CN111674404A - Method for predicting path by using B-spline curve by lane centering auxiliary function of automatic driving system - Google Patents
Method for predicting path by using B-spline curve by lane centering auxiliary function of automatic driving system Download PDFInfo
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- CN111674404A CN111674404A CN202010396800.5A CN202010396800A CN111674404A CN 111674404 A CN111674404 A CN 111674404A CN 202010396800 A CN202010396800 A CN 202010396800A CN 111674404 A CN111674404 A CN 111674404A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
Abstract
The invention provides a method for predicting a path by using a B-spline curve by using a lane centering auxiliary function of an automatic driving system, which is characterized by comprising the following steps: the method comprises the steps of obtaining coordinates of N points in a pre-aiming distance in front of a vehicle on a lane, and solving a B-spline curve as a predicted path according to the coordinates of the N points, wherein the pre-aiming distance is a longitudinal distance of a supposed vehicle which is used for path prediction by a lane centering auxiliary function and runs forwards in a straight line according to the current state, and N is a positive integer. The strong convex hull of the B spline curve can ensure that the planned path curve is smoother than an interpolation method, can be controlled more smoothly, and improves the comfort.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to a method for predicting a path by a lane centering auxiliary function.
Background
In the field of automatic driving, a lane centering auxiliary function is a function for assisting a driver to drive in the middle of a lane by automatically controlling a steering wheel through a system. Specifically, the driving of the vehicle is still mainly carried out by controlling a steering wheel by a driver, the lane centering auxiliary function runs silently in the background, the conditions of the width, the curvature and the like of a lane are obtained in real time through a sensor arranged at the front part of the vehicle, whether the vehicle deviates too far from the center line of the lane is judged, and if the vehicle deviates too far, the driver is not interfered to control the steering wheel to continue driving; if the deviation is too far away, the driver actively initiates control of the steering wheel (even if the driver is steering the wheel at that time) to get the vehicle as centered as possible. The lane centering aid function needs to consider a path on which the vehicle is about to travel when determining whether the vehicle deviates too far from a lane center line, which is generally called path prediction. The existing path prediction method mainly carries out transverse control through interpolation path prediction, but the path predicted by the prediction method is not smooth, and the driving comfort is influenced.
Disclosure of Invention
In view of the shortcomings of the prior art, the invention aims to provide a method for predicting a path by using a B-spline curve by using an automatic driving system lane centering auxiliary function with high comfort.
In order to achieve the purpose, the implementation mode of the invention adopts the following technical scheme:
a method of an autopilot system lane centering aid function for path prediction using B-spline curves, the control method comprising: the method comprises the steps of obtaining coordinates of N points in a pre-aiming distance in front of a vehicle on a lane, and solving a B-spline curve as a predicted path according to the coordinates of the N points, wherein the pre-aiming distance is a longitudinal distance of a supposed vehicle which is used for path prediction by a lane centering auxiliary function and runs forwards in a straight line according to the current state, and N is a positive integer.
Further, projection points of the N points on the longitudinal axis where the pre-aiming distance is located are evenly distributed on the pre-aiming distance.
Further, projection points of the N points on the longitudinal axis where the preview distance is located are randomly distributed on the preview distance.
Further, of the N points, the farther a point closer to the vehicle among the M points closer to the vehicle is from the lane center line, the remaining N-M points are all located on the lane center line, where M is a positive integer and 50% < M/N < 80%.
Further, the B-spline curve is a 3-degree curve, N > is 4, and the horizontal and vertical coordinates of the N points are: the coordinates of a first point in M points close to the vehicle are [0, 0 ]; the coordinate of the Q-th point is [ the distance from the point located at the pre-aiming distance (Q-1)/(N-1) on the vertical axis to the intersection point with the lane center line along the horizontal axis direction to the distance from the lane center line where the vehicle is currently located, (M-Q +1)/M, the pre-aiming distance (Q-1)/(N-1) ], wherein Q is a positive integer and 2 ═ Q < ═ M; the coordinates of the rest N-M points are [ the distance from the point located at the pre-aiming distance (P + M-1)/(N-1) on the vertical axis to the intersection point with the lane central line along the horizontal axis direction, the pre-aiming distance (P + M-1)/(N-1) ], wherein P is a positive integer and 1 ═ P < (N-M) ]; the longitudinal axis is the direction of the forward straight line running of the vehicle according to the current state and is also the longitudinal axis of the pre-aiming distance, the transverse axis is the direction vertical to the longitudinal axis on the horizontal plane, and the current position of the vehicle is the origin of coordinates [0, 0 ].
