CN111368017B - Data screening method for intelligent networked automobile - Google Patents
Data screening method for intelligent networked automobile Download PDFInfo
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- CN111368017B CN111368017B CN202010162647.XA CN202010162647A CN111368017B CN 111368017 B CN111368017 B CN 111368017B CN 202010162647 A CN202010162647 A CN 202010162647A CN 111368017 B CN111368017 B CN 111368017B
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- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
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Abstract
The invention discloses a data screening method for an intelligent networked automobile, which relates to the field of intelligent networked automobiles.A first vehicle determines a corresponding position screening condition according to a running state at the next moment on a preset running path, screens out second vehicle information which accords with the position screening condition and is closest to a first vehicle coordinate as target information according to a second vehicle yaw angle and a second vehicle coordinate in all received second vehicle information, and retains the target information and filters out other second vehicle information; the method can effectively filter and screen useful information related to the vehicle, remove irrelevant information, avoid information redundancy and have high effective information extraction efficiency.
Description
Technical Field
The invention relates to the field of intelligent networked automobiles, in particular to a data screening method for an intelligent networked automobile.
Background
The vehicles realize the aims of safer, more efficient and green driving by establishing wide data connection, and the method is an important direction for intelligent traffic development. With the development of vehicle intellectualization and networking, more and more vehicles enter the network, and the existing vehicle networking data transmission mode is broadcast transmission, namely, the vehicle can receive information transmitted by all vehicles, road side facilities and other traffic participants in a communication range. Different traffic participants can be identified through the identification ID, such as vehicles and road side facilities, and the same traffic participants, such as vehicles, can not be distinguished and identified through the identification ID, so that the vehicles can receive a large amount of information of other vehicles on roads, wherein only part of the information is useful information related to the vehicles, and the rest information is irrelevant information, so that the information redundancy is high, and the communication resource is occupied.
Disclosure of Invention
The invention provides a data screening method for an intelligent networked automobile aiming at the problems and the technical requirements, and the technical scheme of the invention is as follows:
a data screening method for an intelligent networked automobile comprises the following steps:
the method comprises the steps that a first vehicle determines the coordinates of the first vehicle and a preset driving path of the first vehicle, and determines the driving state at the next moment according to the preset driving path, wherein the driving state at the next moment is straight driving, straight lane changing, turning or turning around;
the first vehicle receives second vehicle information sent by each second vehicle within the communication range, and the second vehicle information at least comprises second vehicle coordinates and a second vehicle yaw angle of the second vehicle;
the first vehicle determines a corresponding position screening condition according to the driving state at the next moment;
the first vehicle screens out second vehicle information which accords with the position screening condition and is closest to the first vehicle coordinate as target information according to the second vehicle yaw angle and the second vehicle coordinate;
the first vehicle retains the target information and filters out other second vehicle information.
Its further technical scheme does, when the driving condition of next moment is straight line or straight line lane change, screens out the second vehicle information that accords with position screening condition according to second vehicle yaw angle, still includes:
acquiring road section information of a current road section, wherein the road section information at least comprises the number of lanes contained in the road section and coordinate information of lane lines on two sides of each lane in the road section;
determining a current lane according to the first vehicle coordinate and the road section information, and determining a target lane according to the current lane and the driving state at the next moment;
determining coordinate information of lane lines on two sides of a target lane according to the road section information;
and screening out second vehicle information which is located in the coordinate information range of the lane lines on the two sides of the target lane and accords with the position screening condition according to the second vehicle yaw angle.
The further technical scheme is that when the driving state at the next moment is straight, the target lane is the current lane;
when changing lanes in a straight-ahead manner, the target lane is an adjacent lane of the current lane in the lane changing direction.
