CN110967699A - Method and device for determining area of vehicle where environmental target is located - Google Patents

Method and device for determining area of vehicle where environmental target is located Download PDF

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Publication number
CN110967699A
CN110967699A CN201811154307.1A CN201811154307A CN110967699A CN 110967699 A CN110967699 A CN 110967699A CN 201811154307 A CN201811154307 A CN 201811154307A CN 110967699 A CN110967699 A CN 110967699A
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vehicle
determining
region
point
area
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CN201811154307.1A
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CN110967699B (en
Inventor
刘宏伟
和林
葛建勇
张凯
甄龙豹
刘洪亮
田超凯
邓伟峰
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Haomo Zhixing Technology Co Ltd
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Great Wall Motor Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)

Abstract

The embodiment of the invention provides a method and a device for determining an area where an environmental target of a vehicle is located, and belongs to the field of vehicles. The method comprises the following steps: acquiring first coordinates (X1, Y1) of a first characteristic point at the front end of the vehicle in a driving coordinate system; acquiring a third coordinate (XT, YT) of a third feature point of the environment target under a driving coordinate system; and determining whether the environment target is in a follow-up zone according to the first coordinates (X1, Y1) and the third coordinates (XT, YT), wherein the follow-up zone is a zone located in front of a vehicle traveling direction and parallel to a road direction, wherein the traveling coordinate system X isFOFYFThe side line of the road where the vehicle is located is used as a reference line and a coordinate sourcePoint OFThe abscissa X is the point on the reference line having the shortest distance to the fourth characteristic point of the vehicleFParallel to the direction of the road-guiding line, ordinate YFFollowing either the left or right hand rule with the direction of the road guide line. Which can ensure the accuracy of the determination of the area in which the environmental target in front of the vehicle is located.

Description

Method and device for determining area of vehicle where environmental target is located
Technical Field
The invention relates to the field of vehicles, in particular to a method and a device for determining an area where an environmental target of a vehicle is located.
Background
In the process of vehicle driving, especially in the process of vehicle automatic driving, a decision system of a vehicle needs to send out a decision instruction according to the perceived attributes of surrounding targets. This requires that the environment around the vehicle be comprehensively perceived and the attributes of the environmental targets be determined during the driving of the vehicle.
For determining the attributes of the environmental targets, the perceived positions or areas of the environmental targets are determined most importantly, so that the decision-making system can accurately issue decision-making instructions.
Disclosure of Invention
In view of this, the present invention aims to propose a method for determining a region in which an environmental target of a vehicle is located, for addressing at least the determination of the region of the environmental target.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a method for determining an area in which an environmental target of a vehicle is located, the method comprising: obtaining at the front end of the vehicleA first coordinate (X1, Y1) of the first feature point in the vehicle coordinate system; acquiring a third coordinate (XT, YT) of a third characteristic point of the environment target under the driving coordinate system; and determining whether the environment target is in a follow-up zone according to the first coordinate (X1, Y1) and the third coordinate (XT, YT), wherein the follow-up zone is a zone located in front of the vehicle's driving direction and parallel to the road direction, wherein the driving coordinate system X is a vehicle coordinate systemFOFYFUsing the side line of the road where the vehicle is located as a reference line and using the coordinate origin OFThe abscissa X is the point on the reference line having the shortest distance to the fourth characteristic point of the vehicleFParallel to the direction of the road-guiding line, ordinate YFFollowing either the left or right hand rule with the direction of the road guide line.
Further, the determining whether the environmental target is in a follow-up region comprises: determining that the environmental target is in the follow-up zone if (Y1-a) < YT < (Y1+ a) and XT > X1, wherein a is half of the follow-up zone width.
Further, the length of the follow-up region ranges from 150m to 250m, and/or the width of the follow-up region ranges from 2.2m to 3.4 m.
Further, under the driving coordinate system, the peripheral area of the vehicle is divided into eight fixed areas, namely a vehicle left front area, a vehicle right front area, a vehicle left side area, a vehicle right side area, a vehicle left rear area, a vehicle right rear area and a vehicle right rear area; the method further comprises the following steps: acquiring second coordinates (X2, Y2) of a second feature point at the rear end of the vehicle in the travelling coordinate system; determining whether the environment target is in one of the eight fixed zones according to the first (X1, Y1), the second (X2, Y2) and the third (XT, YT) coordinates.
