CN110395255A - Judgment method, system and the computer readable storage medium of adjacent lane lateral direction of car motion state - Google Patents
Judgment method, system and the computer readable storage medium of adjacent lane lateral direction of car motion state Download PDFInfo
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- CN110395255A CN110395255A CN201910595318.1A CN201910595318A CN110395255A CN 110395255 A CN110395255 A CN 110395255A CN 201910595318 A CN201910595318 A CN 201910595318A CN 110395255 A CN110395255 A CN 110395255A
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- vehicle
- adjacent lane
- samecount
- numerical value
- counter
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
Abstract
The invention discloses judgment method, system and the computer readable storage mediums of a kind of adjacent lane lateral direction of car motion state, the following steps are included: step 1, being compared the lateral distance at the current time between adjacent lane vehicle and this vehicle with the lateral distance of last moment, the numerical value of flag bit flag is determined；The numerical value of step 2, the numerical value that counter sameCount in the same direction is determined according to the numerical value of flag and backward counter diffCount, and export the numerical value of counter sameCount in the same direction；Step 3, the transverse movement state that adjacent lane vehicle is determined according to the numerical value of counter sameCount in the same direction.The present invention can effectively eliminate the frame losing of sensor short time and due to sensor accuracy it is lower caused by lateral distance beat back and forth brought by the unstable problem of judging result.
Description
Technical field
The invention belongs to automatic Pilot technical fields, and in particular to a kind of judgement side of neighbour lane lateral direction of car motion state
Method, system and computer readable storage medium.
Background technique
TJP(Traffic Jam Pilot) result of multiobjective decision-making will have a direct impact on autonomous driving vehicle in system
Safety and comfort.It and is to guarantee multiobjective decision-making fructufy to the accurate judgement of this vehicle neighbour lane lateral direction of car movement tendency
The basis of when property and accuracy.
The adjacent lane car status information that multiobjective decision-making module is exported according to sensor moves adjacent lane lateral direction of car
Trend is judged, and is made a policy according to the real time position of vehicle to follow the bus target.Subsequent longitudinally controlled module is according to follow the bus
The status information of target carries out speed planning, and sends control instruction to executing agency, completes corresponding acceleration and deceleration.It considers
Executing agency's response lag does adjacent lane lateral direction of car movement tendency to guarantee smooth deceleration when adjacent lane vehicle incision
Rapidly and accurately judge just to be particularly important out.
Currently, the judgement to adjacent lane lateral direction of car motion state judges according to the lateral velocity of vehicle mostly, it should
Class method is simple, direct, can be quickly obtained reliable vehicle-state in the higher situation of sensor accuracy.But currently used for
The sensor error of automatic Pilot volume production is larger, judges fellow road-users transverse movement state according to the lateral velocity of vehicle
Accuracy it is lower, often will appear erroneous judgement or the case where fail to judge.
Therefore, it is necessary to develop a kind of judgment method of adjacent lane lateral direction of car motion state, system and computer-readable
Storage medium.
Summary of the invention
The object of the present invention is to provide judgment method, system and the computers of a kind of adjacent lane lateral direction of car motion state can
Read storage medium, can effectively eliminate the frame losing of sensor short time and due to sensor accuracy it is lower caused by lateral distance back and forth
The unstable problem of judging result brought by beating.
The judgment method of neighbour lane of the present invention lateral direction of car motion state, comprising the following steps:
Step 1 carries out the lateral distance at the current time between adjacent lane vehicle and this vehicle and the lateral distance of last moment
Compare, determines the numerical value of flag bit flag；
Step 2, the numerical value and backward counter diffCount that counter sameCount in the same direction is determined according to the numerical value of flag
Numerical value, and export the numerical value of counter sameCount in the same direction；
Step 3, the transverse movement state that adjacent lane vehicle is determined according to the numerical value of counter sameCount in the same direction.
Further, in the step 1, by the lateral distance at the current time between adjacent lane vehicle and this vehicle and upper a period of time
The lateral distance at quarter is compared；
If lateral distance exists close to jump, flag sets 1；
If lateral distance guarantee is constant, flag sets 0；
If lateral distance exists far from jump, flag sets -1.
