CN110562251A - automatic driving method and device - Google Patents

automatic driving method and device Download PDF

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Publication number
CN110562251A
CN110562251A CN201810570006.0A CN201810570006A CN110562251A CN 110562251 A CN110562251 A CN 110562251A CN 201810570006 A CN201810570006 A CN 201810570006A CN 110562251 A CN110562251 A CN 110562251A
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China
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vehicle
driving
lane
moment
current
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CN201810570006.0A
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Chinese (zh)
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涂强
苏阳
肖志光
梁志远
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Guangzhou Xiaopeng Motors Technology Co Ltd
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Guangzhou Xiaopeng Motors Technology Co Ltd
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Priority to CN201810570006.0A priority Critical patent/CN110562251A/en
Priority to PCT/CN2018/121833 priority patent/WO2019233081A1/en
Publication of CN110562251A publication Critical patent/CN110562251A/en
Pending legal-status Critical Current

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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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application provides an automatic driving method and device, which belong to the technical field of automobiles, and the method comprises the following steps: when the vehicle is in an automatic driving state, the image information in front of the driving lane is collected in real time, the collected image information in front at the current moment is detected, planning a driving route for the vehicle based on the detected effective lane line image and driving position information in the lane set for the vehicle, if no effective lane line image information is detected at the present time, the planned driving route for the vehicle at the current moment can be predicted according to the planned driving route for the vehicle at the previous moment, the current moment and the pose information of the vehicle at the previous moment, and then calculates a position to which the vehicle is driven at the next time according to the predicted driving route and the given driving distance, and drives the vehicle to be driven to the corresponding position, so that, the lane keeping can be effectively realized even if the lane line is temporarily lost or unclear, and therefore, the number of times of parking of the autonomous vehicle can be reduced.

Description

automatic driving method and device
Technical Field
The application relates to the technical field of automobiles, in particular to an automatic driving method and device.
Background
With the rapid development of automobile technology, autodrive has great advantages in safe travel, energy conservation, environmental protection and the like, so the autodrive is considered to be an effective way for solving traffic jam, reducing traffic accidents and improving environmental pollution.
In the prior art, when a vehicle is in an automatic driving state, image information of a lane line in front of a current driving lane can be collected in real time, then an image with clear lane lines is detected from the image collected at the current moment to be used as an effective lane line image, characteristic points of the lane lines on the left side and the right side of the current driving lane of the vehicle can be respectively extracted from each effective lane line image, a mathematical expression of each side lane line is determined according to the extracted characteristic points of each side lane line, then a driving route of the vehicle can be planned according to preset driving position information of the vehicle in the lane, such as the fact that the vehicle is set to drive on the center of the lane, finally, the position where the vehicle drives at the next moment is determined according to the planned driving route and a given driving distance, and the vehicle is driven to the position, and by adopting the mode, when the lane lines are clear, the vehicle can be driven to automatically, however, in an actual traffic environment, the lane lines may be unclear or lost, and at this time, the planned driving route cannot be updated to the vehicle, and the position to which the vehicle is driven at the next time is accurately determined.
Disclosure of Invention
The embodiment of the application provides an automatic driving method and device, and aims to solve the problems that in the prior art, if a plurality of transient lane lines of a driving lane are lost or unclear, the number of times of parking of an automatic driving vehicle is large, and user experience is poor.
In a first aspect, an automatic driving method provided in an embodiment of the present application is applied to lane keeping, and includes:
Aiming at a vehicle in an automatic driving state, acquiring image information in front of a vehicle driving lane in real time;
Detecting the collected image information in front at the current moment, and determining a driving route planned for the vehicle at the current moment according to the detected effective lane line image information and the driving position information in the driving lane set for the vehicle;
If no effective lane line image information is detected at the current moment, predicting the current moment as a planned driving route of the vehicle according to the planned driving route of the vehicle at the previous moment, the current moment and the pose information of the vehicle at the previous moment, wherein the pose information of the vehicle at the current moment at least comprises position information and course angle information of the vehicle;
And calculating the position to which the vehicle runs at the next moment according to the predicted running route and the given distance from the current moment to the next moment, and driving the vehicle to run to the position.
in the embodiment of the application, the image information of the lane line positioned in front of the driving lane of the vehicle is collected in real time, and can detect clear images of the lane lines from the image information of the front lane lines collected at the current moment as effective lane line images, and then plan the driving route for the vehicle according to the effective image information of the lane line, if the lane line is lost or not clear, the driving route planned for the vehicle at the current moment can be predicted according to the driving route planned for the vehicle at the previous moment, the current moment and the pose information of the vehicle at the previous moment, further determining the position to which the vehicle runs at the next moment, driving the vehicle to run to the corresponding position, therefore, the number of the vehicles to be parked is reduced without the situation that the lane line is lost or unclear for a short time, so that the number of times of parking of the vehicles can be effectively reduced, and the user experience is improved.