Further, the determining whether the environment target is in one of the eight fixed zones according to the first coordinates (X1, Y1), the second coordinates (X2, Y2), and the third coordinates (XT, YT) comprises: under the driving coordinate system, respectively determining each of the following: an ordinate YL1 of a left lane line adjacent to the vehicle, an ordinate YL2 of a lane line adjacent to the left lane line to the left of the left lane line, an ordinate YR1 of a right lane line adjacent to the vehicle, and an ordinate YR2 of a lane line adjacent to the right lane line to the right of the right lane line; determining that the environmental target is located in a region in front left of the vehicle if YL2< YT < YL1 and XT > X1; determining that the environmental target is located in a zone right in front of the vehicle if YL1< YT < YR1 and XT > X1; if YR1< YT < YR2 and XT > X1, determining that the zone where the environmental target is located is a vehicle right front zone; determining that the zone where the environmental target is located is a vehicle right side zone if YR1< YT < YR2 and X2< XT < X1; determining that the region where the environment target is located is a vehicle right rear region if YR1< YT < YR2 and XT < X2; determining that the region where the environmental target is located is a region right behind the vehicle if YL1< YT < YR1 and XT < X2; determining that the environmental target is located in a region at the left rear of the vehicle if YL2< YT < YL1 and XT < X2; and if YL2< YT < YL1 and X2< XT < X1, determining that the region where the environmental target is located is a vehicle left side region.
Further, a length of an area in front of the vehicle among the eight fixed areas ranges from 150m to 250m, and/or a length of an area in rear of the vehicle among the eight fixed areas ranges from 30m to 130 m.
Further, the fourth feature point is a center point of the vehicle, and the method includes determining coordinates of any feature point in the driving coordinate system according to the following steps: determining the shortest distance from the reference line to any one feature point and a point corresponding to the shortest distance on the reference line; taking the size of the shortest distance as the size of the ordinate of any characteristic point in the travelling coordinate system; determining the point with the shortest distance to any one characteristic point on the reference line and the coordinate origin OFLongitudinal arc therebetweenLength; taking the size of the longitudinal arc length as the size of the abscissa of any characteristic point in the vehicle coordinate system, wherein the coordinate origin O is relative to the coordinate origin in the vehicle coordinate system according to any characteristic pointFDetermining the positive and negative of the ordinate and the abscissa of any feature point, wherein the any feature point is the first feature point, the second feature point or the third feature point.
Further, the reference line is divided into a plurality of points each having the same predetermined distance between adjacent two points, wherein the shortest distance, the point on the reference line corresponding to the shortest distance, and the longitudinal arc length are determined in a vehicle coordinate system of the vehicle.
Further, the first characteristic point is a center point of the front end of the vehicle; the second feature point is a center point of the rear end of the vehicle; and/or the environment target is located under the condition that the vehicle is in the front of the vehicle, the third characteristic point is the central point of the rear end of the environment target, and the environment target is located under the condition that the vehicle is in the rear of the vehicle, the third characteristic point is the central point of the front end of the environment target.
Compared with the prior art, the method for determining the area where the environmental target of the vehicle is located has the following advantages:
by determining whether the environmental target is in the follow-up area, the accuracy of determining the area where the environmental target in front of the vehicle is located is ensured, and particularly, the stability and the safety of the system in the lane changing process are ensured.
Another object of the invention is to propose a method for determining the area in which an environmental target of a vehicle is located, for solving at least the determination of the area of the environmental target.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a method for determining an area in which an environmental target of a vehicle is located, the method comprising: acquiring first position information of a first characteristic point at the front end of a vehicle, second position information of a second characteristic point at the rear end of the vehicle and third position information of a third characteristic point of an environment target; determining that the environment target is located in one of eight fixed areas according to the first position information, the second position information and the third position information, wherein the peripheral area of the vehicle is divided into the eight fixed areas, and the eight fixed areas are respectively a vehicle left front area, a vehicle right front area, a vehicle left side area, a vehicle right side area, a vehicle left rear area, a vehicle right rear area and a vehicle right rear area; and determining whether the environment target is in a follow-up region according to the first position information and the third position information, wherein the follow-up region is a region which is located in front of the vehicle driving direction and is parallel to the road direction.
