CN112016039B - Vehicle passing area construction method and device, electronic equipment and readable storage medium - Google Patents
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Abstract
The application provides a vehicle passing area construction method, a device, an electronic device and a readable storage medium, comprising the following steps: acquiring a first nth order polynomial expression; acquiring n+1 track sample points on a vehicle running track according to the first n-degree polynomial expression; respectively moving each track sample point by L unit lengths according to the respective position characteristics to obtain n+1 track translation sample points; according to each track translation sample point, calculating n+1 expression coefficients of a second n-degree polynomial expression, wherein the second n-degree polynomial expression represents the translated vehicle running track; and constructing a passing area of the vehicle according to the second n-degree polynomial expression. Because each track sample point only takes the whole translation direction as the basis to translate respectively, each track sample point can determine the respective movement direction according to the respective position characteristics, so that the distances between the corresponding points before and after the track curve is translated are approximately the same, and the track curve after the translation is more accurate.
Description
Technical Field
The present disclosure relates to the field of data processing technologies, and in particular, to a vehicle traffic area construction method, apparatus, electronic device, and readable storage medium.
Background
In advanced driving assistance systems (Advanced Driving Assistance System, abbreviated as ADAS), it is often necessary to construct a traffic zone of a vehicle for a user vehicle. In building a traffic zone, a translation process is generally performed on a predicted track function of a user vehicle according to a certain point.
However, when the translation process is performed in accordance with a certain point, the obtained trajectory curve after the translation is inaccurate. For example, in the process of translating the predicted trajectory function, the situation that two trajectory curves before and after translation intersect easily occurs, so that the traffic area is narrowed and even seriously lost.
Disclosure of Invention
An object of the embodiments of the present application is to provide a vehicle traffic area construction method, apparatus, electronic device, and readable storage medium, so as to solve the problem that in the prior art, a traffic area is narrowed or even seriously lost due to inaccurate translation.
In a first aspect, an embodiment of the present application provides a vehicle passing area construction method, including: acquiring a first nth order polynomial expression representing a vehicle running track; acquiring n+1 track sample points on the vehicle running track according to the first n-degree polynomial expression; based on the overall translation direction of the vehicle running track, respectively moving each track sample point in n+1 track sample points by L unit lengths according to respective position characteristics to obtain n+1 track translation sample points, wherein L is determined by the width of the vehicle or the width of a lane; according to each track translation sample point in the n+1 track translation sample points, n+1 expression coefficients of a second n-degree polynomial expression are calculated, and the second n-degree polynomial expression represents the translated vehicle running track; and constructing a passing area of the vehicle according to the second n-degree polynomial expression.
In the above embodiment, a plurality of trace sample points may be obtained according to the power of the polynomial expression of degree n; and then, based on the overall translation direction of the running track, respectively moving each track sample point in the plurality of track sample points by L unit lengths to obtain a plurality of translated track sample points. And then calculating the expression coefficient of the polynomial expression of the translated vehicle running track according to the track translation sample points, thereby obtaining a corresponding polynomial expression and realizing the construction of the passing area of the vehicle. Because each track sample point only takes the whole translation direction as the basis to translate respectively, each track sample point can determine the respective movement direction according to the respective position characteristics, so that the distances between the corresponding points before and after the track curve is translated are approximately the same, the intersection of the two points is avoided, and the track curve after the translation is more accurate.
In one possible design, the obtaining n+1 track sample points on the vehicle running track according to the first nth order polynomial expression includes: acquiring a first coordinate point representing a starting point of the vehicle running track and a second coordinate point representing an end point of the vehicle running track from the first n-degree polynomial expression; calculating the absolute value of the difference value between the coordinate value of the first coordinate point on the first coordinate axis and the coordinate value of the second coordinate point on the first coordinate axis; calculating the ratio of the absolute value to n, wherein the ratio is the interval length of the track sample points; according to the interval length and the first coordinate point, calculating coordinate values of each track sample point in n+1 track sample points in the first coordinate axis; substituting the coordinate value of each track sample point in the first coordinate axis into the first n-degree polynomial expression, and calculating the coordinate value of each track sample point in the second coordinate axis; and acquiring each track sample point according to the coordinate value of each track sample point on the first coordinate axis and the coordinate value of each track sample point on the second coordinate axis.
