CN110834645A - Free space determination method and device for vehicle, storage medium and vehicle - Google Patents
Free space determination method and device for vehicle, storage medium and vehicle Download PDFInfo
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- CN110834645A CN110834645A CN201911047929.9A CN201911047929A CN110834645A CN 110834645 A CN110834645 A CN 110834645A CN 201911047929 A CN201911047929 A CN 201911047929A CN 110834645 A CN110834645 A CN 110834645A
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0097—Predicting future conditions
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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
- B60W40/02—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 ambient conditions
Abstract
The embodiment of the invention discloses a free space determining method and device for a vehicle, a storage medium and the vehicle. The method comprises the following steps: the method comprises the steps of obtaining a road environment image through image collection equipment of a current vehicle, determining an initial free space according to the road environment image, obtaining target information of a target vehicle, predicting space position information occupied by the target vehicle at a future moment by utilizing the target information, and determining a multi-time-domain free space of the current vehicle according to the space position information and the initial free space. By adopting the technical scheme, the free space containing multiple time domains at the future moment is finally obtained, so that the free space is predictive, a lower time delay and a more accurate travelable area can be obtained by utilizing the free space of the multiple time domains, and a better driving path planning is realized.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicles, in particular to a method and a device for determining free space of a vehicle, a storage medium and the vehicle.
Background
Free space (Freespace) is understood in the field of vehicle technology as the travelable region of a vehicle. Many vehicles having a driving assistance function or an automatic driving function have a function of outputting free space, and the function can help the vehicle to avoid other vehicles during driving assistance or automatic driving.
For a vehicle with a function of outputting free space, a front camera is equipped, the front camera can output free space by describing pixel points, but the free space output by the scheme cannot adapt to the requirements of low time delay and high precision, and needs to be improved.
Disclosure of Invention
The embodiment of the invention provides a method and a device for determining free space of a vehicle, a storage medium and the vehicle, which can optimize the existing scheme for determining the free space of the vehicle.
In a first aspect, an embodiment of the present invention provides a free space determination method for a vehicle, including:
acquiring a road environment image through image acquisition equipment of a current vehicle, and determining an initial free space according to the road environment image;
acquiring target information of a target vehicle, and predicting spatial position information occupied by the target vehicle at a future moment by using the target information;
and determining the multi-time-domain free space of the current vehicle according to the space position information and the initial free space.
In a second aspect, an embodiment of the present invention provides a free space determination apparatus for a vehicle, including:
the system comprises an initial free space determining module, a road environment image acquiring module and a free space determining module, wherein the initial free space determining module is used for acquiring a road environment image through image acquisition equipment of a current vehicle and determining an initial free space according to the road environment image;
the spatial position information prediction module is used for acquiring target information of a target vehicle and predicting spatial position information occupied by the target vehicle at a future moment by using the target information;
and the multi-time domain free space determining module is used for determining the multi-time domain free space of the current vehicle according to the space position information and the initial free space.
In a third aspect, embodiments of the present invention provide a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements a free space determination method for a vehicle as provided by embodiments of the present invention.
In a fourth aspect, an embodiment of the present invention provides a vehicle, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the method for determining a free space of a vehicle according to an embodiment of the present invention.
According to the free space determining scheme of the vehicle, the image of the road environment is obtained through the image acquisition equipment of the current vehicle, the initial free space is determined according to the image of the road environment, the target information of the target vehicle is obtained, the space position information occupied by the target vehicle at the future moment is predicted by utilizing the target information, and finally the multi-time-domain free space of the current vehicle is determined according to the space position information and the initial free space. By adopting the technical scheme, the free space containing multiple time domains at the future moment is finally obtained, so that the free space is predictive, a lower time delay and a more accurate travelable area can be obtained by utilizing the free space of the multiple time domains, and a more optimal driving path planning is realized.