Compared with the prior art, the data fusion method for the vehicle sensor has the following advantages:
by determining which area of the eight fixed areas the environmental target is located in, the decision-making system directly uses the target in the area of interest for control, the calculation amount of the decision-making system is reduced, in addition, the following area provides redundancy for the determination of the area where the environmental target in front of the vehicle runs, and the accuracy of the determination of the area where the environmental target in front of the vehicle is located is further ensured.
Another object of the invention is to propose an apparatus for determining the area in which an environmental target of a vehicle is located, for solving at least the determination of the area of the environmental target.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
an apparatus for determining a region in which an environmental target of a vehicle is located, the apparatus comprising a memory and a processor, the memory having stored therein instructions for enabling the processor to perform the above-described method for determining a region in which an environmental target of a vehicle is located.
The device for determining the area of the environmental target of the vehicle has the same advantages as the method for determining the area of the environmental target of the vehicle, compared with the prior art, and is not repeated herein.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 shows a schematic flow diagram of a method for determining a region in which an environmental target of a vehicle is located, according to an embodiment of the invention;
FIG. 2 shows a schematic view of a vehicle coordinate system;
FIG. 3 shows a schematic view of origin determination of a vehicle coordinate system;
FIG. 4 illustrates a schematic diagram of determining coordinates of an arbitrary point on an environmental target in a driving coordinate system;
FIG. 5 illustrates a partition diagram of a fixed area according to an embodiment of the invention;
FIG. 6 shows a schematic view of a follower region; and
fig. 7 shows a block diagram of an apparatus for determining a region in which an environmental target of a vehicle is located according to an embodiment of the present invention.
Description of the reference numerals
710 memory 720 processor
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 shows a schematic flow diagram of a method for determining a region in which an environmental target of a vehicle is located according to an embodiment of the invention. As shown in fig. 1, an embodiment of the present invention provides a method for determining an area in which an environmental target of a vehicle, which may be an autonomous vehicle or the like, is located, the method may include: step S110, acquiring a first coordinate (X1, Y1) of a first characteristic point at the front end of the vehicle in a driving coordinate system; step S120, acquiring a second coordinate (X2, Y2) of a second feature point at the rear end of the vehicle in the driving coordinate system; step S130, acquiring a third coordinate (XT, YT) of a third feature point of the environment target in the driving coordinate system; and a step S140 of determining a zone where the environment target is located according to the first coordinates (X1, Y1), the second coordinates (X2, Y2), and the third coordinates (XT, YT).
Reference to an "environmental target" in embodiments of the present invention may refer to any object, moving or stationary, that is in the vicinity of a vehicle, such as a vehicle, a person, a building, etc.
The first feature point may be any point selected at the front end of the vehicle, and may be, for example, a center point of the front end of the vehicle. The second feature point may be any point selected at the rear end of the vehicle, and may be, for example, a center point of the rear end of the vehicle. According to different situations, the third feature point of the selected environment target can be different, but the point on the environment target closest to the vehicle should be selected as much as possible. For example, in a case where it is determined that the environmental target is located in front of the vehicle, the third feature point of the environmental target may be selected from any point at the rear end of the environmental target, for example, a center point at the rear end of the environmental target may be selected. For example, in a case where it is determined that the environmental target is located behind the vehicle, the third feature point of the environmental target may be selected from any point of the front end of the environmental target, for example, a center point of the front end of the environmental target may be selected.
Although the execution sequence of steps S110 to S130 is shown in fig. 1, it is understood that the execution sequence of steps S110, S120 and S130 may be arbitrarily interchanged, or any two or three of them may be executed simultaneously.