In the above embodiment, the interval length of n+1 track sample points may be determined according to the domain interval and the power of the first n-degree polynomial expression, and then the coordinate value of each track sample point in n+1 track sample points on a certain coordinate axis may be calculated according to the interval length and the start point or the end point of the domain interval; and substituting the coordinate value of each track sample point in one coordinate axis into the first n times polynomial expression to obtain the coordinate value of each track sample point in the other coordinate axis, thereby obtaining n+1 track sample points.
In one possible design, based on the overall translation direction of the vehicle running track, for each track sample point in the n+1 track sample points, moving by L unit lengths according to the respective position features, respectively, to obtain n+1 track translation sample points, including: calculating the tangential tilt angle theta of each track sample point; calculating a translation vector of each track sample point translating in the whole translation direction according to the tangential tilt angle theta and the translation distance L of each track sample point; and calculating corresponding track translation sample points according to the coordinate values of each track sample point and the corresponding translation vectors.
In the above embodiment, for each track sample point, the respective translation vectors are calculated based on the same translation distance L and their respective tangential tilt angles θ, and since the tangential tilt angles are generally different, the translation vectors are also different correspondingly, so that inaccuracy caused by translating the whole track function according to a certain point in the prior art is avoided when calculating the corresponding track translation sample point.
In one possible design, the overall translational direction is the left direction of the overall vehicle trajectory; calculating a translation vector of each track sample point translating in the whole translation direction according to the tangential tilt angle theta and the translation distance L of each track sample point, wherein the translation vector comprises the following components: for each track sample point p i (x i ,y i ) According to the formulaA translation vector (vx, vy) is calculated.
In the above embodiment, for the translation direction of the left direction of the whole vehicle running track, the translation vector of each track sample point may be calculated according to the corresponding calculation formula, so as to obtain a track curve corresponding to the track function of the left translation.
In one possible design, the overall translational direction is the right direction of the overall vehicle trajectory; calculating a translation vector of each track sample point translating in the whole translation direction according to the tangential tilt angle theta and the translation distance L of each track sample point, wherein the translation vector comprises the following components: for each track sample point p i (x i ,y i ) According to the formulaA translation vector (vx, vy) is calculated.
In the above embodiment, for the translation direction of the right direction of the whole vehicle running track, the translation vector of each track sample point may be calculated according to the corresponding calculation formula, so as to obtain a track curve corresponding to the track function of the right translation.
In one possible design, the calculating n+1 expression coefficients of the second n-degree polynomial expression from each of the n+1 trajectory-shifted sample points includes: according to the abscissa of each track translation sample point, a vandermonde matrix A is constructed; constructing an ordinate sequence Y according to the ordinate of each track translation sample point, wherein the ordinate sequence Y comprises the ordinate of each track translation sample point; calculating a coefficient sequence B according to an equation relation ab=y among the vandermonde matrix a, the coefficient sequence B and the ordinate sequence Y, wherein the coefficient sequence B comprises n+1 expression coefficients of the second n-degree polynomial expression.
In the above embodiment, the vandermonde matrix may be constructed by translating the abscissa of the sample point according to each track; and constructing an ordinate sequence according to the ordinate of each track translation sample point, so as to calculate the coefficient sequence according to the equation relation among the vandermonde matrix, the coefficient sequence and the ordinate sequence, and further obtain n+1 expression coefficients.
In one possible design, said translating the abscissa of the sample points according to each track, constructing a vandermonde matrix a, includes: the absolute values of the abscissas of the sample points of each track translation are arranged in a descending order to obtain a descending order coordinate sequence p' i (x' i ,y' i ) The method comprises the steps of carrying out a first treatment on the surface of the Filling the vandermonde matrix A by using a descending order coordinate sequence to obtainWherein (1)>Is x' i To the power j of (2).
In one possible design, the overall translational direction of the vehicle trajectory includes a left direction of the vehicle trajectory overall, and a right direction of the vehicle trajectory overall; the second n-degree polynomial expression comprises a left translation expression and a right translation expression, wherein the left translation expression represents a vehicle running track translated along the left direction of the whole vehicle running track, and the right translation expression represents a vehicle running track translated along the right direction of the whole vehicle running track; the constructing the traffic area of the vehicle according to the second n-degree polynomial expression comprises: acquiring a first curve corresponding to the left translation expression in a coordinate axis; acquiring a second curve corresponding to the right translation expression in the coordinate axis; and acquiring an area surrounded by the first curve and the second curve, wherein the area is a traffic area of the vehicle.