The further technical scheme is that when the running state at the next moment is straight running or straight lane changing, the corresponding position screening condition is that a preset coordinate condition corresponding to the yaw angle of the second vehicle is met between the second vehicle coordinate and the first vehicle coordinate;
screening out second vehicle information which accords with the position screening condition and is closest to the first vehicle coordinate distance as target information according to the second vehicle yaw angle and the second vehicle coordinate, wherein the second vehicle information comprises:
establishing a virtual rectangular coordinate system by taking the first vehicle as a center, and determining the quadrant of the second vehicle in the virtual rectangular coordinate system according to the yaw angle of the second vehicle;
determining a preset coordinate condition corresponding to a quadrant where a second vehicle is located;
and if the relation between the second vehicle coordinate and the first vehicle coordinate meets the preset coordinate condition, determining that the second vehicle information meets the position screening condition, and determining that the second vehicle information closest to the first vehicle coordinate is the target information.
The method comprises the following steps that when the running state at the next moment is turning or turning around, the corresponding position screening condition is that the yaw angle of the second vehicle is in a preset quadrant area corresponding to the running state at the next moment;
screening out second vehicle information which accords with the position screening condition and is closest to the first vehicle coordinate distance as target information according to the second vehicle yaw angle and the second vehicle coordinate, wherein the second vehicle information comprises:
establishing a virtual rectangular coordinate system by taking the first vehicle as a center, and determining the quadrant of the second vehicle in the virtual rectangular coordinate system according to the yaw angle of the second vehicle;
and if the second vehicle yaw angle is in a preset quadrant area corresponding to the running state at the next moment, determining that the second vehicle information meets the position screening condition, and determining that the second vehicle information closest to the first vehicle coordinate is the target information.
The beneficial technical effects of the invention are as follows:
the application discloses a data screening method for an intelligent networked automobile, wherein a first vehicle determines corresponding position screening conditions according to driving states of a preset driving path at the last moment, second vehicle information which accords with the position screening conditions and is closest to a first vehicle coordinate is screened out as target information according to a second vehicle yaw angle and a second vehicle coordinate in all received second vehicle information, and the target information is reserved and other second vehicle information is filtered out; the method can effectively filter and screen useful information related to the vehicle, remove irrelevant information, avoid information redundancy and have high effective information extraction efficiency.
Drawings
Fig. 1 is a flowchart of a method for screening data of an intelligent networked automobile disclosed in the present application.
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings.
The application discloses a data screening method for an intelligent networked automobile, please refer to a flow chart shown in fig. 1, and the method mainly comprises the following steps:
firstly, before using the method, it is usually preferred to establish a road segment database that needs to be divided into road segments, which mainly includes the following two parts:
(1) the road section is divided according to the road actually driven by the vehicle, and the division is carried out according to the following conditions, but not limited to: the method divides road sections according to natural intersections and is mainly suitable for dense areas of urban road intersections. Or, the road sections are divided according to road characteristic points such as the entrance and the exit, and the method is mainly suitable for the fast lane at the intersection of the urban roads. Or, the road sections are divided according to a certain distance, and the method is mainly suitable for the fast lanes at the intersections of the highways or urban roads.
(2) And determining road section information of each road section and establishing a road section database. The road section information of each road section at least comprises the number of lanes contained in the road section and the coordinate information of lane lines on two sides of each lane in the road section. And the link information of each link has a connection relationship to ensure the continuity of data reading during the driving process of the vehicle.
In practical application, the road section information further includes more information contents, including at least one of a road section number, road section attribute information and road section coordinate information, wherein the road section attribute information includes at least one of a city where the road section is located, a region where the road section is located and a name of the road section, and the road section coordinate information includes longitude and latitude coordinates of each vertex of the road section. In the present application, the information format of the link information is [ ID, Rc, Rd, Rn, Rdata ], where ID is a link number, Rc represents a city where the link is located, Rd represents a link area, Rn represents a link name, Rdata is an array format, and stores characteristic information and geographical location information of the link, and the specific format of Rdata is [ Ln, Pv, PL1, PL2 … PLn ], where Ln is the number of lanes included in the link, Pv is longitude and latitude coordinates at each vertex of the link, PL1, PL2 … PLn are coordinate information of each lane line on both sides within the link, PL1 is coordinate information of each lane line on both sides of the 1 st lane, and PLn is coordinate information of each lane line on both sides of the nth lane. The longitude and latitude coordinates can be selected according to a certain longitude and latitude interval.