The driving coordinate system mentioned in the embodiment of the present invention will be described with reference to fig. 2 and 3. Fig. 2 shows a schematic view of a vehicle coordinate system. X in FIG. 2FOFYFRepresenting the vehicle coordinate system, XHOHYHAs a vehicle coordinate system, XGOGYGIs a global coordinate system. Wherein the global coordinate system XGOGYGBased on geodetic coordinates, XGPointing to north, YGPointing to east, clockwise with the angle being positive, within an angle range of 0,360 °]Wherein the map lane line information is usually given based on a global coordinate system. Vehicle coordinate system XHOHYHUsing the vehicle as a reference and a coordinate origin OHUsually the vehicle center point, X is selectedHDirected in the longitudinal direction of the vehicle, YHPointing to the direction of the cross shaft of the vehicle, and following the right-hand rule, the anticlockwise is positive. Output information of sensors on the vehicle, such as a camera, a laser radar, a millimeter wave radar, and the like, is generally given based on the vehicle coordinate system. The embodiment of the invention provides a travelling coordinate system XFOFYFBased on the boundary of the road, the boundary of the road can be the boundary of the leftmost lane or the rightmost lane of the road where the vehicle is located, and the origin of coordinates OFA point on the reference line having the shortest distance to the fourth characteristic point of the vehicle, and a horizontal axis XFMay be parallel to the direction of the leading line of the road, e.g. the transverse axis XFMay point in the direction of the road guide line or may point away from the direction of the road guide line. Longitudinal axis YFFollowing either the left or right hand rule with the direction of the road guide line. Here, the fourth feature point may be any point of the vehicle, for example, the fourth feature point may be selected as a vehicle center point, that is, the fourth feature point may coincide with an origin of a vehicle coordinate system.
In the case of a straight road, the horizontal axis XFParallel to the direction of a straight road guide line, the transverse axis X being parallel to the direction of a straight road guide line, in the case of curves of the road, for example during cornering of a vehicleFParallel to the direction of the curved road-guiding line, i.e. the transverse axis XFThe direction of the guiding line is always consistent with that of the road. The longitudinal axis Y is shown in FIG. 2FThe direction of the road guiding line follows the left-hand rule, and the longitudinal axis Y is mainly used in the embodiment of the inventionFThe direction of the road guiding line is described by taking the left-hand rule as an example, and the vertical axis YFSimilar to the case where the direction of the road guiding line follows the right-hand rule, the description will be omitted. The lane line and the environmental target mayAnd the vehicle coordinate system and the driving coordinate system have double attributes.
Fig. 3 shows a schematic view of the determination of the origin of the vehicle coordinate system. In FIG. 3, the leftmost lane line of the vehicle is defined as the reference line, the driving coordinate system XFOFYFThe reference line of (a) is divided into a plurality of points (reference line points shown in fig. 3), and every two adjacent points may have the same predetermined distance therebetween, and the predetermined distance may be arbitrarily set as needed, for example, the predetermined distance may range from 0.05m to 0.3 m. The shortest distance to the vehicle center point on the reference line is found in the vehicle coordinate system, for example, the euclidean distance between each point divided on the reference line or each point of a predetermined range and the vehicle center may be calculated to find the shortest distance to the vehicle center. Taking the point corresponding to the shortest distance on the reference line as the origin O of the driving coordinate systemF. The origin position O of the running coordinate system along with the movement of the vehicleFAre also constantly changing. The determination of the area where the detected environmental target is located is more accurate in the driving process of the vehicle by using the driving coordinate system, and the method is particularly suitable for determining the area where the environmental target is located in the turning process of the vehicle.
Fig. 4 shows a schematic diagram for determining the coordinates of an arbitrary point a on an environmental target in a driving coordinate system. Horizontal axis X in the vehicle coordinate system in FIG. 4FPointing in the direction of the road-guiding line, the longitudinal axis YFThe following description will be made by taking the left-hand rule with respect to the direction of the road guide line as an example. The coordinates of point a on the environmental target in the vehicle coordinate system are known, which can be output by a sensor, for example.