Drawings
Fig. 1 is a schematic flow chart of a free space determination method for a vehicle according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a free space determination method for a vehicle according to a second embodiment of the present invention;
FIG. 3 is a schematic diagram of a vehicle mechanical model according to a second embodiment of the present invention;
FIG. 4 is a diagram illustrating an initial free space effect according to a second embodiment of the present invention;
fig. 5 is a schematic diagram of a multi-time domain free space effect according to a second embodiment of the present invention;
FIG. 6 is a diagram illustrating another multi-time domain initial free space effect according to a second embodiment of the present invention;
fig. 7 is a block diagram of a free space determination apparatus for a vehicle according to a third embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example one
Fig. 1 is a schematic flow chart of a free space determination method for a vehicle according to an embodiment of the present invention, which may be performed by a free space determination apparatus for a vehicle, where the apparatus may be implemented by software and/or hardware, and may be generally integrated in a vehicle. As shown in fig. 1, the method includes:
For example, the vehicle in the embodiment of the present invention may include an automobile, an electric vehicle, and other types of vehicles, and generally has a driving assistance function or an automatic driving function, and may output a free space during driving. The present vehicle, i.e. the own vehicle, is a vehicle for performing the method of an embodiment of the present invention.
In the embodiment of the present invention, the image capturing device may include a camera mounted on the vehicle, and may capture images of the front, left, right, or rear directions of the vehicle by taking pictures or recording videos, and the specific direction may be determined by factors such as the mounting position of the camera and/or the configuration of the camera (e.g., whether the camera is a wide-angle camera), and may generally be a front camera. The image acquisition device can acquire images in real time and can also acquire images at a preset frequency. For example, the image captured by the image capturing device may be acquired as the road environment image.
For example, a travelable region of the current vehicle at the current time, that is, the initial free space in the embodiment of the present invention, may be determined according to the road environment image. As for a specific manner of determining the initial free space, reference may be made to a determination manner in the related art, and the embodiment of the present invention is not particularly limited. For example, it may be a block method or a convolution-first and deconvolution method. The blocking method is to divide the image into blocks, each block may be a block of 4 pixels by 4 pixels or a block of 8 pixels by 8 pixels, and the like, and then to determine whether the block belongs to a drivable area or a non-drivable area by passing the block through a convolutional neural network. The convolution-first and deconvolution-second method is that a convolution neural network is used for extracting the characteristics of an image, and then the deconvolution method is used for amplifying the middle layer to the size same as that of an original image, so that each pixel point corresponds to one label. Of course, other modes can be adopted, and the embodiment of the invention is not described in detail.
And 102, acquiring target information of the target vehicle, and predicting the space position information occupied by the target vehicle at a future moment by using the target information.
For example, the target vehicle may be determined according to the road environment image, for example, the road environment image is analyzed, the distance between each vehicle included in the road environment image and the current vehicle is determined, and the vehicle whose distance is within a preset distance range is determined as the target vehicle. In addition, the target vehicle may be determined in other manners, such as by measuring the distance between the other vehicle and the current vehicle using a distance sensor, and determining the target vehicle.
In this step, the information about the spatial position occupied by the target vehicle at a future time is mainly predicted by using the relevant information about the target vehicle, and the information about the target vehicle that is helpful to the prediction process can be the target information. The specific prediction mode can be determined according to the type of the target information. For example, predictions may be made using equations of continuous state of vehicle dynamics and kinematics.
Illustratively, the target information includes inherent attribute information, traveling state information, and control input information. Optionally, the inherent attribute information includes external dimension information, wheel base, front overhang and rear overhang of the vehicle; the driving state information includes vehicle speed information and a driving direction; the control input information includes accelerator pedal opening information, brake pedal opening information, steering angle information, and angular rate. The information may be detected by a wheel speed sensor, a steering wheel angle sensor, an accelerator pedal opening sensor, a brake pedal opening sensor, a yaw rate sensor, a longitudinal acceleration sensor, and the like of the target vehicle.
Optionally, the target information of the target vehicle may be obtained through a vehicle-to-outside (V2X) information interaction device (also called a vehicle-to-vehicle interconnection device). Specifically, the target vehicle may send the target information to the current vehicle through the autonomous broadcaster, and the current vehicle may receive the target information through the vehicle-to-vehicle interconnection receiver.
And 103, determining a multi-time-domain free space of the current vehicle according to the space position information and the initial free space.