In one possible implementation, predicting the planned driving route for the vehicle at the current time according to the planned driving route for the vehicle at the previous time, the current time and the pose information of the vehicle at the previous time includes:
determining a preset number of discrete points falling on a driving route planned for the vehicle at the previous moment;
Converting the coordinates of each discrete point according to the pose information of the vehicle at the current moment and the pose information of the vehicle at the previous moment;
And fitting a vehicle driving line polynomial according to the transformed coordinates of the discrete points, and determining the fitted polynomial as a mathematical expression of the driving line planned for the vehicle at the current moment.
because the general lane line does not change greatly, the scheme predicts the planned driving line at the current moment by using the planned driving line at the previous moment, and the error is not too large.
In one possible implementation, the coordinates of each pair of discrete points may be transformed according to the following formula:
Δθ＝θt-θt-1；
wherein (x)t,yt) As position coordinates of the vehicle at the present time, thetatis the heading angle of the vehicle at the current time, (x)t-1,yt-1) Is the position coordinate of the vehicle at the previous moment, thetat-1the heading angle of the vehicle at the last moment, (x, y) is the coordinates of the discrete point before conversion, and (x ', y') is the coordinates of the discrete point after conversion.
In one possible embodiment, determining a driving route planned for the vehicle at the current time based on the detected valid lane line image information and driving position information in a driving lane set for the vehicle includes:
respectively extracting the feature points of the lane lines on the left side and the right side of the current driving lane of the vehicle in the image aiming at the detected effective lane line image of each frame, and determining the mathematical expression of each side lane line according to the feature points of each side lane line;
And determining a mathematical expression of a driving route planned for the vehicle according to the mathematical expressions of lane lines on the left side and the right side of the current driving lane of the vehicle and driving position information in the lane set for the vehicle.
in one possible embodiment, if no valid lane line image information is detected at the current time, the method further includes:
Recording information of lane line extraction failure once;
and if the times of continuous lane line extraction failures exceed the preset times, reminding the driver to take over the vehicle.
By adopting the scheme, the problem of inaccurate planning of the driving route caused by long-time loss of the lane line can be avoided, and meanwhile, the safety of automatic driving can be improved.
in a second aspect, an automatic driving device provided in an embodiment of the present application is applied to lane keeping, and includes:
The acquisition module is used for acquiring image information in front of a vehicle driving lane in real time aiming at a vehicle in an automatic driving state;
The planning module is used for detecting the collected image information in front at the current moment and determining a driving route planned for the vehicle at the current moment according to the detected effective lane line image information and the driving position information set for the vehicle in the driving lane;
The prediction module is used for predicting the driving route planned for the vehicle at the current moment according to the driving route planned for the vehicle at the previous moment, the current moment and the pose information of the vehicle at the previous moment if no effective lane line image information is detected at the current moment, wherein the pose information of the vehicle at the current moment at least comprises position information and course angle information of the vehicle;
And the driving module is used for calculating the position to which the vehicle runs at the next moment according to the predicted running route and the distance from the given current moment to the vehicle running at the next moment, and driving the vehicle to run to the position.
In a possible implementation, the prediction module is specifically configured to:
Determining a preset number of discrete points falling on a driving route planned for the vehicle at the previous moment;
converting the coordinates of each discrete point according to the pose information of the vehicle at the current moment and the last moment;
And fitting a vehicle driving line polynomial according to the transformed coordinates of the discrete points, and determining the fitted polynomial as a mathematical expression of the driving line planned for the vehicle at the current moment.
In a possible embodiment, the prediction module is specifically configured to transform the coordinates of each pair of discrete points according to the following formula:
Δθ＝θt-θt-1；
wherein (x)t,yt) As position coordinates of the vehicle at the present time, thetatIs the heading angle of the vehicle at the current time, (x)t-1,yt-1) Is the position coordinate of the vehicle at the previous moment, thetat-1The heading angle of the vehicle at the last moment, (x, y) is the coordinates of the discrete point before conversion, and (x ', y') is the coordinates of the discrete point after conversion.
