CN110007305B - Method, device, server and storage medium for determining vehicle front target - Google Patents
Method, device, server and storage medium for determining vehicle front target Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
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Abstract
The embodiment of the invention discloses a method, a device, a server and a storage medium for determining a target in front of a vehicle. The method comprises the following steps: determining the yaw velocity of the self-vehicle according to the attribute information of the tracking target output by the radar, and determining a locking target positioned on the self-vehicle lane from the tracking target according to the yaw velocity and the current running speed of the self-vehicle. Compared with the prior art, the embodiment of the invention determines the yaw rate of the self-vehicle according to the attribute information of the tracked target output by the radar, solves the precision problem of the yaw rate sensor in the prior art, and improves the accuracy of determining the locked target when the locked target is determined according to the yaw rate.
Description
Technical Field
The embodiment of the invention relates to the technical field of target identification, in particular to a method and a device for determining a target in front of a vehicle, a server and a storage medium.
Background
In order to facilitate traveling, more and more users choose to drive by themselves, so that the number of vehicles on the road is continuously increased, and the frequency of traffic accidents is also continuously increased. Safety auxiliary systems, such as Forward Collision Warning (FCW), Automatic Emergency Braking (AEB), Adaptive Cruise Control (ACC), etc., have been increasingly emphasized in recent years as one of important means for reducing traffic accidents.
One of the key technologies of these safety assistance systems is radar, and in practical applications, the safety assistance system needs to select the most dangerous target in the current lane from a plurality of targets output by radar. At present, the strategy generally adopted is to determine the dangerous target of the vehicle lane by judging whether the target is positioned in the vehicle lane by using a fixed lateral offset distance threshold, and the other strategy is to estimate the current turning radius of the vehicle by using a yaw rate sensor and combining the vehicle speed of the vehicle and determine the dangerous target of the vehicle lane according to the turning radius of the vehicle.
Because the vehicle does not run in the lane of the vehicle in a completely parallel way, and the accuracy of the yaw rate sensor limits the accuracy of the turning radius, the target actually positioned in the lane of the vehicle can be misjudged as the target of the adjacent lane, or the target of the adjacent lane is misjudged as positioned in the lane of the vehicle, so that the judgment of a dangerous target is influenced, and the safe driving is influenced.
Disclosure of Invention
The embodiment of the invention provides a method, a device, a server and a storage medium for determining a target in front of a vehicle, which are used for improving the accuracy of determining the target in front of the vehicle in driving.
In a first aspect, an embodiment of the present invention provides a method for determining a target ahead of a vehicle, including:
determining the yaw velocity of the self-vehicle according to attribute information of a tracking target output by a radar, wherein the radar is arranged on the self-vehicle;
and determining a locking target positioned on the vehicle lane from the tracking targets according to the yaw rate and the current running speed of the vehicle.
Further, the determining the yaw rate of the host vehicle according to the attribute information of the tracking target output by the radar includes:
acquiring the relative speed in the attribute information;
determining the movement speed of the tracking target according to the current running speed and the relative speed of the self-vehicle;
determining the dynamic and static attributes of the tracking target according to the movement speed;
and determining the yaw velocity of the self-vehicle according to the dynamic and static attributes.
Further, the attribute information further includes: a radial distance of the tracking target to the radar and a tangential relative velocity with respect to the radar,
correspondingly, the determining the yaw rate of the self-vehicle according to the dynamic and static properties comprises the following steps:
if the dynamic and static attributes of the tracking target are static attributes, determining that the tracking target is a static target;
and determining the yaw velocity of the self-vehicle according to a yaw velocity calculation formula, the radial distance between the static target and the self-vehicle and the tangential relative velocity relative to the self-vehicle.
Further, the yaw rate calculation formula specifically includes:
ω＝-Vt/Range
wherein, VtRange is the radial distance of the static target from the own vehicle, which is the tangential relative velocity of the static target with respect to the own vehicle.
Further, the determining a lock target located on a lane of the host vehicle from the tracking targets based on the yaw rate and the current traveling speed of the host vehicle includes:
determining the turning radius of the self-vehicle according to the yaw angular velocity and the current running speed of the self-vehicle to obtain the running track of the self-vehicle;
determining a primary selection target of the vehicle lane according to the running track;
if the self vehicle has a history locking target, determining a locking target on the self vehicle lane according to the primary selection target and the history locking target; if not, then,
and taking the primary selection target as a locking target on the vehicle lane.