For example, the spatial position information may be a spatial position that continuously changes at a future time, or may be a spatial position at least one future time. By combining the predicted spatial position information of the target vehicle at the future time with the initial free space, a multi-time domain free space including the current time and at least one future time can be obtained, and the free space is predicted.
According to the free space determining scheme of the vehicle, the image of the road environment is obtained through the image acquisition equipment of the current vehicle, the initial free space is determined according to the image of the road environment, the target information of the target vehicle is obtained, the space position information occupied by the target vehicle at the future moment is predicted by utilizing the target information, and finally the multi-time-domain free space of the current vehicle is determined according to the space position information and the initial free space. By adopting the technical scheme, the free space containing multiple time domains at the future moment is finally obtained, so that the free space is predictive, a lower time delay and a more accurate travelable area can be obtained by utilizing the free space of the multiple time domains, and a more optimal driving path planning is realized.
Example two
Fig. 2 is a schematic flow chart of a free space determination method for a vehicle according to a second embodiment of the present invention, which is optimized based on the second optional embodiment of the present invention.
For example, the predicting, by using the target information, spatial position information occupied by the target vehicle at a future time includes: predicting the running track of the target vehicle by using the target information and continuous state equations of vehicle dynamics and kinematics; and determining the space position information occupied by the target vehicle at least one target moment in the future according to the running track.
Specifically, the method may comprise the steps of:
And step 202, acquiring target information of the target vehicle through the V2X information interaction device.
And step 203, predicting the running track of the target vehicle by using the target information and the continuous state equation of the vehicle dynamics and kinematics.
Optionally, in the continuous state equation, the central point of the rear axle of the current vehicle is used as the origin of a unified coordinate system, and unified coordinates are realized through coordinate conversion, so that the set advantages of conveniently unifying the coordinates of each target vehicle, facilitating the subsequent calculation of the multi-time-domain free space of the current vehicle and improving the calculation efficiency are achieved.
Optionally, the model corresponding to the continuous state equation is simplified by adopting a two-degree-of-freedom model of the vehicle and a mode of considering the vehicle as a rigid body, so that the method has the advantages of simplifying the operation process and improving the calculation efficiency.
For example, fig. 3 is a schematic diagram of a vehicle mechanical model provided in the second embodiment of the present invention, and the centroid slip angle β and the yaw rate r are expressed as follows according to the torque and torque balance equation:
wherein, Fyf，FyrIs the lateral force of the front wheel and the rear wheel of the vehicle, unit, N; m is the mass of the vehicle in kg; i iszIs the moment of inertia of the vehicle about the z-axis in kg.m2；vxIs the longitudinal speed of the vehicle, unit, m/s; a is the distance from the center of mass of the vehicle to the front axle of the vehicle, unit, m; b is the distance, in m, from the center of mass of the vehicle to the rear axle of the vehicle.
Further to a small angle approximation, a vehicle tire is generally considered to operate in a linear region, and thus the tire lateral force can be expressed as:
Fyf＝Cfαf
Fyr＝Cr·αr(2)
wherein, CfIs the cornering stiffness, in units, N/rad, of a linearized vehicle front wheel tire; crIs the cornering stiffness, in N/rad, of a linearized vehicle rear wheel tire.
The vehicle front and rear tire slip angles may be approximated as:
wherein, deltafIs the front wheel steering angle, unit, rad of the vehicle.
Substituting equation (2) and equation (3) into equation (1) yields a kinetic model as follows:
according to the geometrical relationship of the planes, the yaw angle psi of the vehicle, the lateral position y and the longitudinal position x of the mass center of the vehicle in the inertial coordinate system can be obtained
Under the small angle assumption, the centroid slip angle can be approximated as:
thus, the lateral position y and the longitudinal position x of the centroid can be approximated by combining equations (4) and (5) above and equation (6), and the continuous equation of state for vehicle kinematics and dynamics can be expressed as:
wherein, deltafSelected as the control quantity u, and the state variable selection X ═ y ψ r β]TThe other matrices are as follows:
by using the target information and the continuous state equation of the vehicle dynamics and kinematics, the next action of the driver of the target vehicle can be analyzed, and the running track of the target vehicle can be predicted.
And step 204, determining the space position information occupied by the target vehicle at least one target moment in the future according to the running track.
