CN111806437A - Method, device, equipment and storage medium for determining aiming point of automatic driving automobile - Google Patents

Method, device, equipment and storage medium for determining aiming point of automatic driving automobile Download PDF

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Publication number
CN111806437A
CN111806437A CN202010944148.6A CN202010944148A CN111806437A CN 111806437 A CN111806437 A CN 111806437A CN 202010944148 A CN202010944148 A CN 202010944148A CN 111806437 A CN111806437 A CN 111806437A
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vehicle
point
determining
preview
aiming
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CN111806437B (en
Inventor
华一丁
郭蓬
龚进峰
戎辉
唐风敏
吴学易
王通
赵志成
郝晶晶
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China Automotive Technology and Research Center Co Ltd
CATARC Tianjin Automotive Engineering Research Institute Co Ltd
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China Automotive Technology and Research Center Co Ltd
CATARC Tianjin Automotive Engineering Research Institute Co Ltd
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • 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
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position

Abstract

The invention provides a method for determining a preview point of an automatic driving automobile, which comprises the steps of obtaining information of an ideal tracking path of the automobile and information of the current state of the automobile; determining a pre-aiming distance according to the current speed information and the pre-aiming time of the vehicle; determining a point closest to the position of the vehicle on the ideal path as a search starting point by taking the coordinate of the current position of the vehicle as a reference; determining the interval of the preview point; determining whether a current driving road of a vehicle is a straight road or a curve; and determining a preview point. The method is carried out under a geodetic coordinate system, has a simple calculation mode and small calculation amount, and can provide effective support for selection of the pre-aiming point; the invention fully reserves the turning driving distance of the vehicle and has better tracking effect on the curve track of the vehicle; the preview point determined by the method is reliable in result, the accuracy of the intelligent driving path tracking module can be improved, and the stability of the vehicle in the straight road and the curve is ensured; the invention greatly reduces the calculation amount of the algorithm and improves the algorithm efficiency.

Description

Method, device, equipment and storage medium for determining aiming point of automatic driving automobile
Technical Field
The invention belongs to the field related to automatic driving, and particularly relates to a method, a device, equipment and a storage medium for determining a preview point of an automatic driving automobile.
Background
With the development of society and the progress of technology, the intelligent driving field draws the attention of numerous well-known enterprises and universities at home and abroad. In addition, the development and maturity of intelligent driving technology are further promoted by the strong support of the country. Since 2017, the world intelligent driving challenge contest held by the mid-steam center has been successfully held for three years, and attracts active participation of numerous motorcades at home and abroad. The successful launch of the previous events also testifies the rapid progress and development of the related technology in the field of intelligent driving. Recently, bme X7 with an L2 level autopilot performance was also introduced to the market. The maturity and development of the related technology in the field of intelligent driving have great potential, and the intelligent driving method has a prospect of deep development.
The automatic driving control technology is mainly divided into lateral control and longitudinal control of the vehicle. Longitudinal control mainly regulates the throttle and brake of the vehicle, adjusts the speed of the unmanned vehicle. The transverse control mainly adjusts the steering wheel angle of the vehicle and controls the driving direction of the unmanned vehicle. Among them, path tracking is an important link for lateral control of a vehicle. The deviation size of the path tracking directly determines the quality of the lateral control of the unmanned vehicle. Therefore, the selection of the preview point is very important as the basis of intelligent driving path tracking. The efficient method for determining the preview point can reduce the deviation of path tracking and improve the accuracy of the transverse control of the vehicle.
Disclosure of Invention
In view of the above, the present invention is directed to a method for determining a pre-aiming point of an automatically driven vehicle, which determines a method for determining a pre-aiming point of a curve by preferentially determining an interval where the pre-aiming point is located, and determines the pre-aiming point in a geodetic coordinate system; the method can simplify the process of determining the preview point, reduce the calculated amount and effectively improve the accuracy of the transverse control of the unmanned vehicle.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a method for determining a preview point of an automatic driving automobile comprises the following steps:
step 1: acquiring information of an ideal tracking path of the vehicle and current state information of the vehicle;
step 2: determining a pre-aiming distance according to the current speed information and the pre-aiming time of the vehicle;
and step 3: determining a point closest to the position of the vehicle on the ideal path as a search starting point by taking the coordinate of the current position of the vehicle as a reference;
and 4, step 4: determining the interval of the preview point;
and 5: determining whether a current driving road of a vehicle is a straight road or a curve;
step 6: and determining a preview point.