Further, the determining the primary selection target of the vehicle lane according to the driving track includes:
correcting the transverse distance from the tracking target to the self-vehicle according to the turning radius;
and if the corrected transverse distance is smaller than or equal to the width of the vehicle in the set proportion, determining the primary selection target of the vehicle lane according to the corrected transverse distance.
Further, the determining a locking target located on the own vehicle lane according to the primary selection target and the historical locking target includes:
determining whether the history locked target satisfies a loss condition;
if not, comparing the historical locking target with the primary selection target, and determining a locking target on the lane of the vehicle based on the comparison result;
if yes, determining a locking target on the own vehicle lane according to the accumulated lost times of the historical locking target;
wherein the loss condition comprises: the history locked target is not present in the tracking target; or the history locking target exists in the tracking target, and the transverse distance between the history locking target and the vehicle is larger than the lane width of the vehicle in a set proportion.
In a second aspect, an embodiment of the present invention further provides a vehicle front target determination device, including:
the system comprises a yaw rate determining module, a tracking module and a tracking module, wherein the yaw rate determining module is used for determining the yaw rate of the self-vehicle according to attribute information of a tracking target output by a radar, and the radar is arranged on the self-vehicle;
and the target determining module is used for determining a locking target positioned on the lane of the self vehicle from the tracking targets according to the yaw rate and the current running speed of the self vehicle.
In a third aspect, an embodiment of the present invention further provides a server, including:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the vehicle front direction target determination method according to the first aspect.
In a fourth aspect, embodiments of the present invention also provide a storage medium having a computer program stored thereon, where the program is executed by a processor to implement the method for determining the vehicle front direction target according to the first aspect.
Compared with the prior art, the yaw rate of the self-vehicle is determined according to the attribute information of the tracking target output by the radar, the accuracy of yaw rate sensor in the prior art is solved, and the accuracy of target locking determination is improved when the target locking is determined according to the yaw rate.
Drawings
Fig. 1 is a flowchart of a method for determining a front target of a vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for determining a forward target of a vehicle according to a second embodiment of the present invention;
fig. 3 is a schematic diagram of a driving track of a vehicle according to a second embodiment of the present invention;
fig. 4 is a structural diagram of a vehicle front target determination device according to a third embodiment of the present invention;
fig. 5 is a structural diagram of a server according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.
Example one
Fig. 1 is a flowchart of a method for determining a target in front of a vehicle according to an embodiment of the present invention, which is applicable to determining a target in front of a moving platform, especially determining a target in front of a vehicle in a complex driving environment, where the complex driving environment includes a lane change, a cut-in and a cut-out of a target vehicle, and multiple targets. The method may be performed by a vehicle front target determination device, which may be implemented by software and/or hardware, the device being integrated in a server, and in particular, the method comprises the steps of:
and S110, determining the yaw rate of the vehicle according to the attribute information of the tracking target output by the radar.
Wherein, the radar set up in on the car, information such as distance, relative speed and the direction angle that can measure target and radar to supplementary vehicle accomplishes the avoidance of barrier, and is optional, can utilize car millimeter wave radar or angle radar tracking vehicle the target in the place ahead. The tracking targets are targets that can be recognized by the radar during the running of the own vehicle, and at most 64 targets can be recognized, some of these recognized targets have an influence on the safe running of the own vehicle, and in order to determine a dangerous target on the own vehicle lane from among the tracking targets output by the radar, it is necessary to determine the yaw rate of the own vehicle from the attribute information of the tracking targets, and further determine the dangerous target from the yaw rate.
The attribute information is information of a tracking target relative to the radar, such as the radial distance, the direction angle and the relative speed from the tracking target to the radar. The yaw rate is an angular velocity at which the vehicle rotates about a vertical axis in the vehicle body coordinate system, and represents a degree of stability of the vehicle, and when the yaw rate is equal to or greater than a set threshold value, there is a possibility that a risk of sideslip or drift may occur. The accuracy of the yaw rate directly influences the determination of the follow-up target, the yaw rate of the self-vehicle is usually measured by using a yaw rate sensor in the prior art, the measurement accuracy of the yaw rate sensor is limited, so that the accuracy of the measured yaw rate is limited, and in the practical application process, the target actually positioned in the self-vehicle lane is easily judged to be an adjacent lane target by mistake, or the adjacent lane target is judged to be positioned in the self-vehicle lane by mistake, so that potential safety hazards exist.
