reference to the accompanying drawings first.
Fig. 1 is the flow chart of the Servo Control method of the automatic driving vehicle of the embodiment of the present invention.
As shown in Figure 1, the Servo Control method of the automatic driving vehicle the following steps are included:
In step s101, the present image information being located in front of automatic driving vehicle is obtained.
In an embodiment of the present invention, by taking the vehicle with camera as an example, as shown in Fig. 2, 1 is camera, 2 indicate vehicle
, 3 indicate turning executing agency, and the embodiment of the present invention can use whether forward sight camera prediction front has bend, and judge
Lane line curvature and bending direction, so that vehicle when close to bend, accurately controls lateral direction of car movement, avoids the occurrence of
The case where controlling too late.
Further, in one embodiment of the invention, it is identified in current lane line information according to present image information
The dynamic-change information of lane line vanishing point, comprising: binary conversion treatment is carried out to present image information, to obtain gray level image,
And jump identification is carried out to gray level image line by line, to extract lane line feature；Current lane line is identified according to lane line feature
Information, and identify the line of lane line intersection, to determine lane line vanishing point；Identify the variation of lane line and/or steering wheel angle
Information, to obtain the dynamic-change information of lane line vanishing point.
Specifically, as shown in figure 3, firstly, camera can obtain collected road pictorial information progress binary conversion treatment
Jump identification is carried out to obtained grayscale image to grayscale image, and line by line, to extract lane line feature, then by clustering lane
Line identifies, then is gone by Kalman filtering hot-tempered, and obtained lane line is showed with quadratic equation, as in figure
Shown in L1, L2 and L3.
Secondly, each parallel lane line is met at a bit, as on picture on integrated structure road after identifying lane line
Vanishing point in perspective relation, wherein according to the line of the intersection identified, the most point of line for selecting intersection is blanking
Point, such as shown in O point in figure.
Finally, a rectangle can be selected, the length and width of adjustable rectangle as needed.For example, with five pixels come generation
One vanishing point of table, wherein with the variation of the lane line identified, vanishing point is also variation, and with direction of traffic
The variation of disk corner, vanishing point can also change.
Further, in one embodiment of the invention, before obtaining dynamic-change information, further includes: judgement becomes
Whether effective change information；If it is valid, identifying change information according to effective change information.
For example, such as the feedback of figure transfer mechanism, when steering wheel angle is within +/- 5 degree and steering wheel angle changes
When rate is less than or equal to 5 degrees second, i.e., it is believed that the variation of the corner does not ring the selection of vanishing point.
In step s 102, identify that the dynamic of lane line vanishing point in current lane line information becomes according to present image information
Change information, and identifies the lane line curvature and bending direction of current curve according to dynamic-change information.
Wherein, in one embodiment of the invention, the lane line curvature of current curve is identified according to dynamic-change information
With bending direction, comprising: obtain the location information of current lane line vanishing point；According to vanishing point under the radius of different bends
The change in location information of full curve and current lane line vanishing point that the maximum lateral displacement obtains determines whether to exist current
Bend.
Further, in one embodiment of the invention, the lane line of current curve is identified according to dynamic-change information
Curvature and bending direction, further includes: when current lane line vanishing point is moved to the left and laterally value is greater than the maximum lateral displacement,
There are current curves, and bending direction is to the left；It moves right in current lane line vanishing point and laterally value is greater than maximum transversal
When offset, there are current curves, and bending direction is to the right；The lane line curvature of current curve is obtained according to full curve.
Specifically, judge whether front lane has bend and judge the side of bend according to the change in location of vanishing point first
To:
Step 1: record works as the position of previous frame blanking point, the i.e. coordinate of pixel.It should be noted that it is contemplated that vehicle
The traffic direction that vehicle can be changed according to the left-right rotation of steering wheel, can formulate experimental method, such as: on long straight way, note
Record steering wheel to the left or to the right lower than steering wheel angle change rate be less than or equal to 5 degrees seconds movement when vanishing point variation model
It encloses, and during this horizontally, vanishing point can be moved to the left or right, the picture element position information SHO after recording movementLWith
SHOR；At (R=200 meters of turning radius, 300 meters, 400 meters, 500 meters, 600 meters, 700 meters, 800 meters, 900 meters of long straight way+bend
With 1000 meters) on, steering wheel is recorded respectively to the left or to the right in the fortune for being less than or equal to 5 degrees seconds lower than steering wheel angle change rate
The variation range of vanishing point when dynamic, and during this horizontally, vanishing point can be moved to the left or right, the picture after recording movement
Plain location information MHOLR and MHORR。
Step 2: according under different turning radius, the maximum offset MHO of vanishing point horizontallyLR and MHORR, to R
From 200 meters to 1000 in the case where meter consecutive variations, to obtained MHOLR and MHORR carries out linear interpolation and obtains full curve,
As shown in Figure 4.