Alternatively, step 203 and step 204 may be implemented by a separate calculation unit, such as a target vehicle prediction calculation unit.
And step 205, determining the multi-time-domain free space of the current vehicle according to the spatial position information and the initial free space.
For example, the specific number of the at least one target time may be designed according to actual requirements, and may be, for example, 3, where the current time is T0, and the 3 future target times are respectively denoted as T1, T2, and T3.
Fig. 4 is a schematic diagram of an initial free space effect provided by a second embodiment of the present invention, fig. 5 is a schematic diagram of a multi-time domain free space effect provided by the second embodiment of the present invention, in which positions of two target vehicles at times T0 and T1 are shown, and fig. 6 is a schematic diagram of another multi-time domain initial free space effect provided by the second embodiment of the present invention, in which positions (represented by dots) of two target vehicles at times T0, T1, T2, and T3 are shown. It can be seen that the multi-time domain initial free space can be predictive.
According to the method for determining the free space of the vehicle, provided by the embodiment of the invention, the running track of the target vehicle is predicted by utilizing the target information and the continuous state equation of the vehicle dynamics and kinematics, and then the spatial position information occupied by the target vehicle at least one target moment in the future is determined according to the running track, so that the spatial position information occupied by the target vehicle in the future can be rapidly and accurately predicted, the multi-time-domain free space can be more accurately output, a lower time delay and a more accurate travelable area can be obtained by utilizing the multi-time-domain free space, and the more optimal driving path planning can be realized.
EXAMPLE III
Fig. 7 is a block diagram of a free space determination apparatus for a vehicle according to a third embodiment of the present invention, where the apparatus may be implemented by software and/or hardware, and may be generally integrated in a vehicle, and may perform the free space determination of the vehicle by executing a free space determination method for the vehicle. As shown in fig. 7, the apparatus includes:
the initial free space determining module 701 is used for acquiring a road environment image through image acquisition equipment of a current vehicle and determining an initial free space according to the road environment image;
a spatial position information prediction module 702, configured to obtain target information of a target vehicle, and predict spatial position information occupied by the target vehicle at a future time by using the target information;
a multi-time domain free space determining module 703, configured to determine a multi-time domain free space of the current vehicle according to the spatial location information and the initial free space.
The free space determining device for the vehicle, provided by the embodiment of the invention, acquires the road environment image through the image acquisition equipment of the current vehicle, determines the initial free space according to the road environment image, acquires the target information of the target vehicle, predicts the space position information occupied by the target vehicle at the future time by using the target information, and finally determines the multi-time-domain free space of the current vehicle according to the space position information and the initial free space. By adopting the technical scheme, the free space containing multiple time domains at the future moment is finally obtained, so that the free space is predictive, a lower time delay and a more accurate travelable area can be obtained by utilizing the free space of the multiple time domains, and a more optimal driving path planning is realized.
Optionally, the target information includes inherent attribute information, driving state information, and control input information.
Optionally, the inherent attribute information includes external dimension information, wheel base, front overhang and rear overhang of the vehicle; the driving state information includes vehicle speed information and a driving direction; the control input information includes accelerator pedal opening information, brake pedal opening information, steering angle information, and angular rate.
Optionally, the predicting, by using the target information, spatial position information occupied by the target vehicle at a future time includes:
predicting the running track of the target vehicle by using the target information and continuous state equations of vehicle dynamics and kinematics;
and determining the space position information occupied by the target vehicle at least one target moment in the future according to the running track.
Optionally, in the continuous state equation, the central point of the rear axle of the current vehicle is used as a uniform coordinate system origin.
Optionally, the model corresponding to the continuous state equation is simplified by using a two-degree-of-freedom model of the vehicle and a mode that the vehicle is considered as a rigid body.
Optionally, the obtaining target information of the target vehicle includes:
and acquiring target information of the target vehicle through the vehicle-to-outside V2X information interaction device.