The yaw rate is determined according to the attribute information such as the radial distance and the tangential relative speed from the tracking target output by the radar to the radar, and the real-time performance and the accuracy are high. Specifically, before determining the yaw rate of the vehicle according to the attribute information of the tracking target, coordinate conversion needs to be performed according to the installation position of the radar to obtain information of the tracking target in a vehicle body coordinate system, and then the yaw rate is determined according to the information in the vehicle body coordinate system, wherein the installation position of the radar is an offset relative to the center line of the vehicle. After the coordinate conversion, optionally, the motion state of the tracking target can be determined according to the speed of the self-vehicle, and then the yaw rate can be determined according to the motion state, the radial distance from the tracking target to the self-vehicle and the tangential relative speed, so that the defect of the traditional measurement is overcome, and the accuracy of the yaw rate is improved.
And S120, determining a locking target positioned on the lane of the self vehicle from the tracking targets according to the yaw rate and the current running speed of the self vehicle.
The host vehicle lane is a lane in which the host vehicle is traveling, and the lock target is the most dangerous target on the host vehicle lane, such as the closest distance to the host vehicle or the shortest Time To Collision (TTC). It can be understood that, during the running of the vehicle, the tracking targets output by the radar include a target located in the own lane and targets located in other lanes, and the targets located in the own lane are more dangerous than the targets located in other lanes, which may affect the safe running of the own vehicle, so that the targets located in the own lane need to be determined from the tracking targets to eliminate the potential safety hazard.
Alternatively, the turning radius may be determined according to the yaw rate and the current driving speed of the host vehicle, then the driving track of the host vehicle may be determined according to the turning radius, and the target located on the lane of the host vehicle may be determined according to the driving track, where the driving speed may be acquired through a CAN (Controller Area Network) bus of the host vehicle.
Compared with the prior art, the yaw rate of the self-vehicle is determined according to the attribute information of the tracking target output by the radar, the accuracy of the yaw rate sensor in the prior art is solved, and the accuracy of the determination of the locking target is improved when the locking target is determined according to the yaw rate.
Example two
Fig. 2 is a flowchart of a method for determining a forward target of a vehicle according to a second embodiment of the present invention, which is embodied on the basis of the second embodiment, and specifically includes the following steps:
and S210, acquiring the relative speed in the attribute information.
The relative speed is the speed of the tracking target relative to the radar, and comprises a radial relative speed and a tangential relative speed, wherein the radial relative speed is a component of the speed of the tracking target relative to the radar on a connecting line, the tangential relative speed is a component of the speed of the tracking target relative to the radar on a tangential direction, and the radial relative speed and the tangential relative speed can be directly measured by the radar.
And S220, determining the movement speed of the tracking target according to the current running speed and the relative speed of the self-vehicle.
When determining whether the tracked target is a dangerous target, the movement speed of the target, including the speed and the direction, needs to be considered, and the dangerous target is further judged according to the movement speed of the tracked target, for example, when the movement speed of the tracked target is very high and is the same as the driving direction of the self-vehicle, it is indicated that the tracked target is far away from the self-vehicle, and is not a dangerous target, and does not need to be considered.
Specifically, the movement velocity of the tracking target may be calculated according to the following formula:
wherein,
in order to track the speed of movement of the target,
is the current running speed of the own vehicle,
in order to track the relative speed from the target to the self vehicle, namely the relative speed from the target to the radar, the three variables are vectors, and the motion speed of the tracked target can be calculated according to the formula (1). For the purpose of calculation, the radial relative velocity and the tangential relative velocity are converted into a vehicle coordinate system, that is, components of the radial relative velocity and the tangential relative velocity on a horizontal axis and a vertical axis of the vehicle coordinate system, that is, a lateral component and a longitudinal component, are acquired, respectively. Considering that the moving direction of most of the tracked targets on the road is the same as or opposite to the moving direction of the self-vehicle when the self-vehicle actually runs, the longitudinal direction is analyzed separately, and the moving speed of the tracked targets in the longitudinal direction can be calculated by the following formula:
VTy＝VSy+Vry+Vty (2)
wherein, VTyFor tracking the component of the speed of movement of the object in the longitudinal direction, VSyIs the component of the current running speed of the own vehicle in the longitudinal direction, VryFor tracking the component of the radial relative velocity of the target and the own vehicle in the longitudinal direction, VtyIs the component of the tangential relative velocity of the tracked target and the self-vehicle in the longitudinal direction. The included angle alpha between the tracking target and the running direction of the self-vehicle is small, namely the tangential relative speed V of the tracking target and the self-vehicletComponent V in the longitudinal directionty＝VtSin (α) is small and negligible, and may only consider the radial relative velocity VrComponent V in the longitudinal directionry＝VrCos (α), at this time, the moving speed of the tracking target can be calculated according to the following formula:
VTy＝VSy+Vry (3)
and S230, determining the dynamic and static properties of the tracking target according to the movement speed.
