CN110803163B - Method and device for predicting vehicle running track and selecting vehicle following target - Google Patents
Method and device for predicting vehicle running track and selecting vehicle following target Download PDFInfo
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- CN110803163B CN110803163B CN201810797147.6A CN201810797147A CN110803163B CN 110803163 B CN110803163 B CN 110803163B CN 201810797147 A CN201810797147 A CN 201810797147A CN 110803163 B CN110803163 B CN 110803163B
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
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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
- B60W40/10—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 related to vehicle motion
Abstract
The embodiment of the invention discloses a method and equipment for predicting a vehicle running track and selecting a vehicle following target, which are used for predicting the vehicle running track after an ACC system of a vehicle is started. The method for predicting the vehicle running track comprises the following steps: acquiring the motion state information of the vehicle and lane line information of a lane where the vehicle is located; calculating an evaluation value for representing the validity of the lane line based on the lane line information; calculating a matching value for representing the matching degree between the lane line and the current driving track of the vehicle according to the motion state information and the lane line information; and under the condition that the evaluation value is determined to be larger than a first preset threshold value and the matching value is determined to be smaller than a second preset threshold value, taking the lane line as the driving track of the vehicle.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a method and equipment for predicting a vehicle running track and selecting a vehicle following target.
Background
An Adaptive Cruise Control (ACC) system is one of the effective measures for improving traffic safety and reducing driving intensity of drivers at present as an active safety driving assistance device.
After the ACC system of a vehicle is started, the prediction of the vehicle's travel trajectory largely determines the usefulness and safety of the ACC system. Currently, there is no mature method for predicting the driving trajectory of a vehicle in an ACC system.
Therefore, a method of predicting a travel locus of a vehicle is required to predict the travel locus of the vehicle after the vehicle starts the ACC system.
Disclosure of Invention
The embodiment of the invention provides a method and equipment for predicting a vehicle running track and selecting a vehicle following target, which are used for predicting the vehicle running track after an ACC system of a vehicle is started.
In a first aspect, an embodiment of the present invention provides a method for predicting a vehicle driving track, including:
acquiring motion state information of a vehicle and lane line information of a lane where the vehicle is located;
calculating an evaluation value for representing the validity of the lane line based on the lane line information;
calculating a matching value for representing the matching degree between the lane line and the current driving track of the vehicle according to the motion state information and the lane line information;
and under the condition that the evaluation value is determined to be larger than a first preset threshold value and the matching value is determined to be smaller than a second preset threshold value, taking the lane line as the driving track of the vehicle.
In a possible implementation manner, an embodiment of the present invention provides the method, wherein the lane line information includes length information and shape information;
calculating an evaluation value for representing the effectiveness of the lane line based on the lane line information, including:
establishing a plane coordinate system by taking the position of the vehicle as a coordinate origin, taking one of the driving directions of the vehicle and the vertical direction of the driving direction of the vehicle as a transverse coordinate axis and the other as a longitudinal coordinate axis;
in a plane coordinate system, determining a curve equation for representing the shape of the lane line based on the shape information of the lane line;
and calculating an evaluation value according to the curve equation and the length information of the lane line.
In one possible implementation, an embodiment of the present invention provides the method as described above, wherein the lane line information includes shape information, and the motion state information includes speed information and yaw rate information;
according to the motion state information and the lane line information, calculating a matching value for representing the matching degree between the lane line and the current driving track of the vehicle, wherein the method comprises the following steps:
establishing a plane coordinate system by taking the position of the vehicle as a coordinate origin, taking one of the driving directions of the vehicle and the vertical direction of the driving direction of the vehicle as a transverse coordinate axis and the other as a longitudinal coordinate axis;
in a plane coordinate system, determining a curve equation for representing the shape of the lane line based on the shape information of the lane line;
calculating the curvature of the lane line at the position of the vehicle based on a curve equation;
calculating the curvature of the current running track of the vehicle based on the speed information and the yaw rate information;
and taking the absolute value of the difference between the curvature of the current driving track of the vehicle and the curvature of the lane line at the position of the vehicle as a matching value.
In a possible implementation manner, in the foregoing method provided in an embodiment of the present invention, the method further includes:
on the condition that it is determined that the evaluation value is less than or equal to a first preset threshold value and/or the matching value is greater than or equal to a second preset threshold value, the travel locus of the vehicle is predicted based on the motion state information.
In one possible implementation, an embodiment of the present invention provides the method as described above, wherein the motion state information includes speed information and yaw-rate information;
predicting a travel track of the vehicle based on the motion state information, including:
calculating the curvature radius of the current running track of the vehicle based on the speed information and the yaw rate information;
and determining a curvature circle of the position of the vehicle according to the curvature radius, and taking an arc with a preset length containing the position of the vehicle on the curvature circle as a running track of the vehicle.
In a second aspect, an embodiment of the present invention provides a method for selecting a following target of a vehicle, which is used for selecting the following target of the vehicle based on a driving track of the vehicle predicted by the method provided in the first aspect of the embodiment of the present invention, and includes:
acquiring a target object on a road in front of a vehicle;
determining a transverse distance between the vehicle and a target object according to a running track of the vehicle, wherein the transverse distance is a distance between the vehicle and the target object in a direction perpendicular to the running track when the vehicle runs to a preset position along the running track, and the preset position is a position of the target object in the running track corresponding to the direction perpendicular to the running track;
and selecting a following target of the vehicle from the target objects according to the transverse distance between the vehicle and the target objects.
In one possible implementation, an embodiment of the present invention provides the method as described above, wherein the target object includes a vehicle target;
selecting a following target of the vehicle among the target objects according to a lateral distance between the vehicle and the target objects, comprising: a following target of the vehicle is selected among the vehicle targets in accordance with a lateral distance between the vehicle and the vehicle targets.
In one possible implementation, an embodiment of the present invention provides the above method, in which selecting a following target of the vehicle among the vehicle targets according to a lateral distance between the vehicle and the vehicle targets, includes:
when the transverse distance between the vehicle and the vehicle target is smaller than a first preset distance threshold value and the vehicle target and the vehicle driving direction are the same, determining the vehicle target as a first following target of the vehicle;
and determining the vehicle target as a second following target of the vehicle when the transverse distance between the vehicle and the vehicle target is larger than a first preset distance threshold value, smaller than the sum of the first preset distance threshold value and the lane width and the vehicle target and the driving direction of the vehicle are the same.