In a possible embodiment, the planning module is specifically configured to:
Respectively extracting the feature points of the lane lines on the left side and the right side of the current driving lane of the vehicle in the image aiming at the detected effective lane line image of each frame, and determining the mathematical expression of each side lane line according to the feature points of each side lane line;
And determining a mathematical expression of a driving route planned for the vehicle according to the mathematical expressions of lane lines on the left side and the right side of the current driving lane of the vehicle and driving position information in the lane set for the vehicle.
Under one possible implementation, the method further includes:
the reminding module is used for recording the information of the lane line extraction failure once when the effective lane line image information is not detected at the current moment; and if the number of times of continuous lane line extraction failures exceeds the preset number of times, reminding the driver to take over the vehicle.
in a third aspect, a computer provided in an embodiment of the present application includes at least one processing unit and at least one storage unit, where the storage unit stores program code, and when the program code is executed by the processing unit, the computer is caused to execute the steps of the above automatic driving method.
in a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which includes program code, when the program code runs on a computer, the computer is caused to execute the steps of the automatic driving method.
In addition, for technical effects brought by any one of the design manners in the second aspect to the fourth aspect, reference may be made to technical effects brought by different implementation manners in the first aspect, and details are not described here.
These and other aspects of the present application will be more readily apparent from the following description of the embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
Fig. 1 is a schematic view of an application scenario of an automatic driving method according to an embodiment of the present application;
FIG. 2 is a flow chart of an automatic driving method provided by an embodiment of the present application;
fig. 3 is a schematic structural diagram of an apparatus for implementing an automatic driving method according to an embodiment of the present application;
fig. 4 is a structural diagram of another automatic driving device according to an embodiment of the present application.
Detailed Description
in order to reduce the parking times of an automatic driving vehicle and improve user experience when a plurality of transient lane lines are lost or unclear in a driving lane, the embodiment of the application provides an automatic driving method and device.
The preferred embodiments of the present application will be described below with reference to the accompanying drawings of the specification, it should be understood that the preferred embodiments described herein are merely for illustrating and explaining the present application, and are not intended to limit the present application, and that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The driving position in the lane set for the vehicle in the embodiment of the present application refers to a relative position between the vehicle and the driving lane, not an actual geographic position, referring to fig. 1, fig. 1 shows an application scenario diagram of the automatic driving method provided by the embodiment of the present application, and the driving position in the lane set for the vehicle in fig. 1 is a lane center.
in practical application, the camera mounted on the vehicle can collect image information of lane lines on the left and right sides in front of a current driving lane in real time, detect the image information of the front lane line collected at the current moment, use a clear image of the detected lane line as an effective lane line image, determine the current moment as a vehicle planning driving line according to the effective lane line image and relative position information of a lane center set for the vehicle, further calculate the position to which the vehicle drives at the next moment according to the driving line and the given distance from the current moment to the vehicle driving at the next moment, and drive the vehicle to the corresponding position.
Specifically, referring to fig. 1, at time t-1, a currently acquired lane line image located in front of a current lane may be detected, an image with a relatively clear detected lane line is used as an effective lane line image, then, based on the effective lane line image and relative position information of a lane center set for the vehicle, a planned driving route for the vehicle at time t-1 is determined, and a position reached by the vehicle at time t is determined according to a driving distance of the given vehicle from time t-1 to time t, and then, the vehicle may reach the position along the lane center, that is, the position where the vehicle is located at time t.
If the image of a certain side lane line from the time t-1 to the time t is unclear or the lane line is lost, a new effective lane line image cannot be detected from the acquired image of the front lane line at the time t, namely, the driving route cannot be planned for the vehicle at the time t, and in consideration of the fact that the lane line cannot be changed greatly under normal conditions, the driving route planned for the vehicle at the time t can be predicted according to the driving route planned for the vehicle at the time t-1, the pose information of the vehicle at the time t and the time t-1, the position to which the vehicle runs at the time t +1 can be calculated according to the predicted driving route planned for the vehicle at the time t and the driving distance from the time t to the time t +1, and the vehicle is driven to run to the position.