Example four
Embodiments of the present invention also provide a storage medium containing computer-executable instructions which, when executed by a computer processor, perform a method of free-space determination for a vehicle, the method comprising:
acquiring a road environment image through image acquisition equipment of a current vehicle, and determining an initial free space according to the road environment image;
acquiring target information of a target vehicle, and predicting spatial position information occupied by the target vehicle at a future moment by using the target information;
and determining the multi-time-domain free space of the current vehicle according to the space position information and the initial free space.
Storage medium-any of various types of memory devices or storage devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk, or tape devices; computer system memory or random access memory such as DRAM, DDRRAM, SRAM, EDORAM, Lanbas (Rambus) RAM, etc.; non-volatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in a first computer system in which the program is executed, or may be located in a different second computer system connected to the first computer system through a network (such as the internet). The second computer system may provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations, such as in different computer systems that are connected by a network. The storage medium may store program instructions (e.g., embodied as a computer program) that are executable by one or more processors.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the free space determination operation of the vehicle described above, and may also perform related operations in the free space determination method of the vehicle provided by any embodiments of the present invention.
EXAMPLE five
The embodiment of the invention provides a vehicle, and the free space determining device of the vehicle provided by the embodiment of the invention can be integrated in the vehicle. The vehicle may comprise a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing a method of determining free space of a vehicle according to an embodiment of the invention when executing the computer program, the method may comprise:
acquiring a road environment image through image acquisition equipment of a current vehicle, and determining an initial free space according to the road environment image;
acquiring target information of a target vehicle, and predicting spatial position information occupied by the target vehicle at a future moment by using the target information;
and determining the multi-time-domain free space of the current vehicle according to the space position information and the initial free space.
The vehicle provided by the embodiment of the invention can output the free space containing multiple time domains at the future moment, so that the free space is predictive, and a lower time delay and a more accurate travelable area can be obtained by utilizing the free space of the multiple time domains, thereby realizing more optimal driving path planning.
The free space determining device, the storage medium and the vehicle provided in the above embodiments may execute the free space determining method of the vehicle provided in any embodiment of the present invention, and have corresponding functional modules and beneficial effects for executing the method. For technical details that are not described in detail in the above embodiments, reference may be made to a method for determining a free space of a vehicle according to any embodiment of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A free space determination method for a vehicle, comprising:
acquiring a road environment image through image acquisition equipment of a current vehicle, and determining an initial free space according to the road environment image;
acquiring target information of a target vehicle, and predicting spatial position information occupied by the target vehicle at a future moment by using the target information;
and determining the multi-time-domain free space of the current vehicle according to the space position information and the initial free space.
2. The method according to claim 1, wherein the target information includes inherent attribute information, travel state information, and control input information.
3. The method according to claim 1, wherein the inherent attribute information includes apparent size information, wheel base, front overhang, and rear overhang of the vehicle; the driving state information includes vehicle speed information and a driving direction; the control input information includes accelerator pedal opening information, brake pedal opening information, steering angle information, and angular rate.
4. The method according to any one of claims 1 to 3, wherein the predicting, using the target information, spatial position information occupied by the target vehicle at a future time includes:
predicting the running track of the target vehicle by using the target information and continuous state equations of vehicle dynamics and kinematics;
and determining the space position information occupied by the target vehicle at least one target moment in the future according to the running track.
5. The method of claim 4, wherein the continuous state equation has a coordinate system origin that is uniform with respect to the current vehicle rear axle center point.
6. The method of claim 4, wherein the model corresponding to the continuous state equations is simplified by using a two degree of freedom model of the vehicle and considering the vehicle as a rigid body.
7. The method of claim 1, wherein the obtaining target information of a target vehicle comprises:
and acquiring target information of the target vehicle through the vehicle-to-outside V2X information interaction device.
8. A free space determining apparatus of a vehicle, characterized by comprising:
the system comprises an initial free space determining module, a road environment image acquiring module and a free space determining module, wherein the initial free space determining module is used for acquiring a road environment image through image acquisition equipment of a current vehicle and determining an initial free space according to the road environment image;
the spatial position information prediction module is used for acquiring target information of a target vehicle and predicting spatial position information occupied by the target vehicle at a future moment by using the target information;
and the multi-time domain free space determining module is used for determining the multi-time domain free space of the current vehicle according to the space position information and the initial free space.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
10. A vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1-7 when executing the computer program.
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