In a possible implementation manner, in the foregoing method provided in an embodiment of the present invention, the method further includes:
and selecting an avoidance target of the vehicle from the target objects according to the transverse distance between the vehicle and the target objects.
In one possible implementation, an embodiment of the present invention provides the method as described above, wherein the target object includes a non-vehicle target;
selecting an avoidance target of a vehicle from target objects according to a lateral distance between the vehicle and the target objects, comprising:
and selecting an avoidance target of the vehicle from the non-vehicle targets according to the transverse distance between the vehicle and the non-vehicle targets.
In a possible implementation manner, an embodiment of the present invention provides the above method, in which an avoidance target of a vehicle is selected from non-vehicle targets according to a lateral distance between the vehicle and the non-vehicle targets, including:
when the transverse distance between the vehicle and the non-vehicle target is smaller than a second preset distance threshold value, determining the non-vehicle target as a first avoidance target of the vehicle;
when the transverse distance between the vehicle and the non-vehicle target is larger than a second preset distance threshold and smaller than the sum of the second preset distance threshold and the lane width, determining the non-vehicle target as a second avoidance target of the vehicle;
and the second preset distance threshold is greater than the first preset distance threshold.
In a third aspect, an embodiment of the present invention provides a device for predicting a vehicle travel track, including:
the device comprises an acquisition unit, a display unit and a control unit, wherein the acquisition unit is used for acquiring the motion state information of a vehicle and the lane line information of a lane where the vehicle is located;
a first calculation unit configured to calculate an evaluation value for representing the validity of the lane line based on the lane line information;
the second calculation unit is used for calculating a matching value for representing the matching degree between the lane line and the current driving track of the vehicle according to the motion state information and the lane line information;
and the processing unit is used for taking the lane line as the running track of the vehicle under the condition that the evaluation value is determined to be larger than the first preset threshold value and the matching value is determined to be smaller than the second preset threshold value.
In a possible implementation manner, in the apparatus provided by the embodiment of the present invention, the lane line information includes length information and shape information;
the first computing unit is specifically configured to:
establishing a plane coordinate system by taking the position of the vehicle as a coordinate origin, taking one of the driving directions of the vehicle and the vertical direction of the driving direction of the vehicle as a transverse coordinate axis and the other as a longitudinal coordinate axis;
in a plane coordinate system, determining a curve equation for representing the shape of the lane line based on the shape information of the lane line;
and calculating an evaluation value according to the curve equation and the length information of the lane line.
In a possible implementation manner, an embodiment of the present invention provides the above apparatus, wherein the lane line information includes shape information, and the motion state information includes speed information and yaw rate information;
the second computing unit is specifically configured to:
establishing a plane coordinate system by taking the position of the vehicle as a coordinate origin, taking one of the driving directions of the vehicle and the vertical direction of the driving direction of the vehicle as a transverse coordinate axis and the other as a longitudinal coordinate axis;
in a plane coordinate system, determining a curve equation for representing the shape of the lane line based on the shape information of the lane line;
calculating the curvature of the lane line at the position of the vehicle based on a curve equation;
calculating the curvature of the current running track of the vehicle based on the speed information and the yaw rate information;
and taking the absolute value of the difference between the curvature of the current driving track of the vehicle and the curvature of the lane line at the position of the vehicle as a matching value.
In a possible implementation manner, an embodiment of the present invention provides the apparatus, wherein the processing unit is further configured to:
on the condition that it is determined that the evaluation value is less than or equal to a first preset threshold value and/or the matching value is greater than or equal to a second preset threshold value, the travel locus of the vehicle is predicted based on the motion state information.
In a possible implementation manner, an embodiment of the present invention provides the above apparatus, wherein the motion state information includes speed information and yaw rate information;
the processing unit is specifically configured to:
calculating the curvature radius of the current running track of the vehicle based on the speed information and the yaw rate information;
and determining a curvature circle of the position of the vehicle according to the curvature radius, and taking an arc with a preset length containing the position of the vehicle on the curvature circle as a running track of the vehicle.
In a fourth aspect, an embodiment of the present invention provides a device for selecting a vehicle following target, which is used for selecting a following target of a vehicle based on a driving track of the vehicle predicted by a method provided in the first aspect of the embodiment of the present invention, and includes:
an acquisition unit configured to acquire a target object on a road ahead of a vehicle;
the calculation unit is used for determining the transverse distance between the vehicle and the target object according to the running track of the vehicle, wherein the transverse distance is the distance between the vehicle and the target object in the direction perpendicular to the running track when the vehicle runs to a preset position along the running track, and the preset position is the position of the target object in the running track corresponding to the direction perpendicular to the running track;
and the selection unit is used for selecting a following target of the vehicle from the target objects according to the transverse distance between the vehicle and the target objects.
In a possible implementation manner, an embodiment of the present invention provides the above apparatus, wherein the target object includes a vehicle target;
the selection unit is specifically configured to: a following target of the vehicle is selected among the vehicle targets in accordance with a lateral distance between the vehicle and the vehicle targets.
In a possible implementation manner, in the apparatus provided in an embodiment of the present invention, the selecting unit is specifically configured to:
when the transverse distance between the vehicle and the vehicle target is smaller than a first preset distance threshold value and the vehicle target and the vehicle driving direction are the same, determining the vehicle target as a first following target of the vehicle;
and determining the vehicle target as a second following target of the vehicle when the transverse distance between the vehicle and the vehicle target is larger than a first preset distance threshold value, smaller than the sum of the first preset distance threshold value and the lane width and the vehicle target and the driving direction of the vehicle are the same.
In a possible implementation manner, in the above apparatus provided by an embodiment of the present invention, the selecting unit is further configured to:
and selecting an avoidance target of the vehicle from the target objects according to the transverse distance between the vehicle and the target objects.
In a possible implementation manner, an embodiment of the present invention provides the above apparatus, wherein the target object includes a non-vehicle target;
the selection unit is specifically configured to:
and selecting an avoidance target of the vehicle from the non-vehicle targets according to the transverse distance between the vehicle and the non-vehicle targets.