Further, the N points are 5 points including a first point, a second point, a third point, a fourth point and a fifth point, M is 3, the first point has coordinates of [0, 0], the second point has coordinates of [ a point located at 25% of the prealignment distance on the longitudinal axis extends to a point intersecting with the lane center line along the horizontal axis direction-a distance where the vehicle is currently located away from the lane center line ] 66%, and 25% of the prealignment distance ] the third point has coordinates of [ a point located at 50% of the prealignment distance on the longitudinal axis extends to a point intersecting with the lane center line along the horizontal axis direction-a distance where the vehicle is currently located away from the lane center line ] 33%, and 50% of the prealignment distance ] the fourth point has coordinates of [ a point located at 75% of the prealignment distance on the longitudinal axis extends to a point intersecting with the lane center line along the horizontal axis direction, 75% of the prealignment distance ], and the coordinate of the fifth point is [ the distance from the point located at the pre-aiming distance on the longitudinal axis to the intersection point with the lane central line along the direction of the horizontal axis ], the pre-aiming distance ].
Further, the B spline curve is solved according to the coordinates of the N points by using a de Boor _ Cox algorithm.
Further, after the B-spline curve is solved according to the coordinates of the N points and used as a predicted path, a lane centering auxiliary function is realized according to vehicle dynamics and a control algorithm.
Further, the distance from the projection point of the first point in the N points on the longitudinal axis where the pre-aiming distance is located to the projection point of the Nth point on the longitudinal axis where the pre-aiming distance is located is smaller than the pre-aiming distance.
Further, the lane center line can be obtained by a sensor arranged at the front end of the vehicle; the sensor comprises a camera and an information processing unit, the camera shoots an image of a lane outside the vehicle, the image is sent to the information processing unit to calculate the coordinates of a left lane line and the coordinates of a right lane line, and then the coordinates of the center line of the lane are calculated according to the coordinates of the left lane line and the coordinates of the right lane line; the origin of coordinates [0, 0] of the current position of the vehicle is the position of the sensor at the front end of the vehicle.
The invention carries out path planning by adopting the B-spline curve, and compared with an interpolation method and other curves, the B-spline curve can ensure that the planned route is more excellent. The local determination of the B-spline curve allows the planned path to be adjusted locally in this way without affecting the whole. The curve times of the B-spline curve are irrelevant to the number of coordinate points, so that more points can be selected for path planning or planning a farther path without increasing the curve times, and the calculation amount of an increased program is less. The strong convex hull of the B spline curve can ensure that the planned path curve is smoother than an interpolation method, can be controlled more smoothly, and improves the comfort.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic diagram illustrating an application of a method for performing a path prediction by using a B-spline by using a lane centering aid of an autopilot system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An embodiment of the present invention provides a method for predicting a path using a B-spline by a lane centering aid function of an autopilot system, the method comprising: the method comprises the steps of obtaining coordinates of N points in a pre-aiming distance in front of a vehicle on a lane, and solving a B-spline curve as a predicted path according to the coordinates of the N points, wherein the pre-aiming distance is a longitudinal distance of a supposed vehicle which is used for path prediction by a lane centering auxiliary function and runs forwards in a straight line according to the current state, and N is a positive integer.