After the road section database is established, any first vehicle can acquire the road section information of the current road section in the driving process. In addition, in the intelligent networking vehicle system, the vehicles are communicated with each other, and the data transmission frequency between the intelligent networking vehicles is 10Hz according to the relevant standard. Therefore, all vehicles can read various types of data in the driving process of the vehicles through various sensors and the like and then send the data to other vehicles around, correspondingly, all vehicles can also obtain relevant information of the vehicles around, any first vehicle can receive second vehicle information sent by each second vehicle in a communication range, and the second vehicle information at least comprises second vehicle coordinates and a second vehicle yaw angle (Heading value) of the second vehicle. In practical applications, the second vehicle information further includes other more information, including but not limited to a vehicle ID and a timestamp, where the vehicle ID is a vehicle frame number or an intelligent networked automobile network access license number. In the present application, the second Vehicle information has a format of [ Vehicle ID, Position, Heading, Time ], where Vehicle ID denotes a Vehicle ID of the second Vehicle, Position denotes second Vehicle coordinates, Heading denotes a second Vehicle yaw angle, and Time denotes a timestamp.
Similarly, the first vehicle can also read various information in the driving process of the first vehicle through various sensors and the like, at least the coordinates of the first vehicle can be obtained, the information format of the obtained various information can be the same as that of the second vehicle information, and the information format is not repeated in the application.
The method comprises the steps that a first vehicle determines a preset driving path of the first vehicle, the preset driving path is planned in advance, the driving state at the next moment can be determined according to the preset driving path, and the driving state at the next moment is straight driving, straight lane changing, turning or turning around. And then, according to the running state at the next moment, determining a corresponding position screening condition, wherein the corresponding relation between the running state and the position screening condition is determined in advance, then, the first vehicle screens out second vehicle information which is in line with the position screening condition and is closest to the first vehicle coordinate as target information according to a second vehicle yaw angle and a second vehicle coordinate in all the received second vehicle information, and the target information is reserved and other second vehicle information is filtered out, so that information filtering and screening can be realized.
When the driving state at the next moment is different, the coming and screening mechanisms of the first vehicle are also different, and the following detailed descriptions are provided in the application:
when the driving state at the next moment is the straight driving or the straight lane changing, in both cases, only the vehicle in the specific target lane may influence the driving of the first vehicle, so only the information transmitted by the vehicle nearest to the front and rear of the first vehicle in the specific target lane is selected.
Thus, in both cases, the first vehicle first determines the target lane: the first vehicle can determine the current lane according to the first vehicle coordinate of the first vehicle and the road section information of the current road section, and the first vehicle coordinate is located in the coordinate information range of the lane lines on two sides of the current lane.
And determining a target lane according to the current lane and the driving state at the next moment, wherein the relation between the target lane and the driving states of the current lane and the next moment is preset. In the application, when the driving state at the next moment is the straight driving, the target lane is the current lane; when changing lanes in a straight-ahead manner, the target lane is an adjacent lane of the current lane in the lane changing direction. After the target lane is determined, the coordinate information of the lane lines on the two sides of the target lane can be read from the road section information.
After the target lane is determined, information sent by vehicles nearest to the front of and behind the first vehicle in the target lane is continuously selected, the position screening condition is that a preset coordinate condition corresponding to the yaw angle of the second vehicle is met between the second vehicle coordinate and the first vehicle coordinate, and the screening mode of the first vehicle is as follows:
1. and establishing a virtual rectangular coordinate system by taking the first vehicle as a center, and determining the quadrant of the second vehicle in the virtual rectangular coordinate system according to the yaw angle heading value of the second vehicle.