And finding the shortest distance from the reference line to the point A under the driving coordinate system. For example, a forward or backward traversal can be started from the origin of the vehicle coordinate system on the reference line, wherein the forward or backward traversal depends on whether the point a is in front of or behind the vehicle center point, which can be determined simply by the coordinates of the point a in the vehicle coordinate system. If the point A is in front of the center point of the vehicle, the points on the reference line are traversed forwards from the origin of the driving coordinate system on the reference line to determine the shortest distance to the point A. If point A is rearward of the vehicle center point, then it is moved upward from the reference lineAnd traversing each point on the reference line backwards from the origin of the vehicle coordinate system to determine the shortest distance to the point A and a point B corresponding to the shortest distance on the reference line, wherein the size of the shortest distance can be used as the size of the vertical coordinate of the point A in the vehicle coordinate system. The positive and negative of the vertical coordinate of the point A in the driving coordinate system can be determined according to the relative position of the point A to a reference line or a coordinate origin OFIf point A is on the reference line or origin of coordinates OFThe right side of (a) is positive and the left side is negative.
The size of the abscissa of the point A in the driving coordinate system is the point B and the origin of coordinates O on the reference lineFThe size of the longitudinal arc length between, the point B on the datum line and the origin of coordinates OFThe size of the longitudinal arc length between can use the point B on the datum line and the coordinate origin OFThe distance between the divided point and the point is obtained by accumulation calculation. The positive and negative of the vertical coordinate of the point A in the driving coordinate system can be determined according to the relative coordinate origin O of the point A to the coordinate originFIf point A is at the origin of coordinates OFThe front side of (A) is positive and the rear side is negative.
The determination of the coordinates of the first feature point at the front end of the vehicle, the second feature point at the rear end of the vehicle, or the third feature point of the environment target in the driving coordinate system is similar to the determination of the coordinates of the point a in the driving coordinate system, and will not be described again here. Or, alternatively, in the case that the first feature point is a center point of the front end of the vehicle and the second feature point is a center point of the rear end of the vehicle, the ordinate of the first feature point and the ordinate of the second feature point in the driving coordinate system may be the same as the ordinate of the vehicle center point in the driving coordinate system. Within the allowable error range, the ordinate sizes of the first feature point and the second feature point may be the respective distances from the vehicle center point to the first feature point and the second feature point.
Fig. 5 shows a schematic diagram of division of a fixed area according to an embodiment of the present invention. As shown in fig. 5, the peripheral region of the vehicle may be divided into eight fixed regions, which may be a vehicle left front region, a vehicle right front region, a vehicle left side region, a vehicle right side region, a vehicle left rear region, a vehicle right rear region, and a vehicle right rear region, respectively.
Eight fixed regions may be determined in units of lane lines, and the width of each fixed region may coincide with the width between lane lines. As shown in fig. 5, eight fixed zones may be divided according to a left lane line L1 adjacent to the vehicle, a lane line L2 to the left of the left lane line L1 and adjacent to the left lane line L1, a right lane line R1 adjacent to the vehicle, a lane line R1 to the right of the right lane line R1 and adjacent to the right lane line L1, a vehicle front end line HF, which may be aligned with the front end of the vehicle, and a vehicle rear end line HR, which may be aligned with the rear end of the vehicle. The length of the area in front of the vehicle among the eight fixed areas may range from 150m to 250m, and/or the length of the area behind the vehicle among the eight fixed areas may range from 30m to 130m, but the embodiment of the present invention is not limited thereto, and the length of the area in front of the vehicle among the eight fixed areas and/or the length of the area behind the vehicle among the eight fixed areas may be set to any suitable value. In fig. 5, the division of the fixed area under a straight road is shown, and if the curve condition is adopted, the fixed area divided according to the lane line is also curved, and the curved direction is consistent with the curved direction of the lane.
Transverse axis X of travelling crane coordinate systemFPointing in the direction of the road-guiding line, the longitudinal axis YFThe following description will be made by taking the left-hand rule with respect to the direction of the road guide line as an example. When the area where the environment target is located is determined using the first coordinates (X1, Y1) of the first feature point of the vehicle front end in the vehicle traveling coordinate system, the second coordinates (X2, Y2) of the second feature point of the vehicle rear end in the vehicle traveling coordinate system, and the third coordinates (XT, YT) of the third feature point of the environment target in the vehicle traveling coordinate system, the ordinate YL1 of the lane line L1, the ordinate YL1 of the lane line L2, the ordinate YR1 of the lane line R1, and the ordinate YR2 of the lane line R2 may be determined in the vehicle traveling coordinate system, respectively, where the ordinate of each lane line may be the distance from each lane line to the reference line, and the positive or negative of the ordinate of the lane line may be determined according to the position of the lane line relative to the reference line, and the reference line is positive on the right side and negative on the left side. As for each lane line to the referenceThe distance size of the line may be determined according to the map lane line information output based on the global coordinate system. When the vehicle changes lanes, the divided eight fixed areas are also changed, for example, when the vehicle switches from the "lane keeping" state to the "right lane", the eight fixed areas also move to the right by one lane as a whole, and when the vehicle switches from the "lane keeping" state to the "left lane", the eight fixed areas also move to the left by one lane as a whole, and the ordinate of each lane line changes with the movement of the fixed area. Wherein, whether the lane changing state of the vehicle is in a lane keeping state or a left lane changing state or a right lane changing state can be determined according to the signal output by the decision-making system.