Referring to fig. 1, an embodiment of the present invention provides a method for performing a path prediction by using a B-spline for a lane centering auxiliary function of an automatic driving system, wherein the N points are 5 points including a first point, a second point, a third point, a fourth point, and a fifth point, and M is 3. And establishing a coordinate axis by taking the current position of the vehicle as a coordinate origin [0, 0], wherein a longitudinal axis Y is the forward straight running direction of the vehicle according to the current state and is also the longitudinal axis of the pre-aiming distance, and a transverse axis X is the direction vertical to the longitudinal axis on the horizontal plane (of course, the positions of the transverse axis X and the longitudinal axis Y can be interchanged according to the requirement). The horizontal and vertical coordinates of the N points are respectively as follows: the coordinates of the first point are [0, 0], the coordinates of the second point are [ the point located at 25% pre-aiming distance on the vertical axis extends to the intersection point with the lane central line along the direction of the horizontal axis-the distance from the lane central line to the current position of the vehicle is 66%, the 25% pre-aiming distance ], the coordinates of the third point are [ the distance from the point located at 50% pre-aiming distance on the vertical axis to the intersection point with the lane central line along the direction of the horizontal axis-the distance from the lane central line to the current position of the vehicle is 33%, the 50% pre-aiming distance ], the coordinates of the fourth point are [ the distance from the point located at 75% pre-aiming distance on the vertical axis to the intersection point with the lane central line along the direction of the horizontal axis, the 75% pre-aiming distance ], and the coordinates of the fifth point are [ the distance from the point located at the pre-aiming distance on the vertical axis to the intersection point with the lane central line along the direction of the horizontal, the pre-aiming distance ]. The lane center line can be obtained by a sensor arranged at the front end of the vehicle. The sensor comprises a camera and an information processing unit, the camera shoots images of lanes outside the vehicle, the images are sent to the information processing unit to calculate the coordinates of a left lane line and the coordinates of a right lane line, and then the coordinates of the lane center line are calculated according to the coordinates of the left lane line and the coordinates of the right lane line. The origin of coordinates [0, 0] of the current position of the vehicle is the position of the sensor at the front end of the vehicle.
In this embodiment, the N points are 5 points, the B-spline is a 3-degree curve, and the predicted path can be derived three times, so that the curvature of the predicted path is relatively smoother. Of course, if necessary, N points may be 6 points, 7 points or more, and only N > is 4. The smaller the number of points, the smaller the predicted curvature of the path is relative to the smoothness, but the faster the system is calculated, and the larger the number of points, the higher the predicted curvature of the path is relative to the smoothness, but the slower the system is calculated, and those skilled in the art can make an adaptive selection as required.
Further, the projection points of the 5 points on the longitudinal axis where the pre-aiming distance is located are respectively located at 0% point, 25% point, 50% point, 75% point and 100% point of the pre-aiming distance, namely, the projection points of the N points on the longitudinal axis where the pre-aiming distance is located are evenly distributed on the pre-aiming distance. This makes it easier to calculate, on the one hand, and also makes the predicted path relatively smooth, on the other hand. If the N points are 4 points, the projection points of the 4 points on the longitudinal axis where the pre-aiming distance is located are respectively located at a point 0%, a point 33%, a point 66% and a point 100% of the pre-aiming distance. Of course, according to the requirement, the projection points of the N points on the longitudinal axis where the pre-aiming distance is located may not be uniformly distributed on the pre-aiming distance, that is, the projection points of the N points on the longitudinal axis where the pre-aiming distance is located are randomly distributed on the pre-aiming distance, and even the distance from the projection point of the first point on the longitudinal axis where the pre-aiming distance is located to the projection point of the nth point on the longitudinal axis where the pre-aiming distance is located is smaller than the pre-aiming distance. For example, if the N points are 5 points, the projection points of the 5 points on the longitudinal axis of the preview distance are respectively located at 0% point, 20% point, 40% point, 60% point and 80% point of the preview distance. Typically, the pre-aim distance is the same as the maximum visible distance of the sensor. Since the number of times of the B-spline curve is not influenced by the number of points, in order to increase the smoothness and reliability of a planned path, the pre-aiming distance can be defined according to the maximum visual distance of the sensor each time, and then the distribution of the points is further defined.