2. And determining a preset coordinate condition corresponding to the quadrant of the second vehicle, wherein the corresponding relationship of the two is preset. For example, when the second vehicle is in the first quadrant, the corresponding preset coordinate conditions include that the longitude and latitude values of the second vehicle coordinate are both greater than the longitude and latitude values of the first vehicle coordinate (which represents that the second vehicle is in front of the first vehicle), and the longitude and latitude values of the second vehicle coordinate are both less than the longitude and latitude values of the first vehicle coordinate (which represents that the second vehicle is behind the first vehicle).
3. And if the second vehicle coordinate is located in the coordinate information range of the lane lines on the two sides of the target lane and the relationship between the second vehicle coordinate and the first vehicle coordinate meets the preset coordinate condition, determining that the second vehicle information meets the position screening condition, and determining that the second vehicle information closest to the first vehicle coordinate is the target information.
Namely, for all the second vehicle information of which the second vehicle coordinates are located in the coordinate information range of the lane lines on the two sides of the target lane, the vehicle which is the closest to the front of the first vehicle and meets the following formula is determined:
determining a vehicle closest to the rear of the first vehicle that satisfies the following equation:
the second vehicle information satisfying the above two conditions is screened out as the target information. Wherein (X)0,Y0) Is the longitude and latitude value of the second vehicle coordinate, (X, Y) is the longitude and latitude value of the first vehicle coordinate, DminIndicating that the minimum value is taken.
And secondly, when the driving state at the next moment is turning or turning around.
In the two cases, a first vehicle is usually at an intersection position, a lane where a second vehicle which influences the driving of the first vehicle is located is uncertain, so the lane is different from the situations of straight driving and straight lane changing, the lane is uncertain in the several situations, a vehicle in an area opposite to the driving state at the next moment is directly selected according to a second vehicle yaw angle, namely, a right-side coming vehicle is selected according to a second vehicle yaw angle heading value when the first vehicle turns left, a left-side coming vehicle is selected according to the second vehicle yaw angle heading value when the first vehicle turns right, and an oncoming vehicle is selected according to the second vehicle yaw angle heading value when the first vehicle turns around.
The specific method comprises the following steps:
and the corresponding position screening condition is that the second vehicle yaw angle is in a preset quadrant region corresponding to the running state at the next moment, the corresponding relation between the running state at the next moment and the preset quadrant region is configured in advance, the first vehicle also establishes a virtual rectangular coordinate system by taking the first vehicle as a center, and the quadrant of the second vehicle in the virtual rectangular coordinate system is determined according to the second vehicle yaw angle. And if the second vehicle yaw angle is in a preset quadrant area corresponding to the running state at the next moment, determining that the second vehicle information meets the position screening condition, then calculating the distance between the second vehicle coordinate and the first vehicle coordinate, and selecting the second vehicle information with the closest distance as target information.
What has been described above is only a preferred embodiment of the present application, and the present invention is not limited to the above embodiment. It is to be understood that other modifications and variations directly derivable or suggested by those skilled in the art without departing from the spirit and concept of the present invention are to be considered as included within the scope of the present invention.
