CN110986994B - Automatic lane change intention marking method based on high-noise vehicle track data - Google Patents
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Abstract
The invention relates to a lane change intention automatic labeling method based on high-noise vehicle track data, which comprises the following steps of S1, collecting and preprocessing the tracking track data of surrounding vehicles; s2: finding a lane change point; s3: determining a lane change starting point; s4: verifying effective track changing tracks; s5: and outputting the marked lane change frame and the lane keeping frame. The invention uses the average change of the distance between the vehicle and the road center point in time as a mark for judging the start of lane change, not only considers the influence of noise, but also makes a robust definition on the nature of ever-changing lane change behavior.
Description
Technical Field
The invention belongs to the technical field of unmanned vehicles, and particularly relates to a lane change intention automatic labeling method based on high-noise vehicle track data.
Background
With the development of unmanned technology, unmanned vehicles need the ability to predict the future intent and trajectory of surrounding vehicles in order to safely and efficiently navigate complex traffic scenarios and make optimal decisions. The driving intentions of the surrounding vehicles not only have an important influence on the decision planning of the unmanned vehicle, but also influence each other in terms of driving intentions. Human drivers can make corresponding predictions of their driving intentions and future trajectories according to their own experiences and their current and past behaviors and interactions of surrounding vehicles, thereby making important driving decisions such as overtaking, decelerating or changing lanes. Existing driver assistance systems typically lack this predictive capability and give driving decisions to human drivers entirely. But such decision-making capability is essential for unmanned vehicles, and the intent and trajectory prediction of surrounding vehicles as important inputs also play an increasingly important role in present unmanned systems.
Existing intent prediction algorithms are generally classified into two types, rule-based algorithms and learning-based algorithms. The rule-based algorithm, most typically a "gap acceptance model," assumes that the driver's lane change motivation is based on the lead and lag gaps of the target lane, and the method assumes that the driver is inclined to make a lane change if the gaps reach a minimum acceptable value. Although the method has the characteristic of simply and conveniently judging the intention of the vehicle, the method needs a large amount of tedious and time-consuming parameter fine adjustment. The learning-based algorithm is used for learning a function or a network model for vehicle intention resolution from a large amount of data, a large amount of training data is usually required, the classification effect of the learning-based algorithm is generally better than that of the rule-based algorithm, and the learning-based algorithm is robust.
At present, how to obtain a large amount of labeled data becomes one of the difficulties of the method. Part of the existing learning-based algorithm uses a method of manually labeling public data sets (such as NGSIM US 101), a great deal of labor is consumed, and the public data sets are generally collected by using a road fixed sensor and are greatly different from data collected on an unmanned vehicle in the aspects of accuracy and the like; some of the data generated by simulation is used as a training set, and has no practical application operability.
In a publication published in 2018 under the subject name "left Vehicle Cooperative Lane-changing Behavior from underlying objects in the NGSIM dataset" (author Su, Shuang & mulling, Katharina & Dolan, John & planisamy, praven & Mudalige, Priyantha), the NGSIM dataset is labeled with an automatic labeling method, as shown in fig. 6, with the change in the angle of the Vehicle heading to the road as the sign of the beginning of the Lane change, but this is not realistic in practical use, and there are two problems as follows: 1. in practice, the included angle is very small when the vehicle changes lanes, and the change of the included angle is more difficult to identify under the tracking noise; 2. in addition, the method needs to fix a threshold value for judging the change of the included angle, but the position and the speed of each vehicle during lane changing are different, so the method is not suitable for the ever-changing road conditions.
The present invention has been made in view of the above circumstances.
Disclosure of Invention
In order to solve the above problems in the prior art, an object of the present invention is to provide an automatic lane change intention labeling method based on high-noise vehicle trajectory data, which automatically labels a vehicle lane change behavior and a lane keeping behavior, so as to label vehicle tracking data with noise in a large scale, generate training data, and input the training data into a vehicle intention and trajectory prediction model based on learning. The method can identify and classify the lane change data in the vehicle tracking track data, so as to generate the training data taking the frame as the unit. The invention uses the average change of the distance between the vehicle and the road center point in time as a mark for judging the start of lane change, not only considers the influence of noise, but also makes a robust definition on the nature of ever-changing lane change behavior.