The dynamic and static attributes represent motion states of the tracked target, including dynamic and static states, for example, when the dynamic and static attributes are motion attributes, the tracked target is represented as a dynamic target, and when the dynamic and static attributes are static attributes, the tracked target is represented as a static target. When determining the dynamic and static attributes of the tracking target, the determination may be based on the motion speed of the tracking target, for example, when the motion speed of the tracking target is greater than or equal to a speed threshold, the dynamic and static attributes of the tracking target are determined to be dynamic attributes, otherwise, the dynamic and static attributes are determined to be static attributes, where the speed threshold may be determined according to the speed of the vehicle and the accuracy of the relative speed of the target.
And S240, determining the yaw velocity of the self-vehicle according to the dynamic and static attributes.
Specifically, on the basis of the above embodiment, the attribute information further includes: a radial distance from the tracking target to the radar and a tangential relative velocity with respect to the radar, where the radial distance is a linear distance from the tracking target to the radar, that is, a linear distance from the tracking target to the vehicle, and the radial distance and the tangential relative velocity can be measured by the radar, and the radial distance from the tracking target to the vehicle and the tangential velocity with respect to the vehicle can be determined according to the radial distance from the tracking target to the radar and the tangential velocity with respect to the radar, and accordingly, S240 includes:
s2401, if the dynamic and static attributes of the tracked target are static attributes, determining that the tracked target is a static target.
Specifically, when the motion speed of the tracked target is smaller than the speed threshold, it is indicated that the dynamic and static attributes of the tracked target are static attributes, and the corresponding tracked target is a static target. When the tracking target is a static target, the motion state of the tracking target is relatively stable, and the accuracy can be improved when the yaw angular speed is determined.
S2402, determining the yaw rate of the self-vehicle according to a yaw rate calculation formula, the radial distance between the static target and the self-vehicle and the tangential relative speed of the static target relative to the self-vehicle.
After the radial distance and the tangential relative speed are obtained, the yaw velocity of the vehicle can be calculated according to a yaw velocity calculation formula, wherein the yaw velocity calculation formula specifically comprises the following steps:
ω＝-Vt/Range (4)
wherein, VtFor the static target relative toThe tangential relative velocity of the self-vehicle, Range, is the radial distance from the static target to the self-vehicle.
Tangential relative velocity V of static object relative to the self-vehicletAnd the ratio of the radial distance Range from the static target to the self-vehicle is the relative angular velocity of the static target, and the opposite number of the relative angular velocity of the static target is the yaw velocity of the self-vehicle according to the relativity of the movement. When the radar cannot measure or does not output the tangential relative velocity, the relative angular velocity can be obtained by performing a difference operation on the historical direction angles of the tracked target and the own vehicle, and then the yaw rate can be determined according to the relative angular velocity. It should be noted that, when a plurality of static targets exist in the tracking target, the yaw rate may be calculated for each of the static targets, and the average value of the yaw rates may be used as the yaw rate of the host vehicle.
S2403, if all the dynamic and static attributes of the tracking target are dynamic attributes, determining that the tracking target is a dynamic target, and determining that the yaw velocity of the self-vehicle is 0.
When the motion speed of the tracking target is greater than or equal to the speed threshold, the motion attribute of the tracking target is indicated to be a dynamic attribute, and the corresponding tracking target is a dynamic target. Considering that the moving state of the dynamic target is unstable, when it is determined that the tracking targets are all dynamic targets, the yaw rate is directly set to 0.
And S250, determining the turning radius of the self-vehicle according to the yaw rate and the current running speed of the self-vehicle to obtain the running track of the self-vehicle.