Further, the step 2 specifically:
Step 2a, counter values initialize；
Step 2b, judge counter whether be in Reset Status or flag symbol and sameCount symbol it is whether identical；
Step 2c, if so, sameCount=sameCount+flag, and 2f is entered step；
Step 2d, if it is not, then diffCount=diffCount+flag, and 2e is entered step；
Step 2e, judge whether the absolute value of diffCount is less than preset threshold, if so, output sameCount=
DiffCount if it is not, then exporting sameCount=diffCount, and is set to 0, and enter step by sameCount+flag
2f；
Step 2f, judge whether to meet counter release conditions, if satisfied, 2a is then entered step, if not satisfied, then entering step
2b。
Further, in the step 3；
If the numerical value of samecount is greater than the first default value, then it is assumed that adjacent lane vehicle has close trend；
If the numerical value of samecount is greater than the second default value and when less than the first default value, then it is assumed that adjacent lane vehicle without
Trend state；
If the numerical value of samecount is less than the second preset times, then it is assumed that adjacent lane vehicle has separate trend state.
Further, first default value is 3；Second default value is -3.
Further, counter release conditions are as follows: the lateral distance between adjacent lane vehicle and this vehicle meets 40 periodicities
Value does not change or target drop-out time is more than that 20 periods or target change.
Further, the preset threshold is 2.
Further, when meeting the following conditions simultaneously, just judge the transverse movement state of adjacent lane vehicle；
(1) when adjacent lane vehicle is in the range of interest of this vehicle, the range of interest is this vehicle headstock in adjacent lane
Region in front and this lane between the tailstock rear of the front nearest vehicle of this vehicle of distance；
(2) fore-and-aft distance between the adjacent lane vehicle tailstock and this vehicle headstock at 2.5 times away from interior, away from for according to current when described
The distance that speed can move in 1s；
(3) left-lane vehicle rightest point and this vehicle center line lateral distance are in [- 0.5m, -4.5m] range, and right lane vehicle is most
Left point and this vehicle center line lateral distance are in [0.5m, 4.5m] range.
A kind of judgement system of adjacent lane lateral direction of car motion state of the present invention, comprising:
For detecting the sensor of lateral distance between adjacent lane vehicle and this vehicle；
Controller, is used for receiving sensor data detected, which connect with sensor；
The controller is programmed to execute the judgment method of adjacent lane lateral direction of car motion state as described in the present invention
Step.
A kind of computer of the present invention can have program to storage medium, the computer-readable recording medium storage,
Described program is executed by processor, to realize the step of the judgment method of adjacent lane lateral direction of car motion state as described in the present invention
Suddenly.
The invention has the following advantages that it utilizes the lateral distance of vehicle directly to judge lateral direction of car movement tendency, energy
It is enough to obtain accurate lateral direction of car motion state in time.Simultaneously by the way that reasonable state transition threshold value is arranged, effectively eliminate
Short time sensor, which is lost, determines unstable result caused by target and sensor accuracy.It is relatively existing directly defeated using sensor
Lateral movement velocity out judges that the method for lateral direction of car motion state, the present invention can more acurrate, timely, steadily judge
The close trend state of vehicle out.
Detailed description of the invention
Fig. 1 is that the area-of-interest in the present invention divides schematic diagram；
Fig. 2 be the present invention in when away from range schematic diagram；
Fig. 3 is the schematic diagram of the lateral distance range in the present invention；
Fig. 4 is the counting flow chart of the counter in the present invention；
Fig. 5 is the vehicle trend state transition logic chart in the present invention.
Fig. 6 is the close trend result schematic diagram that sensor exports lateral distance and judged by this method；
Fig. 7 is the transverse movement state outcome schematic diagram that this method is judged when target switches；
Fig. 8 is the transverse movement state outcome schematic diagram judged when losing the target short time.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
In the present embodiment, a kind of judgment method of neighbour lane lateral direction of car motion state, comprising the following steps:
Step 1 carries out the lateral distance at the current time between adjacent lane vehicle and this vehicle and the lateral distance of last moment
Compare, determines the numerical value of flag bit flag；
Step 2, the numerical value and backward counter diffCount that counter sameCount in the same direction is determined according to the numerical value of flag
Numerical value, and export the numerical value of counter sameCount in the same direction；
Step 3, the transverse movement state that adjacent lane vehicle is determined according to the numerical value of counter sameCount in the same direction.
In the present embodiment, when meeting the following conditions simultaneously, the transverse movement state of adjacent lane vehicle is just judged；
(1) when adjacent lane vehicle is in the range of interest of this vehicle, the range of interest is this vehicle headstock in adjacent lane
Region in front and this lane between the tailstock rear of the front nearest vehicle of this vehicle of distance (i.e. RT1 in Fig. 1).
(2) fore-and-aft distance between the adjacent lane vehicle tailstock and this vehicle headstock at 2.5 times away from interior, when described away from for according to
The distance that current vehicle speed can move in 1s；Referring to fig. 2.