In the above embodiment, the original vehicle running track may be translated by L unit lengths in the left and right directions, respectively, and then the first curve of the left translation expression on the coordinate axis and the second curve of the right translation expression on the coordinate axis are obtained, and the area enclosed by the two curves is taken as the traffic area of the vehicle, where L may be determined by the vehicle width. The accuracy of the left translation expression and the right translation expression is improved compared with the prior art, so that the passing area of the vehicle is more accurate.
In a second aspect, an embodiment of the present application provides a vehicle passing area construction apparatus, including: the track expression acquisition module is used for acquiring a first nth order polynomial expression representing the running track of the vehicle; the sample point acquisition module is used for acquiring n+1 track sample points on the vehicle running track according to the first n-degree polynomial expression; the translation point acquisition module is used for respectively moving each track sample point in the n+1 track sample points by L unit lengths according to respective position characteristics based on the overall translation direction of the vehicle running track to obtain n+1 track translation sample points, wherein L is determined by the width of the vehicle or the width of the lane; the translation track acquisition module is used for calculating n+1 expression coefficients of a second n-degree polynomial expression according to each track translation sample point in the n+1 track translation sample points, wherein the second n-degree polynomial expression represents the translated vehicle running track; and the passing area construction module is used for constructing the passing area of the vehicle according to the second n-degree polynomial expression.
In one possible design, the sample point obtaining module is specifically configured to obtain, from the first nth order polynomial expression, a first coordinate point that characterizes a start point of the vehicle running track, and a second coordinate point that characterizes an end point of the vehicle running track; calculating the absolute value of the difference value between the coordinate value of the first coordinate point on the first coordinate axis and the coordinate value of the second coordinate point on the first coordinate axis; calculating the ratio of the absolute value to n, wherein the ratio is the interval length of the track sample points; according to the interval length and the first coordinate point, calculating coordinate values of each track sample point in n+1 track sample points in the first coordinate axis; substituting the coordinate value of each track sample point in the first coordinate axis into the first n-degree polynomial expression, and calculating the coordinate value of each track sample point in the second coordinate axis; and acquiring each track sample point according to the coordinate value of each track sample point on the first coordinate axis and the coordinate value of each track sample point on the second coordinate axis.
In one possible design, the translation point obtaining module is specifically configured to calculate a tangential tilt angle θ of each track sample point; calculating a translation vector of each track sample point translating in the whole translation direction according to the tangential tilt angle theta and the translation distance L of each track sample point; and calculating corresponding track translation sample points according to the coordinate values of each track sample point and the corresponding translation vectors.
In one possible design, the overall translational direction is the vehicle running railLeft direction of the whole trace; a translation point acquisition module, in particular for each track sample point p i (x i ,y i ) According to the formulaA translation vector (vx, vy) is calculated.
In one possible design, the overall translational direction is the right direction of the overall vehicle trajectory; a translation point acquisition module, in particular for each track sample point p i (x i ,y i ) According to the formulaA translation vector (vx, vy) is calculated.
In one possible design, the translation track acquisition module is specifically configured to construct a vandermonde matrix a according to the abscissa of each track translation sample point; constructing an ordinate sequence Y according to the ordinate of each track translation sample point, wherein the ordinate sequence Y comprises the ordinate of each track translation sample point; calculating a coefficient sequence B according to an equation relation ab=y among the vandermonde matrix a, the coefficient sequence B and the ordinate sequence Y, wherein the coefficient sequence B comprises n+1 expression coefficients of the second n-degree polynomial expression.
In one possible design, the translation track acquisition module is specifically configured to perform descending order on absolute values of abscissas of the translation sample points of each track to obtain a descending order coordinate sequence p' i (x' i ,y' i ) The method comprises the steps of carrying out a first treatment on the surface of the Filling the vandermonde matrix A by using a descending order coordinate sequence to obtainWherein (1)>Is x' i To the power j of (2).