In a possible implementation manner, in the apparatus provided in an embodiment of the present invention, the selecting unit is specifically configured to:
when the transverse distance between the vehicle and the non-vehicle target is smaller than a second preset distance threshold value, determining the non-vehicle target as a first avoidance target of the vehicle;
when the transverse distance between the vehicle and the non-vehicle target is larger than a second preset distance threshold and smaller than the sum of the second preset distance threshold and the lane width, determining the non-vehicle target as a second avoidance target of the vehicle;
and the second preset distance threshold is greater than the first preset distance threshold.
In a fifth aspect, an embodiment of the present invention provides a prediction apparatus of a vehicle travel track, including: at least one processor, at least one memory, and computer program instructions stored in the memory, which when executed by the processor, implement the method provided by the first aspect of an embodiment of the present invention.
In a sixth aspect, the present invention provides a computer-readable storage medium, on which computer program instructions are stored, which, when executed by a processor, implement the method provided by the first aspect of the present invention.
In a seventh aspect, an embodiment of the present invention provides a selection apparatus of a vehicle following target, including: at least one processor, at least one memory, and computer program instructions stored in the memory, which when executed by the processor, implement the method provided by the second aspect of embodiments of the present invention.
In an eighth aspect, the embodiment of the present invention provides a computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the method provided by the second aspect of the embodiment of the present invention is implemented.
According to the method and the device for predicting the vehicle running track and selecting the vehicle following target, provided by the embodiment of the invention, the motion state information of the vehicle and the lane line information of the lane where the vehicle is located are obtained, the evaluation value for representing the effectiveness of the lane line is calculated based on the lane line information, the matching value for representing the matching degree between the lane line and the current running track of the vehicle is calculated according to the motion state information and the lane line information, and the lane line is used as the running track of the vehicle under the condition that the evaluation value is determined to be greater than the first preset threshold and the matching value is determined to be smaller than the second preset threshold. By adopting the prediction scheme of the vehicle running track provided by the embodiment of the invention, the running track of the vehicle can be predicted after the ACC system of the vehicle is started.
Drawings
Fig. 1 is a schematic flow chart of a method for predicting a vehicle travel track according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating the calculation of a curve equation for characterizing the shape of a lane line according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a specific flow of a method for predicting a vehicle travel track according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart diagram of a method for selecting a vehicle following target provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating the calculation of the lateral distance between the vehicle and the target object according to an embodiment of the present invention;
FIG. 6 is a schematic view of a scene for selecting a following target and an avoiding target according to an embodiment of the present invention;
FIG. 7 is a schematic view of another scenario for selecting a following target and an evasive target according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a vehicle travel track prediction apparatus according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a selection device for a vehicle following target according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a vehicle travel track prediction apparatus according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of a selection apparatus for a vehicle following target according to an embodiment of the present invention.
Detailed Description
The following describes in detail specific embodiments of a method and an apparatus for predicting a vehicle travel track and selecting a vehicle following target according to an embodiment of the present invention with reference to the accompanying drawings.
It should be noted that the prediction scheme of the vehicle traveling track according to the embodiment of the present invention belongs to the prediction of the vehicle traveling track, and is not only applicable to the prediction of the vehicle traveling track after the vehicle ACC system is started, but also applicable to other scenarios where the vehicle traveling track needs to be predicted, for example, the vehicle traveling track is predicted in an automatic driving system.
As shown in fig. 1, a method for predicting a driving trajectory of a vehicle according to an embodiment of the present invention may include the following steps:
In specific implementation, the motion state information of the vehicle can be acquired through a sensor mounted on the vehicle. The lane line information of the lane in which the vehicle is located, that is, the lane line information of the current driving lane of the vehicle, may be acquired by capturing an image by an image capturing device (e.g., a video camera, a still camera, etc.) mounted on the vehicle. Wherein, the motion state information may include but is not limited to: velocity information and yaw-rate information, lane line information including, but not limited to, length information of lane lines and shape information of lane lines.
In one example, the motion state information of the vehicle includes speed information of the vehicle and yaw-rate information, the speed information of which may be acquired by a speed sensor mounted on the vehicle, and the yaw-rate information of which may be acquired by an Inertial Measurement Unit (IMU) measurement mounted on the vehicle.
And 102, calculating an evaluation value for representing the effectiveness of the lane line based on the lane line information.
In the embodiment of the invention, the effectiveness of the lane line is used as an index for measuring whether the lane line is suitable for being used as the driving track of the vehicle. Wherein the effectiveness of the lane line is used for comprehensively evaluating the curvature and the length of the lane line. For example, in the case where the curvature of the lane line is large, if the effective length of the lane line is long, the effectiveness thereof may be high.
Specifically, when calculating the evaluation value for representing the effectiveness of the lane line, a plane coordinate system may be established by first using the position of the vehicle as a coordinate origin, one of the directions perpendicular to the vehicle traveling direction as a transverse coordinate axis and the other as a longitudinal coordinate axis, then in the plane coordinate system, based on the shape information of the lane line, a curve equation for representing the shape of the lane line is determined, and the evaluation value is calculated according to the curve equation and the length information of the lane line.
In specific implementation, as shown in fig. 2, a plane coordinate system is established with the vehicle center as the origin of coordinates, the vehicle driving direction as the x-axis, and the vertical direction of the vehicle driving direction as the y-axis, and a curve equation for characterizing the shape of the lane line is determined based on the shape information of the lane line in the plane coordinate system.
Specifically, the curve equation for characterizing the shape of the lane line may be a cubic polynomial, and the specific expression is as follows: y ═ C3×X3+C2×X2+C1×X+C0
Wherein y is a horizontal coordinate value of each point on the lane line, X is a vertical coordinate value of each point on the lane line, C0、C1、C2And C3Are all polynomial coefficients. If the current lane is a straight line, then C2And C3Are all close to 0.
After determining the curve equation for representing the shape of the lane line, the evaluation value may be calculated according to the curve equation and the length information of the lane line, and the specific calculation expression is as follows:
wherein, R is an evaluation value used for representing the validity of the lane line, l is the length of the lane line, and K1And K2Is a proportionality coefficient, C2And C3Are all polynomial coefficients in a curve equation used for representing the shape of the lane line.