Further, in the step 1, the current state information of the vehicle including the coordinate information of the current position of the vehicle in the geodetic coordinate system, the current speed information V of the vehicle, and the heading information α of the vehicle is obtained.
Further, in step 3, the ideal driving path is searched
Figure 190158DEST_PATH_IMAGE001
Establishment point
Figure 707858DEST_PATH_IMAGE002
；
If it is
Figure 921802DEST_PATH_IMAGE003
Let us order
Figure 499545DEST_PATH_IMAGE004
A search starting point is obtained;
if it is
Figure 64518DEST_PATH_IMAGE005
Then give an order
Figure 385909DEST_PATH_IMAGE002
A search starting point is obtained;
searching for the preview point from the starting point forward.
Further, in the step 4, the inequality is made by searching for the first time
Figure 985518DEST_PATH_IMAGE006
Point of establishment
Figure 468583DEST_PATH_IMAGE007
Then, then
Figure 243555DEST_PATH_IMAGE008
I.e. the search interval, and using a straight line
Figure 103057DEST_PATH_IMAGE009
Expression (a)
Figure 698118DEST_PATH_IMAGE007
，
Figure 476718DEST_PATH_IMAGE010
Linear relationship between
Figure 626071DEST_PATH_IMAGE011
。
Figure 148319DEST_PATH_IMAGE012
Is composed of
Figure 332307DEST_PATH_IMAGE013
And
Figure 547387DEST_PATH_IMAGE014
the distance between them;
Figure 184036DEST_PATH_IMAGE015
is composed of
Figure 244396DEST_PATH_IMAGE013
And
Figure 548470DEST_PATH_IMAGE016
the distance between them;
Figure 668872DEST_PATH_IMAGE009
is passing through
Figure 792817DEST_PATH_IMAGE014
And
Figure 391289DEST_PATH_IMAGE017
a straight line of two points.
Further, in the step 5, an ideal path Y is selected
Figure 674503DEST_PATH_IMAGE018
,
Figure 841173DEST_PATH_IMAGE010
,
Figure 577048DEST_PATH_IMAGE019
Three continuous points and three points are selected according to the method described in the step 4 and calculated
Figure 120156DEST_PATH_IMAGE018
And
Figure 398822DEST_PATH_IMAGE010
slope between points
Figure 861027DEST_PATH_IMAGE020
And
Figure 957352DEST_PATH_IMAGE018
and
Figure 304150DEST_PATH_IMAGE019
slope between points
Figure 296377DEST_PATH_IMAGE021
A value of (d);
if it is
Figure 539271DEST_PATH_IMAGE022
Considering that the vehicle is running on a straight road, the preview interval is defined as
Figure 249738DEST_PATH_IMAGE008
；
If it is
Figure 134648DEST_PATH_IMAGE023
If the vehicle is supposed to drive into the curve, the section of the preview point needs to be selected forward, namely the vehicle is selected
Figure 981382DEST_PATH_IMAGE024
Is the interval of the pre-aiming point.
Further, the step 5 includes controlling a vehicle steering angle to drive the vehicle to a desired path until the inequality is reached when the vehicle is about to drive into the curve
Figure 785390DEST_PATH_IMAGE025
This is true.
Figure 592940DEST_PATH_IMAGE012
Is composed of
Figure 406175DEST_PATH_IMAGE013
And
Figure 982781DEST_PATH_IMAGE014
the distance between them;
Figure 957690DEST_PATH_IMAGE015
is composed of
Figure 252536DEST_PATH_IMAGE013
And
Figure 603883DEST_PATH_IMAGE016
the distance between them.