In one possible design, the overall translational direction of the vehicle trajectory includes a left direction of the vehicle trajectory overall, and a right direction of the vehicle trajectory overall; the second n-degree polynomial expression comprises a left translation expression and a right translation expression, wherein the left translation expression represents a vehicle running track translated along the left direction of the whole vehicle running track, and the right translation expression represents a vehicle running track translated along the right direction of the whole vehicle running track; the passing area construction module is used for acquiring a first curve corresponding to the left translation expression in the coordinate axis; acquiring a second curve corresponding to the right translation expression in the coordinate axis; and acquiring an area surrounded by the first curve and the second curve, wherein the area is a traffic area of the vehicle.
In a third aspect, embodiments of the present application provide an electronic device, including the method of the first aspect or any optional implementation manner of the first aspect.
In a fourth aspect, the present application provides a readable storage medium having stored thereon an executable program which when executed by a processor performs the method of the first aspect or any alternative implementation of the first aspect.
In a fifth aspect, the present application provides an executable program product which, when run on a computer, causes the computer to perform the method of the first aspect or any possible implementation of the first aspect.
In order to make the above objects, features and advantages of the embodiments of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 illustrates a prior art schematic of translating a vehicle trajectory;
Fig. 2 shows a flowchart of a vehicle passing area construction method provided in an embodiment of the present application;
fig. 3 shows a schematic flow chart of a specific step of step S120 in fig. 2;
fig. 4 shows a schematic flow chart of a specific step of step S130 in fig. 2;
fig. 5 shows a schematic flow chart of a specific step of step S140 in fig. 2;
fig. 6 is a schematic diagram illustrating translation of a vehicle running track by using the vehicle passing area construction method according to the embodiment of the present application;
fig. 7 shows a schematic block diagram of a vehicle passing area construction apparatus provided in an embodiment of the present application.
Detailed Description
In the comparative embodiment, when a traffic area of a vehicle is constructed for a user vehicle, a translation process is generally performed on a predicted track function of the user vehicle according to a certain point. The translation treatment process comprises the following steps: deriving the trajectory function, determining the derivative at that point, determining the slope of the tangent line and the direction of the perpendicular from the derivative, and then determining the vector translated in the direction of the perpendicularThen->Performing translation operation to obtain a translated track function: y-y '=f (x-x').
However, when the trajectory curve of the overall trajectory function is subjected to the translation processing in accordance with a certain point, the obtained translated trajectory curve is inaccurate. For example, in the process of translating the predicted trajectory function, the two trajectory curves before and after translation are likely to intersect, and referring to fig. 1, when the trajectory function y=f (x) to be translated is translated to the left by a unit distance and when the trajectory function is translated to the right by a unit distance based on the point (1, 0), the trajectory function after translation is intersected with the trajectory function before translation. This narrows or even seriously loses the pass area.
In order to solve the above problem, in the embodiment of the present application, a plurality of track sample points are selected from the track functions of the n-th order polynomial expression, and each track sample point is only translated according to the overall translation direction, so that the respective movement directions can be determined according to the position features, the distances between the corresponding points before and after the track curve is translated are approximately the same, intersection of the two points is avoided, and compared with the translation processing of the whole track curve based on a certain point, the obtained translated track curve is more accurate.
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
Referring to fig. 2, fig. 2 shows a vehicle passing area construction method provided in an embodiment of the present application, where the method may be executed by an electronic device, and the method specifically includes steps S110 to S150 as follows:
step S110, a first nth order polynomial expression characterizing a vehicle trajectory is obtained.
Alternatively, the first nth order polynomial expression may be obtained by establishing a coordinate system and fitting a trajectory curve of the vehicle. The first nth order polynomial expression may be obtained by:
assume that the current coordinate of the host vehicle is (x 0 ，y 0 ) The included angle between the direction of the vehicle head and the y axis is P, the current yaw rate is omega, and the current vehicle speed v self The formula for obtaining the coordinates of the ith predicted point from the coordinates of the ith-1 predicted point is as follows:
from m (where m>n+1) coordinates of the predicted points can be fitted by a least square method to obtain a first n-degree polynomial. For convenience of description, let us say that the first nth order polynomial expression is f (x) =a n x n +a n-1 x n-1 +…a 0 。
And step S120, acquiring n+1 track sample points on the vehicle running track according to the first n-degree polynomial expression.
The number of trace sample points n+1 may be obtained from the power of the first n-degree polynomial expression. And then selecting n+1 track sample points from the track curves corresponding to the first n-degree polynomial expression. The specific process of selecting n+1 trace sample points will be described in detail below.