If YL2< YT < YL1 and XT > X1, determining that the region where the environmental target is located is a vehicle front left region; if YL1< YT < YR1 and XT > X1, determining that the region where the environmental target is located is a region right in front of the vehicle; if YR1< YT < YR2 and XT > X1, determining that the zone where the environment target is located is a vehicle right front zone; if YR1< YT < YR2 and X2< XT < X1, determining that the zone in which the environmental target is located is a vehicle right side zone; if YR1< YT < YR2 and XT < X2, determining that the zone where the environmental target is located is a vehicle right rear zone; if YL1< YT < YR1 and XT < X2, determining that the region where the environmental target is located is a region right behind the vehicle; if YL2< YT < YL1 and XT < X2, determining that the region where the environmental target is located is the vehicle left rear region; and if YL2< YT < YL1 and X2< XT < X1, determining that the region where the environmental target is located is a vehicle left side region.
By determining which region of the eight fixed regions each environment target is in, the decision-making system directly uses the target in the region of interest for control, so that the calculated amount of the decision-making system is reduced, and meanwhile, the accuracy of region division under the curve working condition is improved. The use of the travelling coordinate system simplifies the difficulty of determining the area where the environmental target is located and improves the efficiency of area division. And the fixed area is changed along with the change of the lane where the vehicle is positioned, so that the difficulty of extracting the target attribute of the attention area by a decision system is reduced.
Determining the region in which the environmental target is located may also include determining whether the environmental target is in a follow-up region. Fig. 6 shows a schematic view of the following region. As shown in fig. 6, the following area is an area that is located forward (for example, may be a straight forward) in the vehicle traveling direction and is parallel to the road direction. In fig. 6, a schematic view of the following area is shown for a straight road, and in a curve situation, the following area parallel to the road direction is also curved. The length of the follower region may range from 150m to 250m, and/or the width of the follower region may range from 2.2m to 3.4 m. The length of the following area may be the same as the length of the area in front of the vehicle of the eight fixed areas. The width range of the follow-up region may preferably be greater than or equal to the vehicle width. The following area moves with the movement of the vehicle, but is always located in front of the vehicle, for example, when the vehicle changes lanes laterally, the following area is still located in front of the vehicle in the driving direction.
Whether the environment target is within the follow-up region may be determined according to first coordinates (X1, Y1) of the first feature point of the front end of the vehicle in the traveling coordinate system, and third coordinates (XT, YT) of the third feature point of the environment target in the traveling coordinate system. If (Y1-a) < YT < (Y1+ a) and XT > X1, it may be determined that the environmental target is within a follow-up region, wherein the a may be half the width of the follow-up region.
The following area provides redundancy for determining the area where the environmental target in front of the vehicle runs, and further ensures the accuracy of determining the area where the environmental target in front of the vehicle is located. And the establishment of the follow-up area reduces the dependence of a decision-making system on the lane changing state, and under the condition that the lane changing information is wrong, the provision of the follow-up area can ensure the accuracy of an environment target area in front of the running of the vehicle, and ensure the stability and the safety of the system in the lane changing process.