therefore, if the lane line is lost or unclear only for a short time, the subsequent driving route can be predicted by using the existing driving route, and the vehicle does not need to be decelerated to stop as soon as the lane line is lost or unclear, so that the times of vehicle stopping and reducing can be reduced, and the customer experience is greatly improved.
in addition, during specific implementation, if the time that the lane line is continuously lost exceeds the set time, for example, 5s, the driver can be reminded to take over the steering wheel in a certain mode, so that a certain reaction time can be provided for the driver to take over the steering wheel, the safety is better, and if the time that the driver does not take over the steering wheel is determined, the vehicle can be decelerated to stop, and the safety in the vehicle running process is further improved.
as shown in fig. 2, a flowchart of an automatic driving method provided in an embodiment of the present application includes the following steps:
S201: the method comprises the steps of collecting image information in front of a vehicle running lane in real time for a vehicle in an automatic driving state.
S202: and detecting the image information in front of the vehicle collected at the current moment, and determining the driving route planned for the vehicle at the current moment according to the detected effective lane line image information and the driving position information in the driving lane set for the vehicle.
Specifically, for each detected effective lane line image of each frame, the feature points of the lane lines on the left and right sides of the current driving lane of the vehicle in the image can be respectively extracted, and then the mathematical expression of each side lane line is determined according to the feature points of the side lane line.
For example, for each lane, the mathematical expression of the left lane line is set as follows:
yleft＝al0+al1·x+al2·x2+al3·x3；
Wherein, al0、al1、al2、al3is the parameter to be determined.
the mathematical expression of the set right lane line is as follows:
yright＝ar0+ar1·x+ar2·x2+ar3·x3；
Wherein, ar0、ar1、ar2、ar3Is the parameter to be determined.
Then, for the above mathematical expression of the left lane line, a is determined from the feature points of the left lane linel0、al1、al2、al3Taking the value of (A); for the above mathematical expression of the right lane line, i.e., a is determined from the feature points of the right lane liner0、ar1、ar2、ar3the value of (a).
Further, assuming that the driving position in the lane set for the vehicle is the lane center, the driving route planned for the vehicle at the current time is:
S203: and if the effective lane line image information is not detected at the current moment, predicting the driving route planned for the vehicle at the current moment according to the driving route planned for the vehicle at the previous moment, the current moment and the pose information of the vehicle at the previous moment.
The pose information of the vehicle at least comprises position information and course angle information of the vehicle.
in practical application, if the lane line is lost or unclear, the effective image information of the lane line may not be detected at the current moment, so that the driving route cannot be planned for the vehicle.
Specifically, a preset number of discrete points falling on the driving route planned for the vehicle at the previous time may be determined, then the coordinates of each discrete point are converted according to the pose information of the vehicle at the current time and the previous time, and then a polynomial of the driving route of the vehicle is fitted according to the coordinates of each converted discrete point, and the fitted polynomial is determined as a mathematical expression of the driving route planned for the vehicle at the current time.
for example, the coordinates of each pair of discrete points may be transformed according to the following formula:
Δθ＝θt-θt-1；
wherein (x)t,yt) As position coordinates of the vehicle at the present time, thetatIs the heading angle of the vehicle at the current time, (x)t-1,yt-1) Is the position coordinate of the vehicle at the previous moment, thetat-1The heading angle of the vehicle at the last moment, (x, y) is the coordinates of the discrete point before conversion, and (x ', y') is the coordinates of the discrete point after conversion.
Further, the polynomial of the coordinates of each discrete point after conversion to the vehicle driving route can be used:
y＝a0+a1·x+a2·x2+a3·x3；
fitting to determine the parameter a in the polynomial0、a1、a2、a3A is a value of0、a1、a2、a3Substituting the values into the formula to obtain the predicted mathematical expression of the driving route planned for the vehicle at the current moment.
S204: and calculating the position to which the vehicle runs at the next moment according to the predicted running route and the given distance from the current moment to the vehicle running at the next moment, and driving the vehicle to run to the corresponding position.
Specifically, the coordinates (x) of the position to which the vehicle is driven at the next time can be obtained by solving the following equation sett+1,yt+1)：
Wherein l is the distance from the given current moment to the next moment, and l can be determined by a technician according to the running speed and the course angle of the vehicle, and is not described herein again.
Further, the vehicle is driven to travel from the current position to (x)t+1,yt+1) And (4) finishing.