(3) left-lane vehicle rightest point and this vehicle center line lateral distance are in [- 0.5m, -4.5m] range, right lane vehicle
Ultra-left point and this vehicle center line lateral distance are in [0.5m, 4.5m] range；Referring to Fig. 3.
In the present embodiment, in the step 1, by the lateral distance at the current time between adjacent lane vehicle and this vehicle with it is upper
The lateral distance at one moment is compared；If lateral distance exists close to jump, flag sets 1；If lateral distance guarantee is constant,
Then flag sets 0；If lateral distance exists far from jump, flag sets -1.As shown in Fig. 2, specifically, this vehicle left side vehicle (i.e.
RT3 when) lateral distance numerical value changes from small to big, it is believed that lateral distance exist close to jump, numerical value from large to small when exist far from jump
Become；On the right side of this vehicle vehicle (i.e. RT4) lateral distance numerical value from large to small when, it is believed that the vehicle lateral distance exists close to jump, number
Exist when value is changed from small to big far from jump.
As shown in figure 4, the step 2 specifically:
Step 2a, counter values initialize；
Step 2b, judge counter whether be in Reset Status or flag symbol and sameCount symbol it is whether identical；
Step 2c, if so, sameCount=sameCount+flag, and 2f is entered step；
Step 2d, if it is not, then diffCount=diffCount+flag, and 2e is entered step；
Step 2e, judge whether the absolute value of diffCount is less than preset threshold, in the present embodiment, the preset threshold is 2.
If so, output sameCount=sameCount+flag, if it is not, i.e. | diffCount | >=2, indicate that lateral distance reversely connects
When continuous jump is more than twice, change the counting direction of unison counter, exports sameCount=diffCount, and will
DiffCount is set to 0, and enters step 2f；
Step 2f, judge whether to meet counter release conditions, if satisfied, 2a is then entered step, if not satisfied, then entering step
2b.In the present embodiment, counter release conditions are as follows: the lateral distance between adjacent lane vehicle and this vehicle meets 40 cycle values
Do not change or target drop-out time is more than that 20 periods or target change.
In the present embodiment, as shown in figure 5, in the step 3:
If the numerical value of samecount is greater than the first default value, then it is assumed that adjacent lane vehicle has close trend；
If the numerical value of samecount is greater than the second default value and when less than the first default value, then it is assumed that adjacent lane vehicle without
Trend state；
If the numerical value of samecount is less than the second preset times, then it is assumed that adjacent lane vehicle has separate trend state.
In the present embodiment, first default value is 3；Second default value is -3.
It is common because sensor output data jump back and forth causes to determine situation there are mainly two types of unstable results:
First is that burr can occur in jump curve since sensor accuracy is inadequate.The method of the solution of the present embodiment is to be arranged
It only can be just discharged when reversed jump continues to exceed twice close to trend, change the counting direction of basic counter sameCount,
To ensure that the stability of judging result.
Second is that the target that sensor detects often will appear the case where short time loss target.The solution of the present embodiment
Method is that setting only works as target and continuously loses 20 periods, can just discharge the trend state of target vehicle, sentence to ensure that
The stability of disconnected result.
In the present embodiment, Fig. 6 is that sensor exports lateral distance and shown by the close trend result that this method is judged
It is intended to；What this method was judged when Fig. 7 is target switching (such as: the mutation of lateral distance A at illustrates that target switches) lateral transports
Dynamic state outcome schematic diagram；Fig. 8 be the target short time lose (such as: the lateral distance short time at B sports 0, illustrates mesh
Mark is lost) when the transverse movement state outcome schematic diagram that judges.For Fig. 6 into Fig. 8, hachure is lateral direction of car distance, thick lines
For the transverse movement state judged by this method.
The judgement system of a kind of adjacent lane lateral direction of car motion state of the present invention, comprising: for detecting adjacent lane
The sensor of lateral distance between vehicle and this vehicle；Controller is used for receiving sensor data detected, the controller and biography
Sensor connection；The controller is programmed to execute the judgement side of adjacent lane lateral direction of car motion state as described in the present invention
The step of method.
A kind of computer of the present invention can have program to storage medium, the computer-readable recording medium storage,
Described program is executed by processor, to realize the step of the judgment method of adjacent lane lateral direction of car motion state as described in the present invention
Suddenly.
Claims (10)
1. a kind of judgment method of neighbour lane lateral direction of car motion state, which comprises the following steps:
Step 1 carries out the lateral distance at the current time between adjacent lane vehicle and this vehicle and the lateral distance of last moment
Compare, determines the numerical value of flag bit flag；
Step 2, the numerical value and backward counter diffCount that counter sameCount in the same direction is determined according to the numerical value of flag
Numerical value, and export the numerical value of counter sameCount in the same direction；
Step 3, the transverse movement state that adjacent lane vehicle is determined according to the numerical value of counter sameCount in the same direction.