Further, of the 5 points, 3 points close to the vehicle, the first point is located on the vertical axis of the pre-aiming distance, the abscissa of the second point is the distance from the point located at 25% of the pre-aiming distance on the vertical axis to the intersection point with the center line of the lane along the horizontal axis direction, the distance from the center line of the lane to the current position of the vehicle is 66%, the abscissa of the third point is the distance from the point located at 50% of the pre-aiming distance on the vertical axis to the intersection point with the center line of the lane along the horizontal axis direction, the distance from the center line of the lane to the current position of the vehicle is 33%, and the other two points are located on the center line of the lane. That is, of the N points, the farther a point closer to the vehicle is from the lane center line, of the M points closer to the vehicle, the remaining N-M points are all located on the lane center line, where M is a positive integer and 50% < M/N < 80%. Specifically, the horizontal and vertical coordinates of the N points are respectively: the coordinates of a first point in M points close to the vehicle are [0, 0 ]; the coordinate of the Q-th point is [ the distance from the point located at the pre-aiming distance (Q-1)/(N-1) on the vertical axis to the intersection point with the lane center line along the horizontal axis direction to the distance from the lane center line where the vehicle is currently located, (M-Q +1)/M, the pre-aiming distance (Q-1)/(N-1) ], wherein Q is a positive integer and 2 ═ Q < ═ M; the coordinates of the rest N-M points are [ the distance from the point located at the pre-aiming distance (P + M-1)/(N-1) on the vertical axis to the intersection point with the lane central line along the horizontal axis direction, the pre-aiming distance (P + M-1)/(N-1) ], wherein P is a positive integer and 1 ═ P < (N-M) ]; the longitudinal axis is the direction of the forward straight line running of the vehicle according to the current state and is also the longitudinal axis of the pre-aiming distance, the transverse axis is the direction vertical to the longitudinal axis on the horizontal plane, and the current position of the vehicle is the origin of coordinates [0, 0 ]. Therefore, whether the current position of the vehicle deviates from the central line of the lane or not, the vehicle is supposed to deviate from the starting position (in fact, the vehicle cannot be always kept on the central line of the lane in the driving process and always ignores the deviation from the left or the right), but gradually returns to the central line of the lane in the forward driving process, so that the path predicted by the method for predicting the path by using the B-spline curve by using the lane centering auxiliary function of the automatic driving system is relatively smoother.
Further, the solving of the B-spline according to the coordinates of the N points is performed by using a de Boor _ Cox algorithm, and certainly, other algorithms may be used to solve the B-spline. And after solving a B spline curve as a predicted path according to the coordinates of the N points, the lane centering auxiliary function is realized according to vehicle dynamics and a control algorithm.
The invention carries out path planning by adopting the B-spline curve, and compared with an interpolation method and other curves, the B-spline curve can ensure that the planned route is more excellent. The local determination of the B-spline curve allows the planned path to be adjusted locally in this way without affecting the whole. The curve times of the B-spline curve are irrelevant to the number of coordinate points, so that more points can be selected for path planning or planning a farther path without increasing the curve times, and the calculation amount of an increased program is less. The strong convex hull of the B spline curve can ensure that the planned path curve is smoother than an interpolation method, can be controlled more smoothly, and improves the comfort. The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention disclosed herein are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A method of path prediction using a B-spline curve by an autonomous driving system lane centering assist function, characterized in that the control method comprises: the method comprises the steps of obtaining coordinates of N points in a pre-aiming distance in front of a vehicle on a lane, and solving a B-spline curve as a predicted path according to the coordinates of the N points, wherein the pre-aiming distance is a longitudinal distance of a supposed vehicle which is used for path prediction by a lane centering auxiliary function and runs forwards in a straight line according to the current state, and N is a positive integer.
2. The method for path prediction using a B-spline for an autopilot system lane centering aid of claim 1 wherein the projected points of said N points on the longitudinal axis of said preview distance are equally distributed over said preview distance.
3. The method for path prediction by an autopilot system lane centering aid of claim 1 wherein the projection points of said N points on the longitudinal axis of said preview distance are randomly distributed over said preview distance using a B-spline curve.
4. The method of automated driving system lane centering aid using B-spline curve for path prediction according to claim 1, wherein the more distant of M points close to the vehicle from the lane center line, the remaining N-M points are located on the lane center line, where M is a positive integer and 50% < M/N < 80%, of the N points.