Step 3: when practical vanishing point is moved to the left, laterally value is greater than SHOLAnd SHORWhen, vanishing point is moved to the left, can
There is bend in judgement front, and direction is to the left；Vanishing point moves right, and can determine whether that there is bend in front, and direction is to the right；According to continuous
Curve can determine that turning radius R, can calculate curvature F=1/R.
In step s 103, according to the turning executing agency of lane line curvature and bending direction control automatic driving vehicle
Turning action.
It is understood that the data by camera come judge front whether have the curvature of bend and corner and
After bend direction, real-time foundation can be provided to the active path planning of vehicle, it can be in advance to such as side, the executing agency of vehicle
It is controlled to disk and accelerator and brake, to obtain fine vehicle excessively curved stability and safety.
Specifically, in an embodiment of the present invention, the information that the embodiment of the present invention can be acquired by forward sight camera
Identify object and lane line information, since the image that camera captures is two dimensional image, the extended line of lane line can converge
It meets at a bit, this point is vanishing point.In addition, due to camera is with variation of Che Zhendong and road grade etc., blanking
Point is dynamic change, therefore can judge whether road ahead has the side of bend and bend according to the dynamic change of vanishing point
To, and can be weighted according to the variation of lane line angle and judge whether road ahead has bend, the direction of bend and correspondence
Curvature information, and then the executing agency of vehicle such as steering wheel and accelerator and brake can be controlled in advance, to obtain very well
Vehicle excessively curved stability and safety.
It should be noted that the embodiment of the present invention uses bicycle road or multilane, and entirely calculates and sentence
Disconnected process is completed within 100ms, effectively meets demand for control, i.e., when lane detection completion, and successfully detects at least two
When lane line, the embodiment of the present invention, which can move lateral direction of car, to be carried out accurately and effectively control.
The Servo Control method of automatic driving vehicle according to an embodiment of the present invention, can be according to the current figure of vehicle front
As the lane line curvature and bending direction of information identification current curve, to move and carry out to lateral direction of car when close to bend
It accurately controls, while comfort level by bus is effectively ensured, improves the safety of vehicle, effectively avoid safe thing occur in turning
Therefore.
Referring next to the Servo Control device for the automatic driving vehicle that attached drawing description proposes according to embodiments of the present invention.
Fig. 5 is the block diagram of the Servo Control device of the automatic driving vehicle of the embodiment of the present invention.
As shown in figure 5, the Servo Control device 10 of the automatic driving vehicle includes: to obtain module 100, identification module 200
With control module 300.
Wherein, module 100 is obtained to be used to obtain the present image information being located in front of automatic driving vehicle.Identification module
200 for the dynamic-change information according to lane line vanishing point in present image information identification current lane line information, and according to
The lane line curvature and bending direction of dynamic-change information identification current curve.Control module 300 is used for according to lane line curvature
With the turning action of the turning executing agency of bending direction control automatic driving vehicle.The control device 10 of the embodiment of the present invention can
To be accurately controlled to lateral direction of car movement, while comfort level by bus is effectively ensured, improve vehicle when close to bend
Safety.
Further, in one embodiment of the invention, identification module 200 includes: extraction unit, recognition unit and
One acquiring unit.
Wherein, extraction unit is used to carry out binary conversion treatment to present image information, to obtain gray level image, and it is right line by line
Gray level image carries out jump identification, to extract lane line feature.Recognition unit works as front truck for identifying according to lane line feature
Diatom information, and identify the line of lane line intersection, to determine lane line vanishing point.First acquisition unit lane line for identification
And/or the change information of steering wheel angle, to obtain the dynamic-change information of lane line vanishing point.
Further, in one embodiment of the invention, identification module 200 further include: second acquisition unit and first
Judging unit.
Wherein, second acquisition unit is used to obtain the location information of current lane line vanishing point.First judging unit is used for
The full curve and current lane line vanishing point obtained according to the maximum lateral displacement of the vanishing point under the radius of different bends
Change in location information determine whether that there are current curves.
Further, in one embodiment of the invention, identification module 200 further include: second judgment unit and third
Acquiring unit.
Wherein, second judgment unit is used to be moved to the left in current lane line vanishing point and laterally value is inclined greater than maximum transversal
When shifting amount, there are current curve, and bending direction is to the left, and to move right in the current lane line vanishing point and laterally
When value is greater than the maximum lateral displacement, there are the current curves, and the bending direction is to the right.Third obtains single
Member, for obtaining the lane line curvature of current curve according to full curve.
It should be noted that the explanation of the aforementioned Servo Control embodiment of the method to automatic driving vehicle is also applied for
The Servo Control device of the automatic driving vehicle of the embodiment, details are not described herein again.
The Servo Control device of automatic driving vehicle according to an embodiment of the present invention, can be according to the current figure of vehicle front
As the lane line curvature and bending direction of information identification current curve, to move and carry out to lateral direction of car when close to bend
It accurately controls, while comfort level by bus is effectively ensured, improves the safety of vehicle, effectively avoid safe thing occur in turning
Therefore.