Further, in step 6, a distance formula between two points is used to solve the straight line
Figure 300575DEST_PATH_IMAGE026
Up and vehicle self coordinates
Figure 711965DEST_PATH_IMAGE027
The distance is the pre-aiming distance
Figure 482388DEST_PATH_IMAGE028
Point of (2)
Figure 371847DEST_PATH_IMAGE029
，
Figure 47679DEST_PATH_IMAGE029
Namely the pre-aiming point determined by the search;
if the vehicle is going into a curve, the straight line is solved
Figure 505336DEST_PATH_IMAGE030
Up and vehicle self coordinates
Figure 899408DEST_PATH_IMAGE027
A distance of
Figure 467924DEST_PATH_IMAGE028
Point of (2)
Figure 263842DEST_PATH_IMAGE029
。
The invention also provides a device for determining the preview point of the automatic driving automobile, which comprises:
the information acquisition unit is used for acquiring information of an ideal tracking path of the vehicle and information of the current state of the vehicle;
the pre-aiming distance determining unit is used for determining a pre-aiming distance according to the current speed information of the vehicle and the pre-aiming time;
a search starting point determining unit, which determines a point on the ideal path closest to the position of the vehicle as a search starting point by taking the coordinate of the current position of the vehicle as a reference;
the preview interval determining unit is used for determining the interval of a preview point;
a traveling road state determination unit for determining whether a current traveling road of the vehicle is a straight road or a curve;
and the aiming point determining unit is used for determining the aiming point.
The present invention also provides an apparatus, comprising: the automatic driving automobile aiming point determining program is configured with steps for realizing the automatic driving automobile aiming point determining method.
The invention also provides a storage medium, wherein the storage medium is stored with an automatic driving automobile aiming point determining program, and the automatic driving automobile aiming point determining program realizes the steps of the automatic driving automobile aiming point determining method when being executed by a processor.
Compared with the prior art, the method for determining the preview point of the automatic driving automobile has the following advantages:
(1) the method for determining the pre-aiming point is carried out under the geodetic coordinate system, has simple calculation mode and small calculation amount, and can provide effective support for selection of the pre-aiming point;
(2) the method for determining the preview point fully reserves the turning driving distance of the vehicle, and has a good tracking effect on the curve track of the vehicle;
(3) the preview point determined by the method is reliable in result, the accuracy of the intelligent driving path tracking module can be improved, and the stability of the vehicle in the straight road and the curve is ensured;
(4) the preview point is selected by a preview point interval method, so that the calculation amount of the algorithm is greatly reduced, and the algorithm efficiency is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a diagram of the effect of a straight line pre-aiming point and a pre-aiming interval;
FIG. 2 is a diagram of the effect of the pre-aiming point and the pre-aiming interval of a curve;
FIG. 3 is a flow chart of an embodiment of the method of the present invention;
FIG. 4 is a vehicle state explanatory diagram;
fig. 5 is a schematic view of the vehicle steering angle setting.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
The path tracking is used as an important link of intelligent driving lateral control, and the influence of the deviation on the lateral control precision of the unmanned vehicle is obvious. Therefore, as a basis for intelligent driving path tracking, the more accurate the selection of the preview point is, the higher the accuracy of path tracking will be. Aiming at the defects of fuzzy determination of the pre-aiming point interval, large calculation amount of the method, insufficient reserved vehicle turning driving distance and the like in the existing pre-aiming point determination method, the invention provides the interval where the pre-aiming point is preferentially determined, the curve pre-aiming point determination method is definite, and the determination of the pre-aiming point is completed under a geodetic coordinate system. The method can simplify the process of determining the preview point, reduce the calculated amount and effectively improve the accuracy of the transverse control of the unmanned vehicle. As shown in fig. 1-5, the specific implementation flow of the method of the present invention is as follows:
the method comprises the following steps: obtaining autodrive related information
In this step, it is necessary to acquire information of the ideal tracking path Y of the vehicle and information of the current state of the vehicle by using the GPS software at the same time. The obtaining of the vehicle-related information should include the current vehicleCoordinate information of a location in a geodetic coordinate system
Figure 626821DEST_PATH_IMAGE027
Current speed information V of the vehicle and heading information alpha of the vehicle;
step two: determining a pre-aim distance
Preview distance = speed preview time:
Figure 508189DEST_PATH_IMAGE031
。
Figure 880396DEST_PATH_IMAGE032
namely the speed of the current vehicle along the X-axis direction of the geodetic coordinate system; and T is the preview time. In the method, T is determined by a plurality of real vehicle tests.
