CN110395255B - Method and system for judging transverse motion state of adjacent lane vehicle and computer readable storage medium - Google Patents
Method and system for judging transverse motion state of adjacent lane vehicle and computer readable storage medium Download PDFInfo
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- CN110395255B CN110395255B CN201910595318.1A CN201910595318A CN110395255B CN 110395255 B CN110395255 B CN 110395255B CN 201910595318 A CN201910595318 A CN 201910595318A CN 110395255 B CN110395255 B CN 110395255B
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Abstract
The invention discloses a method and a system for judging the transverse motion state of a vehicle on an adjacent lane and a computer readable storage medium, comprising the following steps: step 1, comparing the transverse distance between the adjacent lane vehicle and the vehicle at the current moment with the transverse distance at the previous moment to determine the value of a flag bit flag; step 2, determining the numerical value of the homodromous counter sameCount and the numerical value of the reverse counter diffCount according to the numerical value of the flag, and outputting the numerical value of the homodromous counter sameCount; and step 3, determining the transverse motion state of the adjacent lane vehicle according to the numerical value of the homodromous counter sameCount. The invention can effectively solve the problems of short-time frame loss of the sensor and unstable judgment result caused by the back-and-forth jumping of the transverse distance due to lower accuracy of the sensor.
Description
Technical Field
The invention belongs to the technical field of automatic driving, and particularly relates to a method and a system for judging the transverse motion state of a vehicle on an adjacent lane and a computer readable storage medium.
Background
The result of multi-objective decision in the tjp (traffic Jam pilot) system directly affects the safety and comfort of the autonomous vehicle. And the accurate judgment of the lateral movement trend of the vehicle in the adjacent lane is the basis for ensuring the real-time performance and the accuracy of the multi-target decision result.
And the multi-target decision module judges the transverse movement trend of the adjacent lane vehicles according to the adjacent lane vehicle state information output by the sensor and makes a decision on a vehicle following target according to the real-time positions of the vehicles. And then the longitudinal control module carries out speed planning according to the state information of the car following target and transmits a control instruction to the executing mechanism to finish corresponding acceleration and deceleration. Considering the response lag of the actuating mechanism, in order to ensure the smooth deceleration of the vehicles on the adjacent lane when the vehicles on the adjacent lane are cut in, it is important to quickly and accurately judge the lateral movement trend of the vehicles on the adjacent lane.
At present, the judgment of the lateral motion state of the vehicle on the adjacent lane is mostly carried out according to the lateral speed of the vehicle, the method is simple and direct, and the reliable vehicle state can be quickly obtained under the condition of higher sensor precision. However, the error of the existing sensor for automatic driving mass production is large, the accuracy of judging the transverse motion state of the vehicle in the adjacent lane according to the transverse speed of the vehicle is low, and the condition of misjudgment or missed judgment often occurs.
Therefore, it is necessary to develop a method, a system and a computer readable storage medium for determining the lateral motion state of the vehicle on the adjacent lane.
Disclosure of Invention
The invention aims to provide a method and a system for judging the transverse motion state of a vehicle on an adjacent lane and a computer readable storage medium, which can effectively solve the problems of short-time frame loss of a sensor and unstable judgment results caused by transverse distance back-and-forth jumping due to lower accuracy of the sensor.
The invention relates to a method for judging the transverse motion state of a vehicle on an adjacent lane, which comprises the following steps:
and step 3, determining the transverse motion state of the adjacent lane vehicle according to the numerical value of the homodromous counter sameCount.
Further, in the step 1, comparing the lateral distance between the adjacent lane vehicle and the vehicle at the current moment with the lateral distance at the previous moment;
if the transverse distance has close jump, setting the flag to 1;
if the transverse distance is ensured to be unchanged, setting the flag to be 0;
and if the transverse distance has far jump, setting the flag to be-1.
Further, the step 2 specifically comprises:
step 2a, initializing the value of a counter;
step 2b, judging whether the counter is in a reset state or whether the flag symbol is the same as the sameCount symbol;
step 2c, if yes, sameCount = sameCount + flag, and step 2f is entered;
step 2d, if not, diffCount = diffCount + flag, and step 2e is entered;
step 2e, judging whether the absolute value of diffCount is smaller than a preset threshold, if so, outputting sameCount = sameCount + flag, otherwise, outputting sameCount = diffCount, setting diffCount to 0, and entering step 2 f;
and 2f, judging whether the counter release condition is met, if so, entering the step 2a, and if not, entering the step 2 b.
Further, in the step 3;
if the value of the samecount is larger than a first preset value, the vehicles on the adjacent lanes are considered to have a tendency of approaching;
if the value of the samecount is greater than a second preset value and less than a first preset value, the adjacent lane vehicle is considered to be in a non-trend state;
and if the value of the samecount is less than the second preset times, the adjacent lane vehicles are considered to have a far away trend state.