2. the judgment method of neighbour lane according to claim 1 lateral direction of car motion state, it is characterised in that: the step
In 1, the lateral distance at the current time between adjacent lane vehicle and this vehicle is compared with the lateral distance of last moment；
If lateral distance exists close to jump, flag sets 1；
If lateral distance guarantee is constant, flag sets 0；
If lateral distance exists far from jump, flag sets -1.
3. the judgment method of neighbour lane according to claim 1 or 2 lateral direction of car motion state, it is characterised in that: described
Step 2 specifically:
Step 2a, counter values initialize；
Step 2b, judge counter whether be in Reset Status or flag symbol and sameCount symbol it is whether identical；
Step 2c, if so, sameCount=sameCount+flag, and 2f is entered step；
Step 2d, if it is not, then diffCount=diffCount+flag, and 2e is entered step；
Step 2e, judge whether the absolute value of diffCount is less than preset threshold, if so, output sameCount=
DiffCount if it is not, then exporting sameCount=diffCount, and is set to 0, and enter step by sameCount+flag
2f；
Step 2f, judge whether to meet counter release conditions, if satisfied, 2a is then entered step, if not satisfied, then entering step
2b。
4. the judgment method of neighbour lane according to claim 3 lateral direction of car motion state, it is characterised in that: the step
In 3,
If the numerical value of samecount is greater than the first default value, then it is assumed that adjacent lane vehicle has close trend；
If the numerical value of samecount is greater than the second default value and when less than the first default value, then it is assumed that adjacent lane vehicle without
Trend state；
If the numerical value of samecount is less than the second preset times, then it is assumed that adjacent lane vehicle has separate trend state.
5. the judgment method of neighbour lane according to claim 4 lateral direction of car motion state, it is characterised in that: described first
Default value is 3；Second default value is -3.
6. the judgment method of neighbour lane according to claim 3 lateral direction of car motion state, it is characterised in that: counter is released
Put condition are as follows: lateral distance 40 cycle values of satisfaction between adjacent lane vehicle and this vehicle do not change or target drop-out time
It changes more than 20 periods or target.
7. the judgment method of neighbour lane according to claim 3 lateral direction of car motion state, it is characterised in that: described default
Threshold value is 2.
8. the judgment method of adjacent lane lateral direction of car motion state described according to claim 1 or 2 or 4 or 5 or 6 or 7, special
Sign is: when and meanwhile when meeting the following conditions, just judge the transverse movement state of adjacent lane vehicle；
(1) when adjacent lane vehicle is in the range of interest of this vehicle, the range of interest is this vehicle headstock in adjacent lane
Region in front and this lane between the tailstock rear of the front nearest vehicle of this vehicle of distance；
(2) fore-and-aft distance between the adjacent lane vehicle tailstock and this vehicle headstock at 2.5 times away from interior, away from for according to current when described
The distance that speed can move in 1s；
(3) left-lane vehicle rightest point and this vehicle center line lateral distance are in [- 0.5m, -4.5m] range, and right lane vehicle is most
Left point and this vehicle center line lateral distance are in [0.5m, 4.5m] range.
9. a kind of judgement system of neighbour lane lateral direction of car motion state, comprising:
For detecting the sensor of lateral distance and fore-and-aft distance between adjacent lane vehicle and this vehicle；
Controller, is used for receiving sensor data detected, which connect with sensor；
It is characterized by: the controller is programmed to execute such as adjacent lane vehicle described in any item of the claim 1 to 8
The step of judgment method of transverse movement state.
10. a kind of computer can be to storage medium, it is characterised in that: the computer-readable recording medium storage has program, institute
It states program to be executed by processor, to realize such as adjacent lane lateral direction of car motion state described in any item of the claim 1 to 8
The step of judgment method.
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| CN113428141A (en) * | 2021-07-15 | 2021-09-24 | 东风汽车集团股份有限公司 | Intelligent detection method and system for timely response of emergency cut-in of front vehicle |
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Application publication date: 20191101 Assignee: CHONGQING CHANGAN NEW ENERGY AUTOMOBILE TECHNOLOGY Co.,Ltd. Assignor: Chongqing Changan Automobile Co.,Ltd. Contract record no.: X2021500000014 Denomination of invention: Method, system and computer-readable storage medium for judging lateral motion state of adjacent lane vehicles Granted publication date: 20200807 License type: Common License Record date: 20211014 |