In one example, the coefficients of the terms in the curve equation of the lane line on the side of the lane where the vehicle is located are assumed to be: c0＝2.2617，C1＝0.0298，C2＝-0.0028，C30.000001, lane length l of 20 m, K1Value of 1 × 103，K2Value of 2 × 106Then, the above expression for calculating the evaluation value is used to calculate that the evaluation value of the lane line is 0.4647.
And 103, calculating a matching value for representing the matching degree between the lane line and the current driving track of the vehicle according to the motion state information and the lane line information.
In the embodiment of the invention, the matching degree between the lane line and the current driving track of the vehicle is used as another index for measuring whether the lane line is suitable for being used as the driving track of the vehicle.
Specifically, when calculating the matching value for representing the matching degree between the lane line and the current driving track of the vehicle, the position of the vehicle may be taken as a coordinate origin, one of the driving direction of the vehicle and the vertical direction of the driving direction of the vehicle is taken as a transverse coordinate axis, and the other is taken as a longitudinal coordinate axis, a planar coordinate system is established, then in the planar coordinate system, a curve equation for representing the shape of the lane line is determined based on the shape information of the lane line, the curvature of the lane line at the position of the vehicle is calculated based on the curve equation, then the curvature of the current driving track of the vehicle is calculated based on the speed information and the yaw rate information, and the absolute value of the difference between the curvature of the current driving track of the vehicle and the curvature of the lane line at the position of the vehicle is taken as the matching value for representing the matching degree between the lane line and the current driving track of the vehicle.
In this step, the method of determining the curve equation for characterizing the shape of the lane line is the same as the method of determining the curve equation for characterizing the shape of the lane line in step 102.
After determining a curve equation for characterizing the shape of the lane line, a polynomial system C based on the curve equation1And C2And calculating the curvature of the lane line at the position of the vehicle, wherein the specific expression is as follows:
wherein, B1The curvature of the lane line at the location of the vehicle, C1And C2Are all polynomial coefficients in a curve equation used for representing the shape of the lane line.
In calculating the curvature of the current travel locus of the vehicle based on the speed information and the yaw-rate information of the vehicle, the following expression may be adopted:
wherein, B2ω is the curvature of the current running track of the vehicle, ω is the yaw rate of the vehicle, and V is the speed of the vehicle.
After calculating the curvature of the lane line at the position of the vehicle and the curvature of the current driving track of the vehicle, the absolute value of the difference between the curvature of the current driving track of the vehicle and the curvature of the lane line at the position of the vehicle can be used as a matching value for representing the matching degree between the lane line and the current driving track of the vehicle, and the specific calculation expression is as follows:
wherein, P is a matching value representing the matching degree between the lane line and the current driving track of the vehicle, B1The curvature of the lane line at the location of the vehicle, B2Is the curvature of the current running track of the vehicle.
In one example, if the example in step 102 is used, it is assumed that the coefficients in the curve equation of the lane line on the side of the lane where the vehicle is located are: c0＝2.2617，C1＝0.0298，C2＝-0.0028，C3When the vehicle speed is 15.7 m/s and the vehicle yaw rate is-1.0073 degrees/s, the matching value representing the matching degree between the lane line and the current driving track of the vehicle is 0.0045, which is calculated by using the above expression for calculating the matching value representing the matching degree between the lane line and the current driving track of the vehicle.
And 104, taking the lane line as the running track of the vehicle under the condition that the evaluation value is determined to be larger than the first preset threshold value and the matching value is determined to be smaller than the second preset threshold value.
In the embodiment of the invention, the effectiveness of the lane line and the matching degree between the lane line and the current driving track of the vehicle are used as indexes for judging whether the lane line is suitable for being used as the driving track of the vehicle, so that the lane line is used as the driving track of the vehicle under the condition that the evaluation value is determined to be larger than the first preset threshold and the matching value is smaller than the second preset threshold.
The first preset threshold and the second preset threshold may be set freely according to an empirical value, for example, the value of the first preset threshold is 0.5, and the value of the second preset threshold is 0.003.
In one example, if the first preset threshold value is 0.5 and the second preset threshold value is 0.003, the evaluation value calculated in step 102 is 0.4647 and is smaller than the first preset threshold value, and the matching value calculated in step 103 is 0.0045 and is greater than 0.003, then the lane line shown in the example of step 102 cannot predict the driving trajectory of the vehicle.
In another embodiment of the present invention, after the evaluation value for representing the validity of the lane line is calculated in step 102, if the evaluation value is determined to be smaller than the first preset threshold, step 103 may not be executed, and the lane line may be directly determined so as not to predict the travel track of the vehicle, so as to reduce the amount of calculation.
In one possible embodiment, if it is determined that the evaluation value is less than or equal to a first preset threshold value and/or the matching value is greater than or equal to a second preset threshold value, the travel locus of the vehicle is predicted based on the motion state information.
In specific implementation, when the running track of the vehicle is predicted based on the motion state information, the curvature radius of the current running track of the vehicle is calculated based on the speed information and the yaw rate information, the curvature circle of the position of the vehicle is determined according to the curvature radius, and an arc with a preset length and including the position of the vehicle is used as the running track of the vehicle on the curvature circle.
Specifically, based on the speed information and the yaw rate information, a calculation expression for calculating the curvature radius of the current travel track of the vehicle is as follows:
where r is a curvature radius of a current running track of the vehicle, ω is a yaw rate of the vehicle, and V is a speed of the vehicle.
After the curvature radius of the current running track of the vehicle is calculated, a curvature circle is made at the position of the vehicle based on the curvature radius, and then an arc with a preset length including the position of the vehicle on the curvature circle is used as the running track of the vehicle. The arc with the preset length including the position of the vehicle may be an arc with a preset length along the vehicle traveling direction, which may be set according to an empirical value, for example, 50 meters, using the position of the vehicle as a starting point.
A specific prediction process of the method for predicting the vehicle travel track according to the embodiment of the present invention is described in detail with reference to fig. 3.