Claims (3)
1. A data screening method for an intelligent networked automobile is characterized by comprising the following steps:
the method comprises the steps that a first vehicle determines the coordinates of the first vehicle and a preset driving path of the first vehicle, and determines the driving state at the next moment according to the preset driving path, wherein the driving state at the next moment is straight driving, straight lane changing, turning or turning around;
the first vehicle receives second vehicle information sent by each second vehicle within a communication range, wherein the second vehicle information at least comprises second vehicle coordinates and a second vehicle yaw angle of the second vehicle;
the first vehicle determines a corresponding position screening condition according to the running state at the next moment;
the first vehicle screens out second vehicle information which accords with the position screening condition and is closest to the first vehicle coordinate according to a second vehicle yaw angle and a second vehicle coordinate, and the second vehicle information is target information: when the driving state at the next moment is straight driving or straight driving lane changing, the road section information of the current road section is acquired, the road section information at least comprises the number of lanes contained in the road section and the coordinate information of lane lines at two sides of each lane in the road section, determining a current lane according to the first vehicle coordinate and the road section information, determining a target lane according to the current lane and the driving state at the next moment, determining coordinate information of lane lines on two sides of the target lane according to the road section information, screening out second vehicle information which is located in a coordinate information range of the lane lines on two sides of the target lane and accords with the position screening condition according to a second vehicle yaw angle, wherein the corresponding position screening condition is that a preset coordinate condition corresponding to the second vehicle yaw angle is met between the second vehicle coordinate and the first vehicle coordinate; when the driving state at the next moment is turning or turning around, establishing a virtual rectangular coordinate system by taking the first vehicle as a center, determining a quadrant of the second vehicle in the virtual rectangular coordinate system according to the second vehicle yaw angle, if the second vehicle yaw angle is in a preset quadrant region corresponding to the driving state at the next moment, determining that the second vehicle information meets the position screening condition, and determining that the second vehicle information closest to the first vehicle coordinate is the target information;
the first vehicle retains the target information and filters out other second vehicle information.
2. The method of claim 1,
when the driving state at the next moment is a straight driving state, the target lane is the current lane;
and when the straight lane is changed, the target lane is an adjacent lane of the current lane in the lane changing direction.
3. The method according to claim 1 or 2, wherein when the driving state at the next time is a straight line or a straight lane change, the corresponding position screening condition is that a preset coordinate condition corresponding to a second vehicle yaw angle is satisfied between a second vehicle coordinate and the first vehicle coordinate;
screening out second vehicle information which meets the position screening condition and is closest to the first vehicle coordinate according to a second vehicle yaw angle and a second vehicle coordinate, wherein the second vehicle information is target information and comprises the following steps:
establishing a virtual rectangular coordinate system by taking the first vehicle as a center, and determining the quadrant of the second vehicle in the virtual rectangular coordinate system according to the yaw angle of the second vehicle;
determining a preset coordinate condition corresponding to the quadrant where the second vehicle is located;
and if the relation between the second vehicle coordinate and the first vehicle coordinate meets the preset coordinate condition, determining that the second vehicle information meets the position screening condition, and determining that the second vehicle information closest to the first vehicle coordinate is target information.
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| CN104554277B (en) * | 2015-01-26 | 2017-08-25 | 广州通易科技有限公司 | A kind of automobile lane change recognition methods based on gravity vector and angular velocity vector |
| CN107264531B (en) * | 2017-06-08 | 2019-07-12 | 中南大学 | The autonomous lane-change of intelligent vehicle is overtaken other vehicles motion planning method in a kind of semi-structure environment |
| US10762788B2 (en) * | 2017-08-01 | 2020-09-01 | Swoppz, LLC | Method and system for requesting and granting priority between vehicles |
| JP6898591B2 (en) * | 2017-09-28 | 2021-07-07 | トヨタ自動車株式会社 | Vehicle driving support device |
| CN107945574B (en) * | 2017-10-25 | 2020-04-10 | 东软集团股份有限公司 | Vehicle collision early warning method, device and equipment |
| CN108615387B (en) * | 2018-04-18 | 2020-09-25 | 长沙理工大学 | Method for setting free-steering lane at intersection under automatic driving |
| CN108919320A (en) * | 2018-05-17 | 2018-11-30 | 中国科学院微电子研究所 | A kind of automatic driving vehicle localization method and device based on V2X |
| CN110310481A (en) * | 2019-06-28 | 2019-10-08 | 浙江吉利控股集团有限公司 | A kind of vehicle collision prewarning method, device and equipment |
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