After the yaw rate is determined, the turning radius can be determined according to a turning radius calculation formula, the yaw rate and the current driving speed, wherein the turning radius calculation formula specifically comprises:
R＝VS/ω (5)
wherein R is a turning radius, VSThe current running speed of the own vehicle, and ω is the yaw rate of the own vehicle. The driving track determined according to the turning radius R is exemplarily, referring to FIG. 3, FIG. 3 is a diagram of an embodiment of the present inventionThe second provides a driving track schematic diagram of the bicycle.
And S260, determining a primary selection target of the vehicle lane according to the driving track.
The primary selected target is a primarily selected target located on the own vehicle lane, and optionally, the primary selected target may be determined according to the following manner:
s2601, correcting the transverse distance between the tracking target and the self vehicle according to the turning radius.
Because the working condition of the curve is complex, when the vehicle runs on the curve, the tracking target output by the radar usually has the situations of flickering or false target, and the like, in order to improve the accuracy of judgment, the transverse distance from the tracking target to the vehicle needs to be corrected according to the turning radius, wherein the transverse distance is the distance represented by X in figure 3, correspondingly, the longitudinal distance is the distance represented by Y in figure 3, and the corrected transverse distance can be determined according to the turning radius R, the transverse distance X and the longitudinal distance Y. Specifically, the corrected lateral distance may be calculated according to the following formula:
in the formula, XRIn order to correct the lateral distance, R is a turning radius, X is a lateral distance before correction, and Y is a longitudinal distance, the lateral distance is corrected according to the formula (6) when the vehicle turns right, and the lateral distance is corrected according to the formula (7) when the vehicle turns left, wherein the lateral distance X is Range sin α, and the longitudinal distance Y is Range cos α. Taking the advancing direction of the vehicle as a positive direction, when the vehicle turns to the right, the turning radius R is larger than 0, and when the vehicle turns to the left, the turning radius R is smaller than 0. It should be noted that, when the lateral distance of the tracked target is corrected, the selected tracked target is a stable target, wherein the stage from the tracked target being tracked to the tracking being lost is called the stable target, and thus the selected tracked target has the advantage that the stable target can be selectedSo as to improve the stability of subsequent locking targets and reduce the occurrence of flicker.
S2602, if the corrected transverse distance is smaller than or equal to the width of the vehicle in the set proportion, determining the primary selection target of the vehicle lane according to the corrected transverse distance.
Specifically, when the corrected lateral distance of the tracking target is smaller than or equal to the width of the vehicle at the set ratio, it indicates that the tracking target is located in the vehicle lane, and determines that the tracking target in the vehicle lane is closest to the vehicle or collides with the vehicle according to the corrected lateral distance, and determines the tracking target with the minimum time as the primary selection target of the vehicle lane, wherein the set ratio can be set according to actual needs, and optionally, the set ratio is 1/2. The number of the primary selection targets is one.
And S270, judging whether the self vehicle has a history locking target or not, if so, executing S280, and otherwise, executing S290.
When determining the locking target of the own vehicle, whether a history locking target exists needs to be determined firstly to improve the accuracy of the determination of the locking target, wherein the history locking target is the locking target existing at the previous moment, if yes, S280 is executed, otherwise, S290 is executed.
S280, determining a locking target on the own vehicle lane according to the primary selection target and the historical locking target.
If the historical locked target exists, determining the locked target based on the primary selected target and the historical locked target, and optionally, determining the locked target by the following method:
s2801, determining whether the history locking target meets the lost condition, if not, executing S2802, otherwise, executing S2803.
It can be understood that, during the running process of the vehicle, due to the complexity of the running environment, such as a tunnel, a strong target blocking or a lane change of the vehicle, a target is usually lost for a short time, in order to accurately judge the history locked target, it is necessary to determine whether the history locked target meets a loss condition, if not, S2802 is executed, otherwise, S2803 is executed, where the loss condition includes: the history locked target is not present in the tracking target; or the history locking target exists in the tracking target, and the transverse distance between the history locking target and the vehicle is larger than the lane width of the vehicle in a set proportion.