As shown in fig. 3, a specific process of the method for predicting a driving trajectory of a vehicle according to the embodiment of the present invention may include the following steps:
Step 303 is to determine whether the calculated evaluation value is greater than a first preset threshold, if so, execute step 304, otherwise, execute step 307. The first preset threshold may be set according to an empirical value, for example, the value of the first preset threshold is 0.5.
And step 304, when the calculated evaluation value is determined to be larger than the first preset threshold value, calculating a matching value for representing the matching degree between the lane line and the current driving track of the vehicle based on the motion state information and the lane line information.
In step 305, it is determined whether the calculated matching value is smaller than a second preset threshold, if so, step 306 is executed, otherwise, step 307 is executed. The second preset threshold may be set according to an empirical value, for example, the value of the second preset threshold is 0.003.
And step 306, taking the lane line as the predicted driving track of the vehicle when the calculated matching value is determined to be smaller than a second preset threshold value.
And 307, when the calculated evaluation value is determined to be smaller than a first preset threshold value or the calculated matching value is determined to be larger than a second preset threshold value, calculating the curvature radius of the current running track of the vehicle based on the motion state information.
And step 308, predicting the running track of the vehicle according to the calculated curvature radius. Specifically, a curvature circle of the position of the vehicle is determined according to the curvature radius, and an arc with a preset length including the position of the vehicle on the curvature circle is used as the predicted driving track of the vehicle.
The method for predicting the vehicle running track after the vehicle ACC system is started in the embodiment of the invention is introduced above, and the embodiment of the invention also provides a method for selecting the vehicle following target, which is used for selecting the following target of the vehicle and the avoidance target of the vehicle based on the running track of the vehicle predicted by the method provided by the embodiment of the invention.
The method for selecting the vehicle following target provided by the embodiment of the invention, as shown in fig. 4, may include the following steps:
In particular, when acquiring a target object on a road ahead of a vehicle, the target object may be acquired by combining data acquired by an image acquisition device (e.g., a camera and a video camera) and a radar device. Specifically, data collected by the image collection device may be fused with data collected by the radar device to determine the type and location of a target object on a road ahead of the vehicle.
In the embodiment of the invention, the target objects are divided into two types of vehicle objects and non-vehicle objects according to the types of the target objects. When the type of the target object is specifically divided, the data acquired by the image acquisition equipment can be combined for division.
And 402, determining a transverse distance between the vehicle and the target object according to the running track of the vehicle, wherein the transverse distance is a distance between the vehicle and the target object in a direction perpendicular to the running track when the vehicle runs to a preset position along the running track, and the preset position is a position of the target object in the running track in the direction perpendicular to the running track.
The lateral spacing referred to in step 402 of an embodiment of the present invention is described in detail below with reference to fig. 5. As shown in fig. 5, assuming that the vehicle 50 is a self-vehicle and the vehicle 51 is a target object, the lateral distance between the vehicle 50 and the target object 51 refers to a distance from the target object 51 in a direction perpendicular to the travel track when the vehicle 50 travels to a predetermined position 52 along the travel track, that is, a distance 53 shown in fig. 5. The predetermined position 52 is a position of the target object 51 in the travel track in a direction perpendicular to the travel track, in other words, the predetermined position 52 and the target object 51 are on the same straight line perpendicular to the travel track.
In this step, when the lateral distance between the vehicle and the target object is determined, the driving trajectory predicted by the method for predicting a driving trajectory of a vehicle according to the above embodiment of the present invention is relied on.
Since the driving trajectory predicted by the method for predicting a driving trajectory of a vehicle according to the above embodiment of the present invention is in two cases, in this step, the lateral distance between the vehicle and the target object is determined according to the driving trajectory of the vehicle, which can be divided into the following two embodiments, specifically:
in the first embodiment, a lane line is used as the predicted travel path of the vehicle.
In such an embodiment, the coordinate positions of the host vehicle and the target object in the planar coordinate system may be calculated according to a curve equation for characterizing the shape of the lane line, and then the lateral distance between the host vehicle and the target object may be calculated based on the coordinate positions of the host vehicle and the target object in the planar coordinate system.
In the second embodiment, an arc with a preset length, including the position of the vehicle, on the curvature circle is used as the predicted vehicle traveling track.
In this embodiment, the coordinate positions of the host vehicle and the target object in the planar coordinate system may be calculated according to a curve equation for characterizing the shape of the lane line, the lateral coordinate value of the host vehicle when the host vehicle travels to the predetermined position along the travel track may be calculated according to the longitudinal coordinate value of the target object, and the lateral distance between the host vehicle and the target object may be calculated based on the calculated lateral coordinate value of the host vehicle at the predetermined position and the calculated lateral coordinate value of the target object.
When the method is concretely implemented, when the transverse coordinate value of the vehicle when the vehicle runs to the preset position along the running track is calculated according to the longitudinal coordinate value of the target object, the calculation expression is as follows:
when the running track of the vehicle turns to the left:
when the running track of the vehicle turns to the right:
wherein, yegoIs a transverse coordinate value, x, of the vehicle when the vehicle travels to a predetermined position along the travel pathobjIs the longitudinal coordinate value of the target object, and r is the curvature radius of the driving track.
In step 403, a following target of the vehicle is selected from the target objects according to the transverse distance between the vehicle and the target objects.
In one possible embodiment, since the target objects include a vehicle target and a non-vehicle target, in order to reduce the amount of calculation, when a following target of the vehicle is selected among the target objects, the following target may be selected among the vehicle targets.
In actual practice, when selecting the following target of the vehicle, three vehicle targets are generally selected as the following targets of the vehicle in front of, on the left side, and on the right side of the vehicle. Of course, if there are less than three vehicle targets included in the target object in front of the vehicle, it is also possible to select less than three following targets.
When a following target of the vehicle is selected specifically, if the transverse distance between the vehicle and the vehicle target is smaller than a first preset distance threshold value and the vehicle target and the vehicle driving direction are the same, determining the vehicle target as a first following target of the vehicle; and if the transverse distance between the vehicle and the vehicle target is greater than a first preset distance threshold value and smaller than the sum of the first preset distance threshold value and the lane width, and the vehicle target and the vehicle driving direction are the same, determining the vehicle target as a second following target of the vehicle.
The first preset distance threshold may be set according to an empirical value, for example, the first preset distance threshold is half of the sum of the width of the vehicle and the width of the vehicle target.