Step three: determining a search starting point
The coordinates of the current position of the vehicle are taken as
Figure 265241DEST_PATH_IMAGE027
And in the reference, searching a point closest to the position of the vehicle on the expected path as a search starting point. By looking for on the desired path of travel
Figure 64701DEST_PATH_IMAGE001
Establishment point
Figure 167786DEST_PATH_IMAGE033
. If it is
Figure 78104DEST_PATH_IMAGE034
Let us order
Figure 848614DEST_PATH_IMAGE035
Is the starting point of the search. If it is
Figure 678030DEST_PATH_IMAGE036
Then give an order
Figure 143778DEST_PATH_IMAGE033
For searching starting point
Step four: determining the section of the preview point
In the method for determining the preview point, the search interval of the preview point is acquired by searching for the inequality for the first time
Figure 982421DEST_PATH_IMAGE006
Point of establishment
Figure 748383DEST_PATH_IMAGE007
Then, then
Figure 889645DEST_PATH_IMAGE008
Namely the search interval. And using straight lines
Figure 967322DEST_PATH_IMAGE009
Expression (a)
Figure 78498DEST_PATH_IMAGE007
，
Figure 445106DEST_PATH_IMAGE010
Linear relationship between
Figure 881903DEST_PATH_IMAGE011
。
Figure 322243DEST_PATH_IMAGE012
Is composed of
Figure 502689DEST_PATH_IMAGE013
And
Figure 712084DEST_PATH_IMAGE014
the distance between them;
Figure 54204DEST_PATH_IMAGE015
is composed of
Figure 981840DEST_PATH_IMAGE013
And
Figure 965976DEST_PATH_IMAGE016
the distance between them;
Figure 29878DEST_PATH_IMAGE009
is passing through
Figure 542899DEST_PATH_IMAGE014
And
Figure 82465DEST_PATH_IMAGE017
a straight line of two points.
Step five: determining a current driving road state of a vehicle
By selecting
Figure 480079DEST_PATH_IMAGE007
,
Figure 788701DEST_PATH_IMAGE010
,
Figure 347989DEST_PATH_IMAGE019
Three points and calculate
Figure 374851DEST_PATH_IMAGE037
The value of (c). If it is
Figure 310577DEST_PATH_IMAGE022
Considering that the vehicle is running on a straight road, the preview interval is defined as
Figure 473705DEST_PATH_IMAGE008
(ii) a If it is
Figure 594108DEST_PATH_IMAGE023
If the vehicle is supposed to drive into the curve, the section of the preview point needs to be selected forward, namely the vehicle is selected
Figure 718053DEST_PATH_IMAGE024
Is the interval of the pre-aiming point. The method can ensure that the vehicle has enough adjusting distance before entering the curve, and is beneficial to improving the continuity of path tracking and the running stability of the vehicle.
When the vehicle enters a curve, the vehicle direction turning angle needs to be controlled by judging whether the vehicle body advancing direction faces to a desired path, and the judging method comprises the following steps: firstly, the pre-aiming point is located in the interval
Figure 582104DEST_PATH_IMAGE024
Starting point
Figure 740684DEST_PATH_IMAGE038
End point of
Figure 31988DEST_PATH_IMAGE039
Converted into the vehicle coordinate system and recorded as
Figure 365931DEST_PATH_IMAGE040
，
Figure 33673DEST_PATH_IMAGE041
. And calculating the slope of the straight line RS
Figure 46759DEST_PATH_IMAGE042
The size of (2).
When in use
Figure 508965DEST_PATH_IMAGE043
<When the vehicle runs to the expected path, the direction and the rotation angle do not need to be adjusted;
when in use
Figure 466556DEST_PATH_IMAGE043
>If =0, the vehicle deviates from the desired path, the steering angle needs to be adjusted, the steering wheel angle is set to 80 °, and the vehicle is caused to travel in the direction of the desired path.