In the embodiment, when the transverse distance from the history locking target to the self-vehicle is greater than the lane width of the self-vehicle in a set proportion, the history locking target is indicated to exceed the range of the lane of the self-vehicle. The method determines whether the tracking target is positioned on the lane of the vehicle according to the lane width of the vehicle and the width of the vehicle by using the separation threshold, thereby avoiding the situation that the tracking target flickers frequently and improving the stability of the target locking.
S2802, comparing the historical locking target with the primary selection target, and determining a locking target located on the vehicle lane based on the comparison result.
When the history locked target exists and the primary selected target does not coincide with the history locked target, the distance or TTC between the primary selected target and the history locked target and the own vehicle may be compared, and a target closer to the own vehicle or having a smaller TTC may be selected as the locked target.
S2803, determining the locking target located on the own vehicle lane according to the accumulated lost times of the historical locking target.
The method comprises the steps that 1 is added to the lost times when the historical locked target meets the loss condition once, when the continuous lost times of the historical locked target is larger than a time threshold, the historical locked target is released, if the continuous lost times are smaller than or equal to the time threshold, the current state is predicted according to the state before the historical locked target is lost, the locked target is determined according to the predicted state, wherein the time threshold can be set according to actual needs, and the embodiment is not limited.
And S290, taking the primary selected target as a locking target on the own vehicle lane.
And if the historical locking target does not exist, the primary selected target is used as the locking target.
The second embodiment of the invention provides a method for determining a target in front of a vehicle, which is based on the first embodiment, firstly determines the dynamic and static attributes of a tracking target, determines the yaw velocity of the self-vehicle according to the radial distance between the static target and the self-vehicle and the tangential relative velocity relative to the self-vehicle when the tracking target is determined to be the static target, improves the accuracy of determining the yaw velocity, improves the adaptability of a curve, and improves the stability of a locked target by using a separation threshold when the locked target of a lane of the self-vehicle is determined based on the yaw velocity.
EXAMPLE III
Fig. 4 is a structural diagram of a vehicle front target determining apparatus according to a third embodiment of the present invention, which may execute the vehicle front target determining method according to the foregoing embodiment, specifically, the apparatus includes:
a yaw rate determination module 310, configured to determine a yaw rate of a host vehicle according to attribute information of a tracking target output by a radar provided on the host vehicle;
and a target determination module 320 for determining a locking target located on a lane of the host vehicle from the tracking targets according to the yaw rate and the current traveling speed of the host vehicle.
Compared with the prior art, the yaw rate of the self-vehicle is determined according to the attribute information of the tracking target output by the radar, the accuracy of the yaw rate sensor in the prior art is solved, and the accuracy of the determination of the locked target is improved when the locked target is determined according to the yaw rate.
On the basis of the above embodiment, the yaw-rate determining module 310 includes:
a relative speed acquisition unit configured to acquire a relative speed in the attribute information;
the movement speed acquisition unit is used for determining the movement speed of the tracking target according to the current running speed and the relative speed of the self vehicle;
a dynamic and static attribute determining unit, configured to determine a dynamic and static attribute of the tracking target according to the motion speed;
and the yaw rate determining unit is used for determining the yaw rate of the self-vehicle according to the dynamic and static attributes.
On the basis of the above embodiment, the attribute information further includes: a radial distance of the tracking target to the radar and a tangential relative velocity with respect to the radar,
accordingly, a yaw-rate determining unit comprises:
a target determining subunit, configured to determine that the tracking target is a static target if the dynamic and static attributes of the tracking target are static attributes;
and the speed determining subunit is used for determining the yaw velocity of the self-vehicle according to a yaw velocity calculation formula, the radial distance from the static target to the self-vehicle and the tangential relative speed relative to the self-vehicle.
On the basis of the above embodiment, the yaw rate calculation formula specifically includes:
ω＝-Vt/Range
wherein, VtRange is the radial distance of the static target from the own vehicle, which is the tangential relative velocity of the static target with respect to the own vehicle.
On the basis of the above embodiment, the target determining module 320 includes:
the radius determining unit is used for determining the turning radius of the self-vehicle according to the yaw velocity and the current running velocity of the self-vehicle to obtain the running track of the self-vehicle;
the primary selection target determining unit is used for determining a primary selection target of the vehicle lane according to the running track;
a locking target determining unit, configured to determine a locking target located on the lane of the vehicle according to the primary selection target and the historical locking target if the vehicle has the historical locking target; and if not, taking the primary selection target as a locking target on the vehicle lane.