It should be noted that the first following target may be a following target in front of the vehicle, and the second following target may be a following target on the left side and the right side of the vehicle, but of course, in other embodiments of the present invention, the first following target may also be a following target on the left side and the right side of the vehicle, and the second following target may be a following target in front of the vehicle, and is not limited specifically here.
In a possible implementation manner, the embodiment of the invention can also select the avoidance target of the vehicle in the target objects according to the transverse distance between the vehicle and the target objects.
In one possible embodiment, since the target objects include a vehicle object and a non-vehicle object, in order to reduce the amount of calculation, when an avoidance target of the vehicle is selected among the target objects, the avoidance target may be selected among the non-vehicle objects.
In practical applications, when selecting an avoidance target of a vehicle, two non-vehicle targets are generally selected as avoidance targets of the vehicle in front of and on the side of the vehicle. Of course, if there are less than two non-vehicle targets included in the target object in front of the vehicle, it is also possible to select less than two avoidance targets.
When an avoidance target of the vehicle is specifically selected, if the transverse distance between the vehicle and a non-vehicle target is smaller than a second preset distance threshold, determining the non-vehicle target as a first avoidance target of the vehicle; and if the transverse distance between the vehicle and the non-vehicle target is greater than a second preset distance threshold value and smaller than the sum of the second preset distance threshold value and the lane width, determining the non-vehicle target as a second avoidance target of the vehicle.
The second preset distance threshold is greater than the first preset distance threshold, and the second preset distance threshold may be set according to an empirical value, for example, the second preset distance threshold is greater than the first preset distance threshold by 0.2.
It should be noted that the first avoidance target may be an avoidance target in front of the vehicle, and the second following target may be an avoidance target on the side of the vehicle, but in other embodiments of the present invention, the first following target may also be an avoidance target on the side of the vehicle, and the second following target may be an avoidance target in front of the vehicle, and the present invention is not limited to this.
In one example, as shown in fig. 6, fig. 6 shows a scene in which a following target of the vehicle and an avoidance target of the vehicle are selected among target objects in front of the vehicle with a lane line as a predicted travel locus of the vehicle.
In another example, as shown in fig. 7, fig. 7 shows a scene in which a following target of the vehicle and an avoidance target of the vehicle are selected among target objects in front of the vehicle when an arc of a predetermined length including a position where the vehicle is located on a curvature circle is used as the predicted vehicle travel track.
According to the method for selecting the vehicle following target, the transverse distance between the vehicle and the target object is determined according to the running track of the vehicle, the following target of the vehicle and the avoidance target of the vehicle are selected according to the determined transverse distance between the vehicle and the target object, the running tracks of the vehicle are different, and the selected following target and the avoidance target are possibly different, so that the selected following target and the chosen avoidance target are better in robustness and higher in accuracy. In addition, by selecting the following target of the vehicle and the avoidance target of the vehicle, more comprehensive road information can be provided for the ACC system.
Based on the same inventive concept, the embodiment of the invention also provides a vehicle running track prediction device and a vehicle following target selection device.
As shown in fig. 8, an apparatus for predicting a vehicle travel track according to an embodiment of the present invention includes:
an obtaining unit 801 is used for obtaining the motion state information of the vehicle and the lane line information of the lane where the vehicle is located.
A first calculation unit 802, configured to calculate an evaluation value for representing the validity of the lane line based on the lane line information.
And the second calculating unit 803 is configured to calculate a matching value representing a degree of matching between the lane line and the current driving track of the vehicle according to the motion state information and the lane line information.
And the processing unit 804 is used for taking the lane line as the running track of the vehicle under the condition that the evaluation value is determined to be larger than the first preset threshold value and the matching value is determined to be smaller than the second preset threshold value.
In one possible embodiment, the lane line information includes length information and shape information; the first computing unit 802 is specifically configured to: establishing a plane coordinate system by taking the position of the vehicle as a coordinate origin, taking one of the driving directions of the vehicle and the vertical direction of the driving direction of the vehicle as a transverse coordinate axis and the other as a longitudinal coordinate axis; in a plane coordinate system, determining a curve equation for representing the shape of the lane line based on the shape information of the lane line; and calculating an evaluation value according to the curve equation and the length information of the lane line.
In one possible embodiment, the lane line information includes shape information, and the motion state information includes velocity information and yaw-rate information; the second calculating unit 803 is specifically configured to: establishing a plane coordinate system by taking the position of the vehicle as a coordinate origin, taking one of the driving directions of the vehicle and the vertical direction of the driving direction of the vehicle as a transverse coordinate axis and the other as a longitudinal coordinate axis; in a plane coordinate system, determining a curve equation for representing the shape of the lane line based on the shape information of the lane line; calculating the curvature of the lane line at the position of the vehicle based on a curve equation; calculating the curvature of the current running track of the vehicle based on the speed information and the yaw rate information; and taking the absolute value of the difference between the curvature of the current driving track of the vehicle and the curvature of the lane line at the position of the vehicle as a matching value.
In one possible implementation, the processing unit 804 is further configured to: on the condition that it is determined that the evaluation value is less than or equal to a first preset threshold value and/or the matching value is greater than or equal to a second preset threshold value, the travel locus of the vehicle is predicted based on the motion state information.
In one possible embodiment, the motion state information includes speed information and yaw-rate information; the processing unit 804 is specifically configured to: calculating the curvature radius of the current running track of the vehicle based on the speed information and the yaw rate information; and determining a curvature circle of the position of the vehicle according to the curvature radius, and taking an arc with a preset length containing the position of the vehicle on the curvature circle as a running track of the vehicle.
According to the vehicle travel track prediction device provided by the embodiment of the invention, the motion state information of the vehicle and the lane line information of the lane where the vehicle is located are obtained, the evaluation value for representing the effectiveness of the lane line is calculated on the basis of the lane line information, the matching value for representing the matching degree between the lane line and the current travel track of the vehicle is calculated according to the motion state information and the lane line information, and the lane line is taken as the travel track of the vehicle under the condition that the evaluation value is determined to be larger than the first preset threshold value and the matching value is smaller than the second preset threshold value, so that the travel track of the vehicle is predicted after the ACC system of the vehicle is started.