When inequality
Figure 547776DEST_PATH_IMAGE006
When the target is established, the pre-aiming point is determined.
Sixthly, determining a pre-aiming point
Using the center of the vehicle as the center of a circle
Figure 540003DEST_PATH_IMAGE027
At a pre-aiming distance
Figure 314055DEST_PATH_IMAGE028
Circles are drawn for the radii. Circle and straight line
Figure 758943DEST_PATH_IMAGE009
The intersection point of the two points is the target point, and the distance formula between the two points is utilized to pass through the equation
Figure 378274DEST_PATH_IMAGE044
Solving a straight line
Figure 490586DEST_PATH_IMAGE045
Up and vehicle self coordinates
Figure 169961DEST_PATH_IMAGE027
The distance is the pre-aiming distance
Figure 102145DEST_PATH_IMAGE028
Point of (2)
Figure 649801DEST_PATH_IMAGE029
。
Figure 491986DEST_PATH_IMAGE029
Namely the preview point of the search. The specific determination process is as follows:
the determination formula of the preview point is as follows:
Figure 732474DEST_PATH_IMAGE046
order tok=
Figure 27320DEST_PATH_IMAGE047
Figure 378667DEST_PATH_IMAGE048
=
Figure 75359DEST_PATH_IMAGE049
=
Figure 486749DEST_PATH_IMAGE050
Let a =
Figure 3312DEST_PATH_IMAGE051
，
Figure 892771DEST_PATH_IMAGE052
，
Figure 721267DEST_PATH_IMAGE053
Figure 303558DEST_PATH_IMAGE054
Figure DEST_PATH_IMAGE055
Figure 41838DEST_PATH_IMAGE056
Obtaining by solution:
Figure 469408DEST_PATH_IMAGE057
order:
Figure 875113DEST_PATH_IMAGE058
formula of bringing into root
Figure 628305DEST_PATH_IMAGE059
Obtaining:
Figure 385040DEST_PATH_IMAGE060
Figure 616301DEST_PATH_IMAGE061
using inequalities
Figure 142091DEST_PATH_IMAGE062
Determining the final preview point
Figure 800606DEST_PATH_IMAGE029
。
Judging the direction turning angle:
when the vehicle is about to drive into a curve, if the vehicle is a circle or a straight line
Figure 44636DEST_PATH_IMAGE030
Without intersections, i.e.
Figure 79588DEST_PATH_IMAGE063
<
Figure 725465DEST_PATH_IMAGE064
. In this case, it is necessary to control the vehicle steering angle by determining whether the vehicle body traveling direction is directed to the desired path. The judgment method comprises the following steps:
the section of the pre-aiming point
Figure 289301DEST_PATH_IMAGE024
Starting point
Figure 145262DEST_PATH_IMAGE038
End point of
Figure 859271DEST_PATH_IMAGE039
Converted into the vehicle coordinate system and recorded as
Figure 218708DEST_PATH_IMAGE040
，
Figure 359970DEST_PATH_IMAGE041
. And calculating the slope of the straight line RS
Figure DEST_PATH_IMAGE065
The size of (2).
When in use
Figure 516276DEST_PATH_IMAGE043
<When the vehicle runs to the expected path, the direction and the rotation angle do not need to be adjusted;
when in use
Figure 158610DEST_PATH_IMAGE043
>If =0, the vehicle deviates from the desired path, and the steering wheel angle needs to be set to 80 ° for the adjustment direction angle, so that the vehicle travels in the direction of the desired path.
The formula for converting the geodetic coordinate system into the vehicle coordinate system is as follows:
Figure 501781DEST_PATH_IMAGE066
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE067
is the vehicle course angle in the geodetic coordinate system,
Figure 282786DEST_PATH_IMAGE068
for the coordinates of the vehicle in the geodetic coordinate system
Setting time U, i.e. making a new determination at intervals of U
Figure 847760DEST_PATH_IMAGE028
And
Figure 762626DEST_PATH_IMAGE015
in relation to each other up to
Figure 972022DEST_PATH_IMAGE069
I.e. ensuring circles and lines
Figure 579720DEST_PATH_IMAGE030
At least one intersection point exists and the determination of the preview point is made.