The technical scheme of the invention is as follows: a method for automatically marking lane change intention based on high-noise vehicle track data comprises the following steps,
s1, collecting and preprocessing the tracking track data of the surrounding vehicles;
s2: finding a lane change point;
s3: determining a lane change starting point;
s4: verifying effective track changing tracks;
s5: and outputting the marked lane change frame and the lane keeping frame.
Further, in step S1, the tracking trajectory data of the surrounding vehicle is generated by the unmanned sensing system at the time of driving test, and is generated by fusing sensing data such as a camera, a laser radar, and a millimeter wave radar, and then tracking the vehicle, including a map including road information, vehicle physical information (vehicle type, width, height), vehicle position (based on the Frenet road coordinate system, cartesian world coordinate system), lane where the vehicle is located, speed (based on the Frenet road coordinate system), and vehicle direction (based on the Frenet road coordinate system).
Further, in step S1, the preprocessing of the tracking trace data includes the following data filtering:
1) only selecting the track data with map information, and when the vehicle cannot be positioned to a known map, the vehicle track is not selected;
2) stationary vehicle trajectories are not selected;
3) only vehicle tracking trajectories within a certain distance from the unmanned vehicle are selected.
Further, in step S2, the time point when the vehicle crosses different lanes is found in units of vehicles, that is, the vehicle in frame n-1 is located as lane a, and the vehicle in frame n is located as lane B, and the frame n is the lane change point of the vehicle.
Further, the step S3 includes: a) one setting is made for the behavior of the lane-change vehicle: when the lane changing behavior of the vehicle starts, the vehicle can gradually move towards the target lane, namely the L transverse distance between the vehicle and the current lane is increased gradually, and the L transverse distance between the vehicle and the target lane is decreased gradually; b) average value L of the first five frames using L-direction coordinatesmeanAs a judgment basis, starting from the nth frame of the lane change point of the vehicle, calculating the nth-1 frame, the nth-2 frame, themeanAccording to the definition in a), the L-direction distance of the vehicle of the n-1 th frame relative to the current lane is smaller than the L-direction distance of the vehicle of the n-1 th frame relative to the current lane, the n-2 th frame is smaller than the n-1 th frame, and the like till the n-t frame, when the L ismeanAnd when the vehicle does not decrease any more or reaches the center line of the lane (at the moment, L = 0), defining the n-t frame as the starting point of the lane change of the vehicle.
Further, in step S4, the track-changing tracks that are too short or too long are discarded and not considered. And c) verifying whether the vehicle is still in the current lane or not for each frame in the step b), immediately ending the next lane change for recording t if the lane change occurs once again in the lane change and return push process, and discarding the track if the t is too short or too long.
The invention has the advantages that: the method has the advantages that the robustness is high when the lane changing track is extracted from the vehicle tracking track data with serious noise, a generalized definition is provided for the vehicle lane changing behavior, the effectiveness of marking is verified in the marking process, and a large number of correct and effective lane changing frames and lane keeping frames can be marked under the condition of no manual intervention.
Drawings
FIG. 1 is a flow chart of the automatic lane change intention labeling method of the present invention.
Fig. 2 is a schematic diagram of lane keeping tracks and lane changing tracks in the high-noise vehicle tracking data according to the present invention, wherein the left side is the lane keeping track and the right side is the lane changing track.
FIG. 3 is a schematic representation of a Cartesian coordinate system and a Frenet coordinate system.
FIG. 4 is a lane change frame determination for the lane change intent automatic labeling method of the present invention.
Fig. 5 is a lane keeping frame determination of the lane change intention automatic labeling method of the present invention.
Fig. 6 is a schematic diagram illustrating vehicle intention labeling of an NGSIM data set by an automatic labeling method in the prior art.
Detailed Description
The method for automatically labeling a lane change intention based on high-noise vehicle trajectory data according to the present invention will be further described with reference to fig. 1 to 5, and it should be noted that the embodiments described below with reference to the drawings are exemplary and are intended to be illustrative of the present invention and should not be construed as limiting the present invention.