On the basis of the above embodiment, the primary election target determining unit includes:
the correction subunit is used for correcting the transverse distance from the tracking target to the self vehicle according to the turning radius;
and the primary selection target determining subunit is used for determining the primary selection target of the vehicle lane according to the corrected transverse distance if the corrected transverse distance is less than or equal to the vehicle width of the vehicle in the set proportion.
On the basis of the above embodiment, the lock target determination unit includes:
a judging subunit, configured to determine whether the history locked target satisfies a loss condition;
the first determining subunit is used for comparing the historical locking target with the primary selection target if the historical locking target and the primary selection target are not the same, and determining a locking target positioned on the own lane based on the comparison result;
the second determining subunit is used for determining the locking target located on the own vehicle lane according to the accumulated lost times of the historical locking target if the locking target is located on the own vehicle lane;
wherein the loss condition comprises: the history locked target is not present in the tracking target; or the history locking target exists in the tracking target, and the transverse distance between the history locking target and the vehicle is larger than the lane width of the vehicle in a set proportion.
The vehicle front target determination device provided by the third embodiment of the invention can be used for executing the vehicle front target determination method provided by the above embodiment, and has corresponding functions and beneficial effects.
Example four
Fig. 5 is a structural diagram of a server according to a fourth embodiment of the present invention, specifically, referring to fig. 5, the server includes: the number of the processors 410 in the server can be one or more, one processor 410 is taken as an example in fig. 5, the processors 410, the memory 420, the input devices 430 and the output devices 440 in the server can be connected by a bus or in other ways, and the processor 410, the memory 420, the input devices 430 and the output devices 440 in fig. 5 are taken as an example of being connected by a bus.
The memory 420, which is a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle front object determining method in the embodiment of the present invention. The processor 410 executes various functional applications of the server and data processing, i.e., implements the vehicle front direction target determination method of the above-described embodiment, by executing software programs, instructions, and modules stored in the memory 420.
The memory 420 mainly includes a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 420 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 420 may further include memory located remotely from processor 410, which may be connected to a server over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 430 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the server. The output device 440 may include a display device such as a display screen, and an audio device such as a speaker and a buzzer.
The server provided by the embodiment of the invention belongs to the same inventive concept as the method for determining the target in front of the vehicle provided by the above embodiment, and the technical details which are not described in detail in the embodiment can be referred to the above embodiment, and the embodiment has the same beneficial effects as the method for determining the target in front of the vehicle.
EXAMPLE five
Fifth embodiment of the present invention also provides a storage medium having stored thereon a computer program that, when executed by a processor, implements the method for determining a forward object of a vehicle according to the fifth embodiment of the present invention.
Of course, the storage medium containing the computer-executable instructions provided by the embodiment of the present invention is not limited to the operations in the method for determining the vehicle front target described above, and may also perform the relevant operations in the method for determining the vehicle front target provided by the above-described embodiment of the present invention, and has the corresponding functions and advantages.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes instructions for enabling a computer device (which may be a robot, a personal computer, a server, or a network device) to execute the method for determining the front-of-vehicle object according to the embodiments of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (8)
1. A method for determining a target ahead of a vehicle, comprising:
determining the yaw velocity of the self-vehicle according to attribute information of a tracking target output by a radar, wherein the radar is arranged on the self-vehicle;
determining a locking target located on a vehicle lane from the tracking targets according to the yaw rate and the current driving speed of the vehicle;
the method for determining the yaw rate of the self-vehicle according to the attribute information of the tracking target output by the radar comprises the following steps:
acquiring the relative speed in the attribute information;
determining the movement speed of the tracking target according to the current running speed and the relative speed of the self-vehicle;
determining the dynamic and static attributes of the tracking target according to the movement speed;
determining the yaw velocity of the self-vehicle according to the dynamic and static attributes;
the attribute information further includes: a radial distance of the tracking target to the radar and a tangential relative velocity with respect to the radar,
correspondingly, the determining the yaw rate of the self-vehicle according to the dynamic and static properties comprises the following steps:
if the dynamic and static attributes of the tracking target are static attributes, determining that the tracking target is a static target;
and determining the yaw velocity of the self-vehicle according to a yaw velocity calculation formula, the radial distance between the static target and the self-vehicle and the tangential relative velocity relative to the self-vehicle.