In addition, the embodiment of the present invention also proposes a kind of automatic driving vehicle, which includes above-mentioned automatic Pilot vehicle
Servo Control device.The vehicle can identify the lane line curvature of current curve according to the present image information of vehicle front
Lateral direction of car movement is accurately controlled with bending direction thus when close to bend, the same of comfort level by bus is effectively ensured
When, the safety of vehicle is improved, effectively avoids safety accident occur in turning.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of Servo Control method of automatic driving vehicle, which comprises the following steps:
Obtain the present image information being located in front of automatic driving vehicle；
According to the dynamic-change information of lane line vanishing point in present image information identification current lane line information, and according to
The lane line curvature and bending direction of the dynamic-change information identification current curve；And
The turning of the turning executing agency of the automatic driving vehicle is controlled according to the lane line curvature and the bending direction
Movement.
2. the method according to claim 1, wherein described identify current lane according to the present image information
The dynamic-change information of lane line vanishing point in line information, comprising:
Binary conversion treatment is carried out to the present image information, to obtain gray level image, and the gray level image is carried out line by line
Jump identification, to extract lane line feature；
The current lane line information is identified according to the lane line feature, and identifies the line of lane line intersection, to determine
State lane line vanishing point；
The change information of the lane line and/or steering wheel angle is identified, to obtain the dynamic change of the lane line vanishing point
Information.
3. according to the method described in claim 2, it is characterized in that, before obtaining the dynamic-change information, further includes:
Judge whether the change information is effective；
If it is valid, identifying the change information according to the effective change information.
4. according to the method in claim 2 or 3, which is characterized in that described to be identified currently according to the dynamic-change information
The lane line curvature and bending direction of bend, comprising:
Obtain the location information of current lane line vanishing point；
The full curve and the current lane obtained according to the maximum lateral displacement of the vanishing point under the radius of different bends
The change in location information of line vanishing point determines whether that there are the current curves.
5. according to the method described in claim 4, it is characterized in that, described identify current curve according to the dynamic-change information
Lane line curvature and bending direction, further includes:
When the current lane line vanishing point is moved to the left and laterally value is greater than the maximum lateral displacement, there is described work as
Preceding bend, and the bending direction is to the left；
When the current lane line vanishing point moves right and laterally value is greater than the maximum lateral displacement, there is described work as
Preceding bend, and the bending direction is to the right；
The lane line curvature of the current curve is obtained according to the full curve.
6. a kind of Servo Control device of automatic driving vehicle characterized by comprising
Module is obtained, for obtaining the present image information being located in front of automatic driving vehicle；
Identification module, for identifying that the dynamic of lane line vanishing point in current lane line information becomes according to the present image information
Change information, and identifies the lane line curvature and bending direction of current curve according to the dynamic-change information；And
Control module, the turning for controlling the automatic driving vehicle with the bending direction according to the lane line curvature are held
The turning action of row mechanism.
7. device according to claim 6, which is characterized in that the identification module includes:
Extraction unit, for carrying out binary conversion treatment to the present image information, to obtain gray level image, and line by line to described
Gray level image carries out jump identification, to extract lane line feature；
Recognition unit for identifying the current lane line information according to the lane line feature, and identifies that lane line intersects
Line, with the determination lane line vanishing point；
First acquisition unit, the change information of the lane line and/or steering wheel angle for identification, to obtain the lane line
The dynamic-change information of vanishing point.
8. device according to claim 7, which is characterized in that the identification module further include:
Second acquisition unit, for obtaining the location information of current lane line vanishing point；
First judging unit, the continuous song for being obtained according to the maximum lateral displacement of the vanishing point under the radius of different bends
The change in location information of line and the current lane line vanishing point determines whether that there are the current curves.
9. device according to claim 8, which is characterized in that the identification module further include:
Second judgment unit, for the current lane line vanishing point be moved to the left and laterally value greater than the maximum transversal it is inclined
When shifting amount, there are the current curve, and the bending direction is to the left, and to move right in the current lane line vanishing point
When dynamic and lateral value is greater than the maximum lateral displacement, there are the current curves, and the bending direction is to the right；
Third acquiring unit, for obtaining the lane line curvature of the current curve according to the full curve.
10. a kind of automatic driving vehicle characterized by comprising automatic driving vehicle as claim in any one of claims 6-9
Servo Control device.
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| CN110979162A (en) * | 2019-12-20 | 2020-04-10 | 北京海纳川汽车部件股份有限公司 | Vehicle headlamp control method and system and vehicle |
| CN111077893A (en) * | 2019-12-31 | 2020-04-28 | 驭势科技(南京)有限公司 | Navigation method based on multiple vanishing points, electronic equipment and storage medium |
| CN111674393A (en) * | 2020-05-12 | 2020-09-18 | 坤泰车辆系统（常州）有限公司 | Control method for long-curve running of automatic driving system with lane centering auxiliary function |
| CN113511202A (en) * | 2021-07-30 | 2021-10-19 | 东风汽车有限公司东风日产乘用车公司 | Curve vehicle speed control method of adaptive cruise system, storage medium and electronic equipment |
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