In an alternative embodiment, an arbitrary coordinate system may be used to determine the area in which the environmental target is located, independent of the vehicle coordinate system. For example, first position information of a first feature point at the front end of the vehicle, second position information of a second feature point at the rear end of the vehicle, and third position information of a third feature point of the environment target may be first acquired, where the first position information, the second position information, and the third position information may be position information in an arbitrary coordinate system, and the arbitrary coordinate system may be, for example, a global coordinate system, a vehicle coordinate system, a traveling coordinate system, or the like. It may then be determined whether the environmental target is in one of the eight fixed zones based on the first location information, the second location information, and the third location information. In addition, it may be determined whether the environmental target is in the follow-up region further according to the first location information and the third location information. Here, the division of the eight fixed regions is similar to the division of the eight fixed regions described above, and the definition of the follower region is similar to the definition of the follower region described above. In this embodiment, the representation of the eight fixed areas and the representation of the following area may not be limited to the vehicle coordinate system, which may be defined or represented using any other coordinate system. Wherein the definition of the fixed area or the following area in the vehicle coordinate system or in the global coordinate system is similar to the definition of the fixed area or the following area in the driving coordinate system.
The specific determination of how to determine which fixed region the environment target is in and whether the environment target is in the following region are similar to the above-described manner, and will not be described in detail here.
By determining which area of the eight fixed areas the environmental target is located in, the decision-making system directly uses the target in the area of interest for control, the calculation amount of the decision-making system is reduced, in addition, the following area provides redundancy for the determination of the area where the environmental target in front of the vehicle runs, and the accuracy of the determination of the area where the environmental target in front of the vehicle is located is further ensured.
Fig. 7 shows a block diagram of an apparatus for determining a region in which an environmental target of a vehicle is located according to an embodiment of the present invention. As shown in fig. 7, the embodiment of the present invention further provides an apparatus for determining a region where an environmental target of a vehicle is located, the apparatus may include a memory 710 and a processor 720, and the memory 710 may store instructions that enable the processor 720 to execute a method for determining a region where an environmental target of a vehicle is located according to any embodiment of the present invention.
Processor 720 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc.
The memory 710 may be used to store the computer program instructions and the processor may implement the various functions of the data fusion device for vehicle sensors by executing or executing the computer program instructions stored in the memory and invoking the data stored in the memory. The memory 710 may include high-speed random access memory and may also include non-volatile memory such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The specific operating principle and benefits of the apparatus for determining the area where the environmental target of the vehicle is located according to the embodiment of the present invention are similar to those of the method for determining the area where the environmental target of the vehicle is located according to the embodiment of the present invention, and will not be described herein again.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.

Claims (10)

1. A method for determining a region in which an environmental target of a vehicle is located, the method comprising:
acquiring first coordinates (X1, Y1) of a first characteristic point at the front end of the vehicle in a driving coordinate system;
acquiring a third coordinate (XT, YT) of a third characteristic point of the environment target under the driving coordinate system; and
determining whether the environment target is in a follow-up zone according to the first coordinate (X1, Y1) and the third coordinate (XT, YT), wherein the follow-up zone is a zone located forward in the vehicle traveling direction and parallel to a road direction,
wherein the travelling coordinate system XFOFYFUsing the side line of the road where the vehicle is located as a reference line and using the coordinate origin OFThe abscissa X is the point on the reference line having the shortest distance to the fourth characteristic point of the vehicleFParallel to the direction of the road-guiding line, ordinate YFFollowing either the left or right hand rule with the direction of the road guide line.
2. The method of claim 1, wherein the determining whether the environmental target is in a follow-up region comprises: determining that the environmental target is in the follow-up zone if (Y1-a) < YT < (Y1+ a) and XT > X1, wherein a is half of the follow-up zone width.
3. A method according to claim 1 or 2, characterised in that the length of the following zone ranges from 150m to 250m and/or the width of the following zone ranges from 2.2m to 3.4 m.
4. The method according to any one of claims 1 to 3,
under the driving coordinate system, the surrounding area of the vehicle is divided into eight fixed areas, namely a vehicle left front area, a vehicle right front area, a vehicle left side area, a vehicle right side area, a vehicle left rear area, a vehicle right rear area and a vehicle right rear area;
the method further comprises the following steps:
acquiring second coordinates (X2, Y2) of a second feature point at the rear end of the vehicle in the travelling coordinate system;
determining whether the environment target is in one of the eight fixed zones according to the first (X1, Y1), the second (X2, Y2) and the third (XT, YT) coordinates.