Further, the first preset value is 3; the second predetermined value is-3.
Further, the counter release condition is: the transverse distance between the adjacent lane vehicle and the host vehicle is equal to 40 periods, or the target loss time exceeds 20 periods, or the target is changed.
Further, the preset threshold is 2.
Further, when the following conditions are simultaneously met, the transverse motion state of the vehicles on the adjacent lane is judged;
(1) when the vehicles of the adjacent lane are in the interested range of the vehicle, wherein the interested range is the area between the front of the head of the vehicle and the rear of the tail of the vehicle which is closest to the vehicle and is in the front of the head of the vehicle;
(2) the longitudinal distance between the tail of the adjacent lane vehicle and the head of the adjacent lane vehicle is within 2.5 times of a time distance, wherein the time distance is a distance which can move within 1s according to the current vehicle speed;
(3) the transverse distance between the rightmost point of the left lane vehicle and the center line of the vehicle is in the range of-0.5 m to-4.5 m, and the transverse distance between the rightmost point of the right lane vehicle and the center line of the vehicle is in the range of 0.5m to 4.5 m.
The invention relates to a system for judging the transverse motion state of a vehicle on an adjacent lane, which comprises:
the sensor is used for detecting the transverse distance between the vehicle on the adjacent lane and the vehicle;
the controller is used for receiving data detected by the sensor and is connected with the sensor;
the controller is programmed to execute the steps of the method for determining the lateral motion state of an adjacent lane vehicle according to the present invention.
A computer according to the present invention may be a storage medium, which stores a program executed by a processor to implement the steps of the method for determining a lateral motion state of an adjacent lane vehicle according to the present invention.
The invention has the following advantages: the method directly utilizes the transverse distance of the vehicle to judge the transverse motion trend of the vehicle, and can obtain the accurate transverse motion state of the vehicle in time. Meanwhile, by setting a reasonable state jump threshold value, the problems that the target is lost by the sensor in a short time and the judgment result is unstable caused by the accuracy of the sensor are effectively solved. Compared with the existing method for judging the transverse motion state of the vehicle by directly utilizing the transverse motion speed output by the sensor, the method can more accurately, timely and stably judge the approaching trend state of the vehicle.
Drawings
FIG. 1 is a schematic diagram of region of interest partitioning in the present invention;
FIG. 2 is a schematic diagram of the time range of the present invention;
FIG. 3 is a schematic view of the range of lateral distances in the present invention;
FIG. 4 is a flow chart of the counter according to the present invention;
fig. 5 is a vehicle trend state skip logic diagram in accordance with the present invention.
FIG. 6 is a schematic diagram of the sensor output lateral distance and the approach trend result determined by the method;
FIG. 7 is a schematic diagram illustrating the result of the lateral motion state determined by the method during target handover;
FIG. 8 is a diagram illustrating the results of the lateral motion state determined when the target is lost for a short period of time.
Detailed Description
The invention will be further explained with reference to the drawings.
In this embodiment, a method for determining a lateral movement state of a vehicle on an adjacent lane includes the following steps:
and step 3, determining the transverse motion state of the adjacent lane vehicle according to the numerical value of the homodromous counter sameCount.
In the embodiment, when the following conditions are simultaneously met, the transverse motion state of the adjacent lane vehicle is judged;
(1) when the vehicle in the adjacent lane is in the interesting range of the vehicle, the interesting range is the area between the front of the head of the vehicle and the front in the lane and the rear of the tail of the vehicle closest to the vehicle (i.e. RT1 in FIG. 1).
(2) The longitudinal distance between the tail of the adjacent lane vehicle and the head of the adjacent lane vehicle is within 2.5 times of a time distance, wherein the time distance is a distance which can move within 1s according to the current vehicle speed; see fig. 2.
(3) The transverse distance between the rightmost point of the left lane vehicle and the center line of the vehicle is in the range of [ -0.5m, -4.5m ], and the transverse distance between the leftmost point of the right lane vehicle and the center line of the vehicle is in the range of [0.5m,4.5m ]; see fig. 3.
In this embodiment, in step 1, the lateral distance between the adjacent lane vehicle and the host vehicle at the current time is compared with the lateral distance at the previous time; if the transverse distance has close jump, setting the flag to 1; if the transverse distance is ensured to be unchanged, setting the flag to be 0; and if the transverse distance has far jump, setting the flag to be-1. As shown in fig. 2, specifically, when the lateral distance value of the vehicle on the left side of the vehicle (i.e., RT 3) is changed from small to large, it is considered that there is a close jump in the lateral distance, and when the lateral distance value is changed from large to small, there is a far jump; when the lateral distance value of the vehicle on the right side of the vehicle (namely RT 4) is changed from large to small, the lateral distance of the vehicle is considered to have a close jump, and when the lateral distance value is changed from small to large, the lateral distance of the vehicle is considered to have a far jump.