In addition, in specific implementation, in step S202, if valid lane line image information is not detected at the current time, information of lane line extraction failure may be recorded once, and if it is determined that the number of times of lane line extraction failure continuously occurring exceeds a preset number of times, it is indicated that a lane line is lost or unclear for a long time, at this time, a driving route planned for the vehicle may be inaccurate enough, so that a driver may be reminded to take over the vehicle, and if it is determined that the driver does not take over the vehicle within a certain period of time, the vehicle may be decelerated to stop.
the above process is described below with reference to specific examples.
Assuming that the pose information of the vehicle at the previous moment is as follows: (x)t-1,yt-1,θt-1)；
the driving route planned for the vehicle at the previous moment is as follows:
y＝b0+b1·x+b2·x2+b3·x3；
Wherein, b0、b1、b2、b3The value of (a) is determined.
If no valid lane line image information is detected at the current moment, the method can be executed according to the following steps:
1) the cubic polynomial of the travel route determined at the previous time is discretized into a series of points.
Specifically, X may be 0, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, and then the value of each X is substituted into the cubic polynomial of the travel route at the previous time: y is b0+b1·x+b2·x2+b3·x3the corresponding Y is obtained, so that 13 discrete points located on the travel route determined at the previous moment can be obtained.
2) the coordinates of each pair of discrete points are transformed according to the following formula.
Δθ＝θt-θt-1；
Wherein (x)t,yt) As position coordinates of the vehicle at the present time, thetatIs the heading angle of the vehicle at the current time, (x)t-1,yt-1) Is the position coordinate of the vehicle at the previous moment, thetat-1The heading angle of the vehicle at the last moment, (x, y) is the coordinates of the discrete point before conversion, and (x ', y') is the coordinates of the discrete point after conversion.
3) And fitting the discrete points subjected to the coordinate conversion to a vehicle driving route polynomial, and determining the fitted polynomial as a mathematical expression of the driving route planned for the vehicle at the current moment.
Specifically, a polynomial of the vehicle travel route can be obtained by using a least square algorithm and coordinates of each transformed discrete point:
y＝a0+a1·x+a2·x2+a3·x3；
fitting to obtain parameter a in the polynomial0、a1、a2、a3A is a value of0、a1、a2、a3And substituting the value into the formula to obtain the predicted mathematical expression of the driving route planned for the vehicle at the current moment.
Then, the following equation system is solved to obtain the coordinates (x) of the position where the vehicle is driven at the next momentt+1,yt+1)：
where l is the distance traveled by the vehicle from the given current time to the next time, and l can be determined by the technician based on the travel speed and heading angle of the vehicle.
Finally, the vehicle is driven to travel from the current position to (x)t+1,yt+1) And (4) finishing.
In addition, in the specific implementation, if it is determined that the time when the lane line is lost or unclear continuously exceeds the preset time, for example, 5S, the driver can be reminded to take over the vehicle, and if the driver does not take over the vehicle within the set time period, the vehicle can be decelerated to stop.
referring to fig. 3, fig. 3 is a schematic structural diagram of an apparatus for implementing an automatic driving method according to an embodiment of the present disclosure, where the apparatus includes a transceiver 301 and a processor 302, and the processor 302 may be a Central Processing Unit (CPU), a microprocessor, an application specific integrated circuit, a programmable logic circuit, a large scale integrated circuit, or a digital processing unit. The transceiver 301 is used for data transmission and reception with other devices.
The device may also comprise a memory 303 for storing software instructions executed by the processor 302, but may of course also store some other data required by the device, such as identification information of the device, encryption information of the device, user data, etc. The memory 303 may be a volatile memory (volatile memory), such as a random-access memory (RAM); the memory 303 may also be a non-volatile memory (non-volatile memory) such as a read-only memory (ROM), a flash memory (flash memory), a Hard Disk Drive (HDD) or a solid-state drive (SSD), or any other medium which can be used to carry or store desired program code in the form of instructions or data structures and which can be accessed by a computer, but is not limited to this, and the memory 303 may be a combination of the above.
the specific connection medium between the processor 302, the memory 303 and the transceiver 301 is not limited in the embodiments of the present application. In fig. 3, the embodiment of the present application is described by taking only the case where the memory 303, the processor 302, and the transceiver 301 are connected by the bus 304 as an example, the bus is shown by a thick line in fig. 3, and the connection manner between other components is merely illustrative and not limited. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 3, but this does not mean only one bus or one type of bus.