5. The method of claim 4, wherein said determining whether the environmental target is in one of the eight fixed zones according to the first (X1, Y1), the second (X2, Y2) and the third (XT, YT) coordinates comprises:
under the driving coordinate system, respectively determining each of the following: an ordinate YL1 of a left lane line adjacent to the vehicle, an ordinate YL2 of a lane line adjacent to the left lane line to the left of the left lane line, an ordinate YR1 of a right lane line adjacent to the vehicle, and an ordinate YR2 of a lane line adjacent to the right lane line to the right of the right lane line;
determining that the environmental target is located in a region in front left of the vehicle if YL2< YT < YL1 and XT > X1;
determining that the environmental target is located in a zone right in front of the vehicle if YL1< YT < YR1 and XT > X1;
if YR1< YT < YR2 and XT > X1, determining that the zone where the environmental target is located is a vehicle right front zone;
determining that the zone where the environmental target is located is a vehicle right side zone if YR1< YT < YR2 and X2< XT < X1;
determining that the region where the environment target is located is a vehicle right rear region if YR1< YT < YR2 and XT < X2;
determining that the region where the environmental target is located is a region right behind the vehicle if YL1< YT < YR1 and XT < X2;
determining that the environmental target is located in a region at the left rear of the vehicle if YL2< YT < YL1 and XT < X2; and
if YL2< YT < YL1 and X2< XT < X1, it is determined that the region where the environmental target is located is the vehicle left side region.
6. The method according to claim 4, wherein the fourth feature point is a center point of the vehicle, the method comprising determining coordinates of any feature point in the driving coordinate system according to the following steps:
determining the shortest distance from the reference line to any one feature point and a point corresponding to the shortest distance on the reference line;
taking the size of the shortest distance as the size of the ordinate of any characteristic point in the travelling coordinate system;
determining the point with the shortest distance to any one characteristic point on the reference line and the coordinate origin OFLongitudinal arc length in between;
taking the size of the longitudinal arc length as the size of the abscissa of any characteristic point in the travelling coordinate system,
wherein according to any one feature point, the coordinate origin O is relative to the driving coordinate systemFDetermining the positive and negative of the ordinate and the abscissa of any feature point, wherein the any feature point is the first feature point, the second feature point or the third feature point.
7. The method according to claim 6, wherein the reference line is divided into a plurality of points each having the same predetermined distance therebetween, wherein the shortest distance, the point on the reference line corresponding to the shortest distance, and the longitudinal arc length are determined in a vehicle coordinate system of the vehicle.
8. The method of claim 4,
the first characteristic point is a central point of the front end of the vehicle;
the second feature point is a center point of the rear end of the vehicle;
the third feature point is a center point of a rear end of the environmental target in a case where the environmental target is located in front of the vehicle, and the third feature point is a center point of a front end of the environmental target in a case where the environmental target is located behind the vehicle; and/or
The length of the area in front of the vehicle among the eight fixed areas ranges from 150m to 250m, and/or the length of the area in rear of the vehicle among the eight fixed areas ranges from 30m to 130 m.
9. A method for determining a region in which an environmental target of a vehicle is located, the method comprising:
acquiring first position information of a first characteristic point at the front end of a vehicle, second position information of a second characteristic point at the rear end of the vehicle and third position information of a third characteristic point of an environment target;
determining that the environment target is located in one of eight fixed areas according to the first position information, the second position information and the third position information, wherein the peripheral area of the vehicle is divided into the eight fixed areas, and the eight fixed areas are respectively a vehicle left front area, a vehicle right front area, a vehicle left side area, a vehicle right side area, a vehicle left rear area, a vehicle right rear area and a vehicle right rear area; and
determining whether the environment target is in a follow-up region according to the first position information and the third position information, wherein the follow-up region is a region which is located in front of the driving direction of the vehicle and is parallel to the road direction.
10. An apparatus for determining a region in which an environmental target of a vehicle is located, characterized in that the apparatus comprises a memory and a processor, the memory having stored therein instructions for enabling the processor to perform the method for determining a region in which an environmental target of a vehicle is located according to any one of claims 1 to 9 and/or to perform the method for determining a region in which an environmental target of a vehicle is located according to claim 8.
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