As shown in fig. 4, the step 2 specifically includes:
step 2a, initializing the value of a counter;
step 2b, judging whether the counter is in a reset state or whether the flag symbol is the same as the sameCount symbol;
step 2c, if yes, sameCount = sameCount + flag, and step 2f is entered;
step 2d, if not, diffCount = diffCount + flag, and step 2e is entered;
and 2e, judging whether the absolute value of diffCount is smaller than a preset threshold, wherein in the embodiment, the preset threshold is 2. If so, outputting sameCount = sameCount + flag, otherwise, that is, | diffCount |, is greater than or equal to 2, indicating that the transverse distance reversely and continuously jumps more than two times, changing the counting direction of the simultaneous counter, outputting sameCount = diffCount, setting diffCount to 0, and going to step 2 f;
and 2f, judging whether the counter release condition is met, if so, entering the step 2a, and if not, entering the step 2 b. In this embodiment, the counter release condition is: the transverse distance between the adjacent lane vehicle and the host vehicle is equal to 40 periods, or the target loss time exceeds 20 periods, or the target is changed.
In this embodiment, as shown in fig. 5, in step 3:
if the value of the samecount is larger than a first preset value, the vehicles on the adjacent lanes are considered to have a tendency of approaching;
if the value of the samecount is greater than a second preset value and less than a first preset value, the adjacent lane vehicle is considered to be in a non-trend state;
and if the value of the samecount is less than the second preset times, the adjacent lane vehicles are considered to have a far away trend state.
In this embodiment, the first preset value is 3; the second predetermined value is-3.
There are two common cases that the determination result is unstable due to the back-and-forth jump of the sensor output data:
firstly, because the sensor precision is not enough, burrs can appear in the jump curve. The solution of this embodiment is to set the approaching trend to be released only when the reverse jump continuously exceeds twice, and change the counting direction of the master counter sameCount, thereby ensuring the stability of the determination result.
Secondly, the target detected by the sensor often loses the target for a short time. The solution of the embodiment is to set the trend state of the target vehicle to be released only when the target is continuously lost for 20 cycles, thereby ensuring the stability of the judgment result.
In this embodiment, fig. 6 is a schematic diagram of the sensor output transverse distance and the approaching trend result determined by the method; FIG. 7 is a diagram illustrating the result of the lateral motion state determined by the present method during target handover (e.g., abrupt change of lateral distance at A, illustrating target handover); FIG. 8 is a diagram illustrating the lateral motion state results determined when the target is lost for a short time (e.g., the lateral distance at B is abruptly changed to 0 for a short time, which illustrates the target is lost). In fig. 6 to 8, the thin line is the vehicle lateral distance, and the thick line is the lateral movement state determined by the method.
The invention relates to a system for judging the transverse motion state of a vehicle on an adjacent lane, which comprises: the sensor is used for detecting the transverse distance between the vehicle on the adjacent lane and the vehicle; the controller is used for receiving data detected by the sensor and is connected with the sensor; the controller is programmed to execute the steps of the method for determining the lateral motion state of an adjacent lane vehicle according to the present invention.
A computer according to the present invention may be a storage medium, which stores a program executed by a processor to implement the steps of the method for determining a lateral motion state of an adjacent lane vehicle according to the present invention.
Claims (9)
1. A method for judging the transverse motion state of a vehicle on an adjacent lane is characterized by comprising the following steps:
step 1, comparing the transverse distance between the adjacent lane vehicle and the vehicle at the current moment with the transverse distance at the previous moment to determine the value of a flag bit flag;
step 2, determining the numerical value of the homodromous counter sameCount and the numerical value of the reverse counter diffCount according to the numerical value of the flag, and outputting the numerical value of the homodromous counter sameCount; the method specifically comprises the following steps:
step 2a, initializing the value of a counter;
step 2b, judging whether the counter is in a reset state or whether the flag symbol is the same as the sameCount symbol;
step 2c, if yes, sameCount = sameCount + flag, and step 2f is entered;
step 2d, if not, diffCount = diffCount + flag, and step 2e is entered;
step 2e, judging whether the absolute value of diffCount is smaller than a preset threshold, if so, outputting sameCount = sameCount + flag, otherwise, outputting sameCount = diffCount, setting diffCount to 0, and entering step 2 f;
step 2f, judging whether the counter release condition is met, if so, entering the step 2a, and if not, entering the step 2 b;
and step 3, determining the transverse motion state of the adjacent lane vehicle according to the numerical value of the homodromous counter sameCount.