As shown in fig. 9, a device for selecting a vehicle following target according to an embodiment of the present invention is a device for selecting a following target of a vehicle based on a driving track and a trajectory predicted by a method according to the above embodiment of the present invention, and includes:
an acquisition unit 901 for acquiring a target object on a road ahead of the vehicle.
A calculating unit 902, configured to determine, according to a driving trajectory of the vehicle, a lateral distance between the vehicle and the target object, where the lateral distance is a distance from the target object in a direction perpendicular to the driving trajectory when the vehicle drives to a predetermined position along the driving trajectory, and the predetermined position is a position of the target object in the driving trajectory in the direction perpendicular to the driving trajectory.
A selection unit 903 for selecting a following target of the vehicle among the target objects according to a lateral distance between the vehicle and the target objects.
In one possible embodiment, the target object comprises a vehicle target; the selecting unit 903 is specifically configured to: a following target of the vehicle is selected among the vehicle targets in accordance with a lateral distance between the vehicle and the vehicle targets.
In a possible implementation, the selecting unit 903 is specifically configured to: when the transverse distance between the vehicle and the vehicle target is smaller than a first preset distance threshold value and the vehicle target and the vehicle driving direction are the same, determining the vehicle target as a first following target of the vehicle; and determining the vehicle target as a second following target of the vehicle when the transverse distance between the vehicle and the vehicle target is larger than a first preset distance threshold value, smaller than the sum of the first preset distance threshold value and the lane width and the vehicle target and the driving direction of the vehicle are the same.
In a possible implementation, the selection unit 903 is further configured to: and selecting an avoidance target of the vehicle from the target objects according to the transverse distance between the vehicle and the target objects.
In one possible embodiment, the target object comprises a non-vehicle target; the selecting unit 903 is specifically configured to: and selecting an avoidance target of the vehicle from the non-vehicle targets according to the transverse distance between the vehicle and the non-vehicle targets.
In a possible implementation, the selecting unit 903 is specifically configured to: when the transverse distance between the vehicle and the non-vehicle target is smaller than a second preset distance threshold value, determining the non-vehicle target as a first avoidance target of the vehicle; when the transverse distance between the vehicle and the non-vehicle target is larger than a second preset distance threshold and smaller than the sum of the second preset distance threshold and the lane width, determining the non-vehicle target as a second avoidance target of the vehicle; and the second preset distance threshold is greater than the first preset distance threshold.
According to the device for selecting the vehicle following target, the transverse distance between the vehicle and the target object is determined according to the running track of the vehicle, the following target of the vehicle and the avoidance target of the vehicle are selected according to the determined transverse distance between the vehicle and the target object, the running tracks of the vehicle are different, and the selected following target and the chosen avoidance target are possibly different, so that the robustness of the selected following target and the chosen avoidance target is better, and the accuracy is higher. In addition, by selecting the following target of the vehicle and the avoidance target of the vehicle, more comprehensive road information can be provided for the ACC system.
In addition, the method and the device for predicting the vehicle traveling track according to the embodiment of the present invention described in conjunction with fig. 1 to 3 and 8 may be implemented by a device for predicting the vehicle traveling track. Fig. 10 is a schematic diagram showing a hardware configuration of a device for predicting a vehicle travel track according to an embodiment of the present invention.
The prediction device of the vehicle's travel trajectory may comprise a processor 1001 and a memory 1002 storing computer program instructions.
Specifically, the processor 1001 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured as one or more Integrated circuits implementing an embodiment of the present invention.
The processor 1001 realizes the method for predicting the travel locus of the vehicle in any one of the above embodiments by reading and executing the computer program instructions stored in the memory 1002.
In one example, the prediction device of the vehicle travel track may further include a communication interface 1003 and a bus 1010. As shown in fig. 10, the processor 1001, the memory 1002, and the communication interface 1003 are connected to each other via a bus 1010 to complete communication therebetween.
The communication interface 1003 is mainly used for implementing communication between modules, apparatuses, units and/or devices in the embodiment of the present invention.
The bus 1010 includes hardware, software, or both that couple the components of the vehicle travel path prediction device to each other. By way of example, and not limitation, a bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hypertransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus or a combination of two or more of these. Bus 1010 may include one or more buses, where appropriate. Although specific buses have been described and shown in the embodiments of the invention, any suitable buses or interconnects are contemplated by the invention.
The device for predicting the vehicle running track can execute the method for predicting the vehicle running track in the embodiment of the invention based on the acquired motion state information of the vehicle and the lane line information of the lane where the vehicle is located, thereby realizing the method and the device for predicting the vehicle running track described in conjunction with fig. 1-3 and 8.
In addition, in combination with the method for predicting the vehicle travel track in the above embodiment, the embodiment of the present invention may be implemented by providing a computer-readable storage medium. The computer readable storage medium having stored thereon computer program instructions; the computer program instructions, when executed by a processor, implement a method of predicting a vehicle travel path in any of the above embodiments.
In addition, the method and apparatus for selecting a vehicle following target of the embodiment of the invention described in conjunction with fig. 4 to 7 and 9 may be implemented by a vehicle following target selection device. Fig. 11 is a schematic diagram showing a hardware configuration of a selection device of a vehicle following target according to an embodiment of the present invention.
The selection device of the vehicle following target may comprise a processor 1101 and a memory 1102 in which computer program instructions are stored.
Specifically, the processor 1101 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured as one or more Integrated circuits implementing embodiments of the present invention.
The processor 1101 realizes the selection method of any one of the vehicle following targets in the above-described embodiments by reading and executing computer program instructions stored in the memory 1102.
In one example, the vehicle following target selection device may also include a communication interface 1103 and a bus 1110. As shown in fig. 11, the processor 1101, the memory 1102, and the communication interface 1103 are connected via a bus 1110 to complete communication therebetween.
The communication interface 1103 is mainly used for implementing communication between modules, apparatuses, units and/or devices in the embodiment of the present invention.
The device for selecting the vehicle following target may execute the method for selecting the vehicle following target in the embodiment of the present invention based on the acquired target object in front of the vehicle, so as to implement the method and apparatus for selecting the vehicle following target described with reference to fig. 4 to 7 and 9.