And ending the pre-aiming point searching period. And repeating the steps and entering the next search period.
In the specific implementation process of the method, the method provided by the invention is applied to unmanned tracking control of a certain electric passenger vehicle by depending on the environment of an intelligent networking demonstration area of a central steam center, the actual pre-aiming point is selected, the straight line of the interval where the pre-aiming point is located is shown in figure 1, and the curve is shown in figure 2. In the figure, a dotted line is an ideal tracking path of the vehicle, a solid line is an interval where the preview point is located, and a point in a wire frame is a selected preview point.
The invention also provides a device for determining the preview point of the automatic driving automobile, which comprises:
the information acquisition unit is used for acquiring information of an ideal tracking path of the vehicle and information of the current state of the vehicle;
the pre-aiming distance determining unit is used for determining a pre-aiming distance according to the current speed information of the vehicle and the pre-aiming time;
a search starting point determining unit, which determines a point on the ideal path closest to the position of the vehicle as a search starting point by taking the coordinate of the current position of the vehicle as a reference;
the preview interval determining unit is used for determining the interval of a preview point;
a traveling road state determination unit for determining whether a current traveling road of the vehicle is a straight road or a curve;
and the aiming point determining unit is used for determining the aiming point.
The present invention also provides an apparatus, comprising: the automatic driving automobile aiming point determining program is configured with steps for realizing the automatic driving automobile aiming point determining method.
The invention also provides a storage medium, wherein the storage medium is stored with an automatic driving automobile aiming point determining program, and the automatic driving automobile aiming point determining program realizes the steps of the automatic driving automobile aiming point determining method when being executed by a processor.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (10)

1. A method for determining a preview point of an automatically driven automobile is characterized by comprising the following steps: the method comprises the following steps:
step 1: acquiring information of an ideal tracking path of the vehicle and current state information of the vehicle;
step 2: determining a pre-aiming distance according to the current speed information and the pre-aiming time of the vehicle;
and step 3: determining a point closest to the position of the vehicle on the ideal path as a search starting point by taking the coordinate of the current position of the vehicle as a reference;
and 4, step 4: determining the interval of the preview point;
and 5: determining whether a current driving road of a vehicle is a straight road or a curve;
step 6: and determining a preview point.
2. The method for determining the preview point of the automatically driven vehicle according to claim 1, wherein: in the step 1, a GPS software is used for obtaining an ideal tracking path of the vehicle and obtaining coordinate information of the current position of the vehicle in a geodetic coordinate system
Figure DEST_PATH_IMAGE002
The current state information of the vehicle including the current speed information V and the heading information alpha of the vehicle.
3. The method for determining the preview point of the automatically driven vehicle according to claim 1, wherein: in step 3, the ideal driving path is searched
Figure DEST_PATH_IMAGE004
Establishment point
Figure DEST_PATH_IMAGE006
；
If it is
Figure DEST_PATH_IMAGE008
Let us order
Figure DEST_PATH_IMAGE010
A search starting point is obtained;
if it is
Figure DEST_PATH_IMAGE012
Then give an order
Figure 471127DEST_PATH_IMAGE006
A search starting point is obtained;
searching for the preview point from the starting point forward.
4. The method for determining the preview point of the automatically driven vehicle according to claim 1, wherein: in the step 4, the inequality is made by searching for the first time
Figure DEST_PATH_IMAGE014
Point of establishment
Figure DEST_PATH_IMAGE016
Then, then
Figure DEST_PATH_IMAGE018
I.e. the search interval, and using a straight line
Figure DEST_PATH_IMAGE020
Expression (a)
Figure 143592DEST_PATH_IMAGE016
，
Figure DEST_PATH_IMAGE022
Linear relationship between
Figure DEST_PATH_IMAGE024
,
In the formula:
Figure 1958DEST_PATH_IMAGE016
from the locus point of the vehicle
Figure DEST_PATH_IMAGE026
The mth point of the track after the traversal is started;
Figure 616741DEST_PATH_IMAGE022
from the locus point of the vehicle
Figure 775321DEST_PATH_IMAGE026
The (m + 1) th point of the track after the traversal is started;
Figure DEST_PATH_IMAGE028
is composed of
Figure DEST_PATH_IMAGE030
And
Figure DEST_PATH_IMAGE032
the distance between them;
Figure DEST_PATH_IMAGE034
is composed of
Figure 833670DEST_PATH_IMAGE030
And
Figure DEST_PATH_IMAGE036
the distance between them;
Figure 38386DEST_PATH_IMAGE020
is passing through
Figure 378232DEST_PATH_IMAGE032
And
Figure DEST_PATH_IMAGE038
a straight line of two points.