2. The adjacent lane vehicle lateral movement state judgment method according to claim 1, characterized in that: in the step 1, comparing the transverse distance between the adjacent lane vehicle and the vehicle at the current moment with the transverse distance at the previous moment;
if the transverse distance has close jump, setting the flag to 1;
if the transverse distance is ensured to be unchanged, setting the flag to be 0;
and if the transverse distance has far jump, setting the flag to be-1.
3. The adjacent lane vehicle lateral movement state determination method according to claim 1 or 2, characterized in that: in the step 3, the step of processing the image,
if the value of the samecount is larger than a first preset value, the vehicles on the adjacent lanes are considered to have a tendency of approaching;
if the value of the samecount is greater than a second preset value and less than a first preset value, the adjacent lane vehicle is considered to be in a non-trend state;
and if the value of the samecount is less than the second preset times, the adjacent lane vehicles are considered to have a far away trend state.
4. The adjacent lane vehicle lateral movement state determination method according to claim 3, wherein: the first preset value is 3; the second predetermined value is-3.
5. The adjacent lane vehicle lateral movement state judgment method according to claim 1, 2, or 4, wherein: the counter release conditions are: the transverse distance between the adjacent lane vehicle and the host vehicle is equal to 40 periods, or the target loss time exceeds 20 periods, or the target is changed.
6. The adjacent lane vehicle lateral movement state determination method according to claim 5, wherein: the preset threshold is 2.
7. The method for judging the lateral motion state of the adjacent lane vehicle according to claim 1, 2, 4, or 6, wherein: when the following conditions are met, judging the transverse motion state of the vehicles on the adjacent lanes;
(1) when the vehicles of the adjacent lane are in the interested range of the vehicle, wherein the interested range is the area between the front of the head of the vehicle and the rear of the tail of the vehicle which is closest to the vehicle and is in the front of the head of the vehicle;
(2) the longitudinal distance between the tail of the adjacent lane vehicle and the head of the adjacent lane vehicle is within 2.5 times of a time distance, wherein the time distance is a distance which can move within 1s according to the current vehicle speed;
(3) the transverse distance between the rightmost point of the left lane vehicle and the center line of the vehicle is in the range of-0.5 m to-4.5 m, and the transverse distance between the rightmost point of the right lane vehicle and the center line of the vehicle is in the range of 0.5m to 4.5 m.
8. A judging system for the lateral motion state of an adjacent lane vehicle comprises:
the sensor is used for detecting the transverse distance and the longitudinal distance between the adjacent lane vehicle and the vehicle;
the controller is used for receiving data detected by the sensor and is connected with the sensor;
the method is characterized in that: the controller is programmed to execute the steps of the adjacent lane vehicle lateral motion state judgment method according to any one of claims 1 to 7.
9. A computer-accessible storage medium characterized by: the computer-readable storage medium stores a program executed by a processor to implement the steps of the method for determining a lateral motion state of an adjacent lane vehicle according to any one of claims 1 to 7.
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| CN111968397B (en) * | 2020-07-31 | 2022-03-18 | 东风商用车有限公司 | Automatic driving behavior determination method |
| CN113428141B (en) * | 2021-07-15 | 2022-12-09 | 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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| CN103869300A (en) * | 2012-12-07 | 2014-06-18 | 富士通天株式会社 | Radar apparatus and signal processing method |
| CN107438545A (en) * | 2015-04-07 | 2017-12-05 | 卢卡斯汽车股份有限公司 | The control system and method for allowing another motor vehicles to be driven into front of adjacent lane during ACC operations for the motor vehicles in a people oneself |
| CN109849910A (en) * | 2018-12-21 | 2019-06-07 | 重庆长安汽车股份有限公司 | Automatic driving vehicle multiobjective decision-making control method, device and computer readable storage medium |
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| EP2746137B1 (en) * | 2012-12-19 | 2019-02-20 | Volvo Car Corporation | Method and system for assisting a driver |
| JP6605551B2 (en) * | 2017-09-01 | 2019-11-13 | 本田技研工業株式会社 | VEHICLE CONTROL DEVICE, VEHICLE, PROCESSING METHOD AND PROGRAM FOR VEHICLE CONTROL DEVICE |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103869300A (en) * | 2012-12-07 | 2014-06-18 | 富士通天株式会社 | Radar apparatus and signal processing method |
| CN107438545A (en) * | 2015-04-07 | 2017-12-05 | 卢卡斯汽车股份有限公司 | The control system and method for allowing another motor vehicles to be driven into front of adjacent lane during ACC operations for the motor vehicles in a people oneself |
| CN109849910A (en) * | 2018-12-21 | 2019-06-07 | 重庆长安汽车股份有限公司 | Automatic driving vehicle multiobjective decision-making control method, device and computer readable storage medium |
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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 |
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