5. The method of the automated driving system lane centering aid of claim 4, wherein the B-spline curve is a 3-degree curve, N > -4, and the abscissa and ordinate of the N points are respectively: the coordinates of a first point in M points close to the vehicle are [0, 0 ]; the coordinate of the Q-th point is [ the distance from the point located at the pre-aiming distance (Q-1)/(N-1) on the vertical axis to the intersection point with the lane center line along the horizontal axis direction to the distance from the lane center line where the vehicle is currently located, (M-Q +1)/M, the pre-aiming distance (Q-1)/(N-1) ], wherein Q is a positive integer and 2 ═ Q < ═ M; the coordinates of the rest N-M points are [ the distance from the point located at the pre-aiming distance (P + M-1)/(N-1) on the vertical axis to the intersection point with the lane central line along the horizontal axis direction, the pre-aiming distance (P + M-1)/(N-1) ], wherein P is a positive integer and 1 ═ P < (N-M) ]; the longitudinal axis is the direction of the forward straight line running of the vehicle according to the current state and is also the longitudinal axis of the pre-aiming distance, the transverse axis is the direction vertical to the longitudinal axis on the horizontal plane, and the current position of the vehicle is the origin of coordinates [0, 0 ].
6. The method of claim 5, wherein the N points are 5 points including a first point, a second point, a third point, a fourth point, and a fifth point, wherein M is 3, wherein the first point has coordinates of [0, 0], wherein the second point has coordinates of [ a point on the vertical axis at a pre-aiming distance of 25% extends in the horizontal direction to a point intersecting the lane center line-the vehicle is currently located at a distance away from the lane center line of 66%, the vehicle is currently located at a pre-aiming distance of 25% ], wherein the third point has coordinates of [ a point on the vertical axis at a pre-aiming distance of 50% extends in the horizontal direction to a point intersecting the lane center line-the vehicle is currently located at a distance away from the lane center line of 33%, the pre-aiming distance of 50% ], and wherein the fourth point has coordinates of [ a point on the vertical axis at a pre-aiming distance of 75% extends in the horizontal direction to a point intersecting the lane center line The distance of the intersection point of the center lines of the lanes, the pre-aiming distance of 75 percent ], and the coordinates of the fifth point are [ the distance of the point, positioned at the pre-aiming distance, on the vertical axis, extending to the intersection point of the center lines of the lanes along the direction of the horizontal axis, the pre-aiming distance ].
7. The method for predicting the path by using the B-spline curve by the lane centering aid function of the automatic driving system according to claim 1, wherein the solving of the B-spline curve according to the coordinates of the N points is performed by using a de Boor _ Cox algorithm.
8. The method of using a B-spline curve for path prediction by an autopilot system lane centering aid function of claim 1 wherein said solving a B-spline curve as the predicted path based on the coordinates of said N points further comprises implementing a lane centering aid function based on vehicle dynamics and control algorithms.
9. The method for path prediction by an autopilot system lane centering aid function using a B-spline curve according to claim 1 wherein the projected point of the first of the N points on the longitudinal axis of the preview distance to the projected point of the nth point on the longitudinal axis of the preview distance is less than the preview distance.
10. The method of autonomous driving system lane centering aid of claim 5, wherein the lane center line is available from a sensor located at the front end of the vehicle; the sensor comprises a camera and an information processing unit, the camera shoots an image of a lane outside the vehicle, the image is sent to the information processing unit to calculate the coordinates of a left lane line and the coordinates of a right lane line, and then the coordinates of the center line of the lane are calculated according to the coordinates of the left lane line and the coordinates of the right lane line; the origin of coordinates [0, 0] of the current position of the vehicle is the position of the sensor at the front end of the vehicle.
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Effective date of registration: 20210607 Address after: No.368 Longjin Road, Changzhou City, Jiangsu Province 213000 Applicant after: KUNTYE VEHICLE SYSTEM (CHANGZHOU) Co.,Ltd. Address before: No.368 Longjin Road, Changzhou City, Jiangsu Province 213000 Applicant before: KUNTYE VEHICLE SYSTEM (CHANGZHOU) Co.,Ltd. Applicant before: TAI NIU AUTOMOTIVE TECHNOLOGY (SUZHOU) Co.,Ltd. |
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Application publication date: 20200918 |