2. The method according to claim 1, wherein the yaw rate calculation formula is specifically:
ω＝-Vt/Range
wherein, VtRange is the radial distance of the static target from the own vehicle, which is the tangential relative velocity of the static target with respect to the own vehicle.
3. The method according to claim 1, wherein the determining a lock target located on a lane of the own vehicle from the tracking targets based on the yaw rate and a current traveling speed of the own vehicle includes:
determining the turning radius of the self-vehicle according to the yaw angular velocity and the current running speed of the self-vehicle to obtain the running track of the self-vehicle;
determining a primary selection target of the vehicle lane according to the running track;
if the self vehicle has a history locking target, determining a locking target on the self vehicle lane according to the primary selection target and the history locking target; if not, then,
and taking the primary selection target as a locking target on the vehicle lane.
4. The method of claim 3, wherein the determining a primary target of the own vehicle lane according to the driving track comprises:
correcting the transverse distance from the tracking target to the self-vehicle according to the turning radius;
and if the corrected transverse distance is smaller than or equal to the width of the vehicle in the set proportion, determining the primary selection target of the vehicle lane according to the corrected transverse distance.
5. The method of claim 4, wherein determining a locking target located on the host vehicle lane from the primary selection target and the historical locking target comprises:
determining whether the history locked target satisfies a loss condition;
if not, comparing the historical locking target with the primary selection target, and determining a locking target on the lane of the vehicle based on the comparison result;
if yes, determining a locking target on the own vehicle lane according to the accumulated lost times of the historical locking target;
wherein the loss condition comprises: the history locked target is not present in the tracking target; or the history locking target exists in the tracking target, and the transverse distance between the history locking target and the vehicle is larger than the lane width of the vehicle in a set proportion.
6. A vehicle front target determination device, characterized by comprising:
the system comprises a yaw rate determining module, a tracking module and a tracking module, wherein the yaw rate determining module is used for determining the yaw rate of the self-vehicle according to attribute information of a tracking target output by a radar, and the radar is arranged on the self-vehicle;
a target determination module for determining a lock target located on a lane of the own vehicle from the tracking targets based on the yaw rate and a current traveling speed of the own vehicle;
the yaw-rate determination module comprising:
a relative speed acquisition unit configured to acquire a relative speed in the attribute information;
the movement speed acquisition unit is used for determining the movement speed of the tracking target according to the current running speed and the relative speed of the self vehicle;
a dynamic and static attribute determining unit, configured to determine a dynamic and static attribute of the tracking target according to the motion speed;
the yaw velocity determining unit is used for determining the yaw velocity of the self-vehicle according to the dynamic and static attributes;
the attribute information further includes: a radial distance of the tracking target to the radar and a tangential relative velocity with respect to the radar;
accordingly, the yaw-rate determining unit includes:
a target determining subunit, configured to determine that the tracking target is a static target if the dynamic and static attributes of the tracking target are static attributes;
and the speed determining subunit is used for determining the yaw velocity of the self-vehicle according to a yaw velocity calculation formula, the radial distance from the static target to the self-vehicle and the tangential relative speed relative to the self-vehicle.
7. A server, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the vehicle front end goal determining method of any of claims 1-5.
8. A storage medium on which a computer program is stored, characterized in that the program, when executed by a processor, implements the vehicle front object determining method according to any one of claims 1 to 5.
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| CN110531661B (en) * | 2019-08-22 | 2021-06-22 | 浙江吉利汽车研究院有限公司 | Automatic following control method, device and equipment for vehicle |
| CN110930692B (en) * | 2019-10-24 | 2021-06-18 | 河北德冠隆电子科技有限公司 | Active vehicle continuous tracking device, system and method |
| CN111308458B (en) * | 2020-02-21 | 2023-06-02 | 北京理工睿行电子科技有限公司 | Vehicle speed estimation method based on vehicle millimeter wave radar |
| CN111856470A (en) * | 2020-07-20 | 2020-10-30 | 中国第一汽车股份有限公司 | Target screening method, device, equipment and storage medium for automobile radar |
| CN111830483B (en) * | 2020-09-16 | 2020-12-22 | 福瑞泰克智能系统有限公司 | Method and device for determining target with inching effect, electronic equipment and storage medium |
| CN116224281B (en) * | 2023-05-10 | 2023-07-14 | 南京隼眼电子科技有限公司 | Vehicle attitude information determining method, device and equipment |
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