In addition, in combination with the method of selecting a vehicle following target in the above embodiments, embodiments of the present invention may be implemented by providing a computer-readable storage medium. The computer readable storage medium having stored thereon computer program instructions; the computer program instructions, when executed by a processor, implement a method of selecting a vehicle following target of any of the above embodiments.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention 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, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. 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.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (12)
1. A method for predicting a travel locus of a vehicle, comprising:
acquiring the motion state information of the vehicle and lane line information of a lane where the vehicle is located; the lane line information includes length information and shape information;
calculating an evaluation value for representing the validity of the lane line based on the lane line information;
calculating a matching value for representing the matching degree between the lane line and the current driving track of the vehicle according to the motion state information and the lane line information;
under the condition that the evaluation value is determined to be larger than a first preset threshold value and the matching value is determined to be smaller than a second preset threshold value, taking the lane line as the driving track of the vehicle;
the calculating an evaluation value for representing the validity of the lane line based on the lane line information includes:
establishing a plane coordinate system by taking the position of the vehicle as a coordinate origin, taking one of the driving directions of the vehicle and the vertical direction of the driving direction of the vehicle as a transverse coordinate axis and the other as a longitudinal coordinate axis;
determining a curve equation for representing the shape of the lane line based on the shape information of the lane line in the plane coordinate system;
and calculating the evaluation value according to the curve equation and the length information of the lane line.
2. The method of claim 1, wherein the lane line information includes shape information, and the motion state information includes velocity information and yaw-rate information;
the calculating a matching value for representing the matching degree between the lane line and the current driving track of the vehicle according to the motion state information and the lane line information comprises:
establishing a plane coordinate system by taking the position of the vehicle as a coordinate origin, taking one of the driving directions of the vehicle and the vertical direction of the driving direction of the vehicle as a transverse coordinate axis and the other as a longitudinal coordinate axis;
determining a curve equation for representing the shape of the lane line based on the shape information of the lane line in the plane coordinate system;
calculating the curvature of the lane line at the position of the vehicle based on the curve equation;
calculating the curvature of the current running track of the vehicle based on the speed information and the yaw rate information;
and taking the absolute value of the difference between the curvature of the current driving track of the vehicle and the curvature of the lane line at the position of the vehicle as the matching value.
3. The method according to any one of claims 1-2, further comprising:
and under the condition that the evaluation value is determined to be smaller than or equal to a first preset threshold value and/or the matching value is determined to be larger than or equal to a second preset threshold value, predicting the running track of the vehicle based on the motion state information.
4. The method of claim 3, wherein the motion state information comprises velocity information and yaw-rate information;
the predicting of the travel track of the vehicle based on the motion state information includes:
calculating a curvature radius of a current running track of the vehicle based on the speed information and the yaw rate information;
and determining a curvature circle of the position of the vehicle according to the curvature radius, and taking an arc with a preset length containing the position of the vehicle on the curvature circle as a running track of the vehicle.
5. A method for selecting a target for a vehicle to follow, for selecting the target for the vehicle to follow based on a travel locus of the vehicle predicted by the method according to any one of claims 1 to 4, comprising:
acquiring a target object on a road in front of the vehicle;
determining a transverse distance between the vehicle and the target object according to a running track of the vehicle, wherein the transverse distance is a distance between the vehicle and the target object in a direction perpendicular to the running track when the vehicle runs to a predetermined position along the running track, and the predetermined position is a position of the target object in the running track corresponding to the direction perpendicular to the running track;
selecting a following target of the vehicle in the target objects according to a transverse distance between the vehicle and the target objects.
6. The method of claim 5, wherein the target object comprises a vehicle target;
the selecting a following target of the vehicle among the target objects according to a lateral distance between the vehicle and the target objects includes: selecting a following target of the vehicle among the vehicle targets depending on a lateral distance between the vehicle and the vehicle targets.
7. The method of claim 6, wherein said selecting a following target of the vehicle among the vehicle targets as a function of a lateral spacing between the vehicle and the vehicle targets comprises:
determining the vehicle target as a first following target of the vehicle when the transverse distance between the vehicle and the vehicle target is smaller than a first preset distance threshold and the vehicle target is the same as the vehicle driving direction;
and when the transverse distance between the vehicle and the vehicle target is larger than the first preset distance threshold, smaller than the sum of the first preset distance threshold and the lane width and the vehicle target is the same as the driving direction of the vehicle, determining the vehicle target as a second following target of the vehicle.
8. The method according to any one of claims 5-7, further comprising:
selecting an avoidance target of the vehicle from the target objects according to the transverse distance between the vehicle and the target objects.
9. The method of claim 8, wherein the target object comprises a non-vehicle target;
the selecting an avoidance target of the vehicle from the target objects according to a lateral distance between the vehicle and the target objects comprises:
selecting an avoidance target of the vehicle from the non-vehicle targets according to a transverse distance between the vehicle and the non-vehicle targets.
10. The method of claim 9, wherein said selecting an avoidance objective for said vehicle among said non-vehicle objectives as a function of a lateral separation between said vehicle and said non-vehicle objectives comprises:
when the transverse distance between the vehicle and the non-vehicle target is smaller than a second preset distance threshold value, determining the non-vehicle target as a first avoidance target of the vehicle;
when the transverse distance between the vehicle and the non-vehicle target is larger than the second preset distance threshold and smaller than the sum of the second preset distance threshold and the lane width, determining the non-vehicle target as a second avoidance target of the vehicle;
wherein the second preset distance threshold is greater than the first preset distance threshold.
11. An apparatus for predicting a travel locus of a vehicle, characterized by comprising: at least one processor, at least one memory, and computer program instructions stored in the memory that, when executed by the processor, implement the method of any of claims 1-4.
12. A vehicle following target selection apparatus, characterized by comprising: at least one processor, at least one memory, and computer program instructions stored in the memory that, when executed by the processor, implement the method of any of claims 5-10.
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| CN113104041B (en) * | 2021-05-08 | 2022-11-04 | 地平线(上海)人工智能技术有限公司 | Driving track prediction method and device, electronic equipment and storage medium |
| CN114750759A (en) * | 2022-04-19 | 2022-07-15 | 合众新能源汽车有限公司 | Following target determination method, device, equipment and medium |
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