The processor 302 may be dedicated hardware or a processor running software, and when the processor 302 can run software, the processor 302 reads software instructions stored in the memory 303 and executes the automatic driving method in the foregoing embodiment under the driving of the software instructions.
When the method provided in the embodiments of the present application is implemented in software or hardware or a combination of software and hardware, a plurality of functional modules may be included in the apparatus, and each functional module may include software, hardware or a combination of software and hardware. Specifically, referring to fig. 4, a schematic structural diagram of another automatic driving apparatus provided in the embodiment of the present application includes an acquisition module 401, a planning module 402, a prediction module 403, and a driving module 404, where:
the acquisition module 401 is configured to acquire, in real time, image information located in front of a vehicle driving lane for a vehicle in an automatic driving state;
a planning module 402, configured to detect the image information of the front that has been acquired at the current time, and determine a driving route planned for the vehicle at the current time according to the detected effective lane line image information and driving position information in a driving lane set for the vehicle;
a prediction module 403, configured to predict a planned driving route for a vehicle at a current time according to a planned driving route for the vehicle at a previous time, the current time, and pose information of the vehicle at the previous time if no valid lane line image information is detected at the current time, where the pose information of the vehicle at the current time at least includes position information and heading angle information of the vehicle;
and the driving module 404 is configured to calculate a position to which the vehicle travels at the next time according to the predicted travel route and a given distance from the current time to the vehicle traveling at the next time, and drive the vehicle to travel to the position.
In a possible implementation, the prediction module 403 is specifically configured to:
Determining a preset number of discrete points falling on a driving route planned for the vehicle at the previous moment;
converting the coordinates of each discrete point according to the pose information of the vehicle at the current moment and the last moment;
And fitting a vehicle driving line polynomial according to the transformed coordinates of the discrete points, and determining the fitted polynomial as a mathematical expression of the driving line planned for the vehicle at the current moment.
In a possible implementation, the prediction module 403 is specifically configured to transform the coordinates of each pair of discrete points according to the following formula:
Δθ＝θt-θt-1；
Wherein (x)t,yt) As position coordinates of the vehicle at the present time, thetatis the heading angle of the vehicle at the current time, (x)t-1,yt-1) Is the position coordinate of the vehicle at the previous moment, thetat-1the heading angle of the vehicle at the last moment, (x, y) is the coordinates of the discrete point before conversion, and (x ', y') is the coordinates of the discrete point after conversion.
in a possible implementation, the planning module 402 is specifically configured to:
Respectively extracting the feature points of the lane lines on the left side and the right side of the current driving lane of the vehicle in the image aiming at the detected effective lane line image of each frame, and determining the mathematical expression of each side lane line according to the feature points of each side lane line;
And determining a mathematical expression of a driving route planned for the vehicle according to the mathematical expressions of lane lines on the left side and the right side of the current driving lane of the vehicle and driving position information in the lane set for the vehicle.
In a possible implementation, the apparatus further comprises:
A reminding module 405, configured to record information that lane extraction fails once when valid lane image information is not detected at the current time; and if the number of times of continuous lane line extraction failures exceeds the preset number of times, reminding the driver to take over the vehicle.
A computer-readable storage medium provided in an embodiment of the present application includes program code, which, when executed on a computer, causes the computer to perform the steps of the above-mentioned automatic driving method.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
the present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
these computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims (10)

1. An automatic driving method, characterized by comprising:
aiming at a vehicle in an automatic driving state, acquiring image information in front of a vehicle driving lane in real time;
Detecting the image information in front of the vehicle collected at the current moment, and determining a driving route planned for the vehicle at the current moment according to the detected effective lane line image information and the driving position information in the driving lane set for the vehicle;
if no effective lane line image information is detected at the current moment, predicting the current moment as the planned driving route of the vehicle according to the planned driving route of the vehicle at the previous moment, the current moment and the pose information of the vehicle at the previous moment, wherein the pose information of the vehicle at least comprises position information and course angle information of the vehicle;
and calculating the position to which the vehicle runs at the next moment according to the predicted running route and the distance from the given current moment to the next moment, and driving the vehicle to run to the position.
2. The method of claim 1, wherein predicting the planned travel route for the vehicle at the current time based on the planned travel route for the vehicle at the previous time, the current time, and pose information of the vehicle at the previous time comprises:
Determining a preset number of discrete points falling on a driving route planned for the vehicle at the previous moment;
Converting the coordinates of each discrete point according to the pose information of the vehicle at the current moment and the last moment;
And fitting a vehicle driving line polynomial according to the transformed coordinates of the discrete points, and determining the fitted polynomial as a mathematical expression of the driving line planned for the vehicle at the current moment.