Referring to fig. 1, a flow chart of an automatic lane-change intention labeling method based on high-noise vehicle track data according to the present invention is shown, the automatic lane-change intention labeling method comprises the following steps,
and S1, collecting and preprocessing the tracking track data of the surrounding vehicles. The tracking trajectory data of the surrounding vehicles is generated by the driveway test of the unmanned sensing system, and includes a map with road information, vehicle physical information (such as vehicle type, vehicle size such as length, width and height), vehicle position (based on a Frenet road coordinate system or a Cartesian world coordinate system), lane where the vehicle is located, speed (preferably based on the Frenet road coordinate system), vehicle direction (preferably based on the Frenet road coordinate system), and the like, and is generated by fusing sensing data such as a camera, a laser radar, a millimeter wave radar, and the like and then tracking the vehicle, and the tracking trajectory data of the surrounding vehicles is high-noise vehicle tracking trajectory data, and as shown in FIG. 2, tracks are kept and lane change trajectories for the lanes in the high-noise vehicle tracking data.
In the present invention, the Frenet road coordinate system is preferably used. A cartesian coordinate system is often used to describe the position of an object, but is not the best choice for unmanned driving. Unmanned vehicles typically make decisions to accelerate or change lanes based on the road. As an alternative solution to the cartesian coordinate system, the Frenet coordinate system uses the center line of the road as a reference line, and defines the coordinate system using the tangential direction and the normal direction of the reference line. As shown in fig. 3, the tangential distance S and the lateral distance L of the vehicle with respect to the center line of the road are coordinates of the vehicle on the Frenet coordinate system.
In S1, the following preprocessing is performed on the tracking trajectory data of the surrounding vehicle:
1) only selecting the track data with map information, and when the vehicle cannot be positioned to a known map, the vehicle track is not selected;
2) the vehicle lane change and vehicle road keeping behaviors are only meaningful for moving vehicles, so that a static vehicle track is not selected;
3) only vehicle tracking trajectories within a certain value, for example within 100 meters, from the unmanned vehicle are selected. Since the tracking data is too noisy beyond 100 meters to be suitable as training data.
S2: and finding a lane change point. And (3) taking the vehicle as a unit, searching time points when the vehicle crosses different lanes, namely positioning the vehicle at the (n-1) th frame as a lane A, positioning the vehicle at the nth frame as a lane B, and then setting the nth frame as a lane change point of the vehicle. A vehicle may have one or more lane change points along the entire trajectory, or the entire trajectory may be lane keeping and have no lane change points.
S3: and determining a lane change starting point. a) The invention makes basic settings for the behavior of lane-changing vehicles: when the lane changing behavior of the vehicle starts, the vehicle gradually moves towards the target lane, namely the transverse distance L of the vehicle from the current lane is increased gradually, and the transverse distance L from the target lane is decreased gradually. However, this is not necessarily true for noise-laden tracking data, and a large amount of "jumping" occurs in the positioning of the vehicle on the Frenet road coordinate system, not only in the S direction but also in the L direction. In fig. 4, the diamond shape should be the real track-changing starting point, but the corresponding positions of the rectangles would be mistaken for the track-changing starting point according to the setting, so that improvement is needed.
b) The invention provides a method for determining the moving trend of a vehicle, which uses the average value L of the first five frames of an L-direction coordinatemeanAs a judgment basis, the robustness of lane change behavior judgment is greatly increased: starting from the nth frame of the lane changing point of the vehicle (a left triangle in fig. 4), the nth-1 frame, the nth-2 frame, the equal L of the current lane are calculated forward in sequencemeanAccording to the definition in a), the L-direction distance of the vehicle of the n-1 th frame relative to the current lane is smaller than the L-direction distance of the vehicle of the n-1 th frame relative to the current lane, the n-2 th frame is smaller than the n-1 th frame, and the like till the n-t frame, when the L ismeanAnd when the vehicle does not decrease any more or reaches the center line of the lane (at the moment, L = 0), defining the n-t frame as the starting point of the lane change of the vehicle. The curve on the more gradual right side in FIG. 4 is the one using the substitute LmeanThe new trace plot can be seen to be more robust to noise than the original trace next to the curve.
S4: and verifying the effective track changing track. Too short or too long lane change tracks (e.g., t <10 or t > 100) are discarded from consideration; for each frame in b) of step S3, it is verified whether the vehicle is still in the current lane, if a lane change occurs again during the lane change pushback process, the pushback is ended immediately and t is recorded, and if t is too short or too long, the track is discarded. The verification can effectively filter out over-noisy or incomplete data. As shown in fig. 5, the left graph of fig. 5 is a lane change track, the triangle point at the front end is the actual lane change point, and the other triangles are the lane change points caused by noise. The right diagram of fig. 5 is a lane keeping track, and the triangle is a lane changing point caused by noise. By the step, both tracks can be discarded and not considered, thereby ensuring the correctness of the training data.