5. The method for determining the preview point of the automatically driven vehicle according to claim 4, wherein:
in the step 5, an ideal path Y is selected
Figure 747245DEST_PATH_IMAGE016
,
Figure 84816DEST_PATH_IMAGE022
,
Figure DEST_PATH_IMAGE040
Three continuous points and three points are selected according to the method described in the step 4 and calculated
Figure 511249DEST_PATH_IMAGE016
And
Figure 592469DEST_PATH_IMAGE022
slope between points
Figure DEST_PATH_IMAGE042
And
Figure 53537DEST_PATH_IMAGE016
and
Figure 827589DEST_PATH_IMAGE040
slope between points
Figure DEST_PATH_IMAGE044
A value of (d);
if it is
Figure DEST_PATH_IMAGE046
Considering that the vehicle is running on a straight road, the preview interval is defined as
Figure 898576DEST_PATH_IMAGE018
；
If it is
Figure DEST_PATH_IMAGE048
If the vehicle is supposed to drive into the curve, the section of the preview point needs to be selected forward, namely the vehicle is selected
Figure DEST_PATH_IMAGE050
Is the interval of the pre-aiming point.
6. The method for determining the preview point of the automatically driven vehicle according to claim 5, wherein: step 5 also includes controlling the direction and the angle of the vehicle when the vehicle is about to enter the curve, so that the vehicle can drive to the expected path until the inequality
Figure 455590DEST_PATH_IMAGE014
This is true.
7. The method for determining the preview point of the automatically driven vehicle according to claim 6, wherein: in the step 6, a straight line is solved by using a distance formula between two points
Figure DEST_PATH_IMAGE052
Up and vehicle self coordinates
Figure 36744DEST_PATH_IMAGE002
The distance is the pre-aiming distance
Figure DEST_PATH_IMAGE054
Point of (2)
Figure DEST_PATH_IMAGE056
，
Figure 138955DEST_PATH_IMAGE056
Namely the pre-aiming point determined by the search;
if the vehicle is going into a curve, the straight line is solved
Figure 461352DEST_PATH_IMAGE052
Up and vehicle self coordinates
Figure 884374DEST_PATH_IMAGE002
A distance of
Figure 511578DEST_PATH_IMAGE054
Point of (2)
Figure 627433DEST_PATH_IMAGE056
。
8. An automatic driving car preview point confirming device is characterized in that:
the system comprises an information acquisition unit, a tracking unit and a tracking unit, wherein the information acquisition unit is used for acquiring information of an ideal tracking path of a vehicle and information of the current state of the vehicle;
the pre-aiming distance determining unit is used for determining a pre-aiming distance according to the current speed information of the vehicle and the pre-aiming time;
a search starting point determining unit, which determines a point on the ideal path closest to the position of the vehicle as a search starting point by taking the coordinate of the current position of the vehicle as a reference;
the preview interval determining unit is used for determining the interval of a preview point;
a traveling road state determination unit for determining whether a current traveling road of the vehicle is a straight road or a curve;
and the aiming point determining unit is used for determining the aiming point.
9. An apparatus, characterized in that the apparatus comprises: memory, a processor and an autonomous vehicle home point determination program stored on the memory and executable on the processor, the autonomous vehicle home point determination program being configured with steps to implement an autonomous vehicle home point determination method according to any of claims 1 to 7.
10. A storage medium having stored thereon an auto-driving vehicle preview point determination program which, when executed by a processor, implements the steps of the auto-driving vehicle preview point determination method according to any one of claims 1 to 7.
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