3. the method of claim 2, wherein the coordinates of each pair of discrete points are transformed according to the following formula:
Δθ＝θt-θt-1；
wherein (x)t,yt) For the position coordinates of the vehicle at the present moment, θtis the course angle of the vehicle at the current moment, (x)t-1,yt-1) For the position coordinates of the vehicle at the previous moment, θt-1The heading angle of the vehicle at the last moment, (x, y) is the coordinates of the discrete point before conversion, and (x ', y') is the coordinates of the discrete point after conversion.
4. the method according to claim 1, wherein determining a travel route planned for the vehicle at a current time based on the detected valid lane line image information and travel position information in the travel lane set for the vehicle includes:
Respectively extracting the feature points of the lane lines on the left side and the right side of the current driving lane of the vehicle in the image aiming at the detected effective lane line image of each frame, and determining the mathematical expression of the lane line on each side according to the feature points of the lane line on each side;
And determining a mathematical expression of a driving route planned for the vehicle according to the mathematical expressions of lane lines on the left side and the right side of the current driving lane of the vehicle and driving position information in the lane set for the vehicle.
5. The method according to any one of claims 1 to 4, wherein if no valid lane line image information is detected at the current time, further comprising:
Recording information of lane line extraction failure once;
And if the times of continuous lane line extraction failures exceed the preset times, reminding the driver to take over the vehicle.
6. an autopilot device, comprising:
the acquisition module is used for acquiring image information in front of a vehicle running lane in real time aiming at a vehicle in an automatic driving state;
the planning module is used for detecting the collected image information in front at the current moment and determining a driving route planned for the vehicle at the current moment according to the detected effective lane line image information and the driving position information set for the vehicle in the driving lane;
the prediction module is used for predicting the current time as the planned driving route of the vehicle according to the planned driving route of the vehicle at the previous time, the current time and the pose information of the vehicle at the previous time if the effective lane line image information is not detected at the current time, wherein the pose information of the vehicle at the current time at least comprises the position information and the course angle information of the vehicle;
And the driving module is used for calculating the position to which the vehicle runs at the next moment according to the predicted running route and the distance from the given current moment to the vehicle running at the next moment, and driving the vehicle to run to the position.
7. The apparatus of claim 6, wherein the prediction module is specifically configured to:
Determining a preset number of discrete points falling on a driving route planned for the vehicle at the previous moment;
Converting the coordinates of each discrete point according to the pose information of the vehicle at the current moment and the last moment;
And fitting a vehicle driving line polynomial according to the transformed coordinates of the discrete points, and determining the fitted polynomial as a mathematical expression of the driving line planned for the vehicle at the current moment.
8. the apparatus of claim 7, wherein the prediction module is specifically configured to transform the coordinates of each pair of discrete points according to the following equation:
Δθ＝θt-θt-1；
Wherein (x)t,yt) For the position coordinates of the vehicle at the present moment, θtIs the course angle of the vehicle at the current moment, (x)t-1,yt-1) For the position coordinates of the vehicle at the previous moment, θt-1the heading angle of the vehicle at the last moment, (x, y) is the coordinates of the discrete point before conversion, and (x ', y') is the coordinates of the discrete point after conversion.
9. the apparatus of claim 6, wherein the planning module is specifically configured to:
Respectively extracting the feature points of the lane lines on the left side and the right side of the current driving lane of the vehicle in the image aiming at the detected effective lane line image of each frame, and determining the mathematical expression of the lane line on each side according to the feature points of the lane line on each side;
And determining a mathematical expression of a driving route planned for the vehicle according to the mathematical expressions of lane lines on the left side and the right side of the current driving lane of the vehicle and driving position information in the lane set for the vehicle.
10. the apparatus of any of claims 6 to 9, further comprising:
The reminding module is used for recording the information of the lane line extraction failure once when the effective lane line image information is not detected at the current moment; and if the number of times of continuous lane line extraction failures exceeds the preset number of times, reminding a driver to take over the vehicle.
CN201810570006.0A 2018-06-05 2018-06-05 automatic driving method and device Pending CN110562251A (en)

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Application publication date: 20191213