S5: and outputting the marked lane change frame and the lane keeping frame. All frames [ n-t, n ] from the start of a vehicle lane change to a lane change point are defined as vehicle lane change frames, and in addition, are lane keeping frames. The lane change end point is not set, and the lane change end point is the lane change point, because the actual behavior of the vehicle after the lane change point is lane keeping until the next lane change.
The technical scheme of the invention has strong robustness on extracting the lane change track from the vehicle tracking track data with serious noise, provides a generalized definition for the vehicle lane change behavior, verifies the effectiveness of the marking in the marking process, and can mark a large number of correct and effective lane change frames and lane keeping frames under the condition of no manual intervention.
The method of the present invention is not limited to autonomous vehicles and is equally applicable to trucks and other vehicle types.
The specific parameters of the invention can be adjusted, and the invention is also suitable for vehicle track data with low noise, and is not limited to tracking data.
The above-described embodiments are intended to illustrate rather than to limit the invention, and any modifications and variations of the present invention are within the spirit of the invention and the scope of the claims.
Claims (3)
1. A method for automatically marking lane change intention based on high-noise vehicle track data is characterized by comprising the following steps,
s1, collecting and preprocessing the tracking track data of the surrounding vehicles; preprocessing of the trace data includes data screening as follows:
1) only selecting the track data with map information, and when the vehicle cannot be positioned to a known map, the vehicle track is not selected;
2) stationary vehicle trajectories are not selected;
3) only selecting a vehicle tracking track within a certain distance from the unmanned vehicle;
s2: finding a lane change point;
s3: determining a lane change starting point; the method comprises the following steps:
a) one setting is made for the behavior of the lane-change vehicle: when the lane changing behavior of the vehicle starts, the vehicle can gradually move towards the target lane, namely the L transverse distance between the vehicle and the current lane is increased gradually, and the L transverse distance between the vehicle and the target lane is decreased gradually;
b) average value L of the first five frames using L-direction coordinatesmeanStarting from the nth frame of the lane changing point of the vehicle, sequentially calculating the nth-1 frame and the nth-2 frame of the vehicle forward, wherein the frames are relative to the L of the current lanemeanAccording to the definition in a), the L-direction distance of the vehicle of the n-1 th frame relative to the current lane is smaller than the L-direction distance of the vehicle of the n-1 th frame relative to the current lane, the n-2 th frame is smaller than the n-1 th frame, and the like till the n-t frame, when the L ismeanDefining the n-t frame as a vehicle lane change starting point when the vehicle lane change starting point does not decrease or reaches the center line of the lane where the vehicle lane change starting point is located;
s4: verifying effective track changing tracks; discarding the too short or too long lane change track without considering;
s5: and outputting the marked lane change frame and the lane keeping frame.
2. The method for automatically labeling a lane change intention based on high-noise vehicle trajectory data as claimed in claim 1, wherein in the step S1, the tracking trajectory data of the surrounding vehicles is generated by the unmanned sensing system during driving test, and comprises a map with road information, vehicle physical information, vehicle position, lane, speed and vehicle orientation.
3. The method as claimed in claim 1, wherein in step S2, the time points when the vehicle crosses different lanes are found in units of vehicles, that is, the n-1 th frame is located as lane a, the n-th frame is located as lane B, and the n-th frame is the lane change point of the vehicle.
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| PCT/CN2020/098164 WO2021093335A1 (en) | 2019-11-14 | 2020-06-24 | Method for automatically labeling lane changing intention based on high-noise trajectory data of vehicle |
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| CN110986994B (en) * | 2019-11-14 | 2021-08-03 | 苏州智加科技有限公司 | Automatic lane change intention marking method based on high-noise vehicle track data |
| CN111599182B (en) * | 2020-07-22 | 2020-10-20 | 中汽院汽车技术有限公司 | Automatic lane changing behavior extraction method based on natural driving data |
| CN115482659B (en) * | 2022-08-18 | 2023-09-19 | 浙江工商大学 | Intelligent autonomous decision-making method based on deep reinforcement learning |
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