Step S130, based on the overall translation direction of the vehicle running track, moving each track sample point of the n+1 track sample points by L unit lengths according to the respective position features, to obtain n+1 track translation sample points, where L is determined by the width of the vehicle or the width of the lane.
L may be related to the width of the vehicle to facilitate a measure of the area of passage through which the vehicle can pass. Alternatively, L may be a width value of the vehicle, and L may be half of the width value of the vehicle. L may also relate to the width of the lane, e.g. L may be half the width value of the lane.
Under the condition that the overall translation directions of the running tracks of the vehicles are consistent, each track sample point can move for L unit lengths according to the corresponding directions, and the moving directions of each track sample point can be not completely the same, so that the distances between the track curves after translation and the track curves before translation are approximately the same, and the situation that the distances between the track curves before and after translation are different is avoided. The manner in which n+1 track shifted sample points are obtained will be described in detail below.
Optionally, the position characteristic of the track sample point is a characteristic reflecting the position of the track sample point on the vehicle running track, for example, the inclination angle of a tangent line, the slope of the tangent line, and the perpendicular line of the tangent line may be used.
And step S140, calculating n+1 expression coefficients of a second n-degree polynomial expression according to each track translation sample point in the n+1 track translation sample points, wherein the second n-degree polynomial expression represents the translated vehicle running track.
Alternatively, in a specific embodiment, after n+1 track translation sample points are obtained, the n+1 track translation sample points are marked in the coordinate axis, and curve fitting is performed on the n+1 track translation sample points, so as to obtain the translated vehicle running track.
Alternatively, referring to fig. 5, fig. 5 shows another embodiment of step S140, specifically including the following steps S141 to S143:
step S141, constructing a vandermonde matrix a according to the abscissa of the translation sample point of each track.
Alternatively, vandermonde matrix a may be calculated as follows:
the absolute values of the abscissas of the sample points of each track translation are arranged in a descending order to obtain a descending order coordinate sequence p' i (x' i ,y' i ) The method comprises the steps of carrying out a first treatment on the surface of the Filling the vandermonde matrix A by using a descending order coordinate sequence to obtainWherein (1)>Is x' i To the power j of (2).
In step S142, an ordinate sequence Y is constructed according to the ordinate of each track translation sample point, where the ordinate sequence Y includes the ordinate of each track translation sample point.
In step S143, a coefficient sequence B is calculated according to the equation relation ab=y among the vandermonde matrix a, the coefficient sequence B, and the ordinate sequence Y, wherein the coefficient sequence B includes n+1 expression coefficients of the second n-degree polynomial expression.
Wherein ab=y can be expressed as:
wherein b i ,i∈[0,n]For the second nth polynomial expression f to be solved n (x)＝b n x n +b n-1 x n-1 +…b 0 N+1 of (2)Expression coefficients. y is i ,i∈[0,n]The coordinate values of the ordinate of the sample points are translated for each track.
According to the equation relation ab=y, the specific procedure for calculating the coefficient sequence B is as follows:
LU decomposition is performed on vandermonde matrix a, and a is decomposed into lower triangular matrix L and upper triangular matrix U, thereby converting ab=y into lub=y.
Let ub=v, then the upper equation is converted to lv=y, where L is a known lower triangular matrix and Y is a known neighbor, and thus can pass through v=yl -1 The method of (2) solves for the value of V. After the value of V is found, the value of B is found by ub=v, thereby obtaining the second nth order polynomial expression f n (x)＝b n x n +b n-1 x n-1 +…b 0 . Referring to fig. 6, the trace sample points are represented by circles, the trace shift sample points are represented by asterisks, and the distance between the curve represented by the second n-degree polynomial expression after shift (i.e., the lower curve in fig. 6) and the curve represented by the first n-degree polynomial expression (i.e., the upper curve in fig. 6) is approximately the same.
And step S150, constructing the passing area of the vehicle according to the second n-degree polynomial expression.
In a specific embodiment, after the second n-degree polynomial expression is calculated, a track curve of the second n-degree polynomial expression in the coordinate values is obtained, and then a passing area of the vehicle is enclosed by a track curve corresponding to the second n-degree polynomial expression and a vehicle running track curve corresponding to the first n-degree polynomial expression.
In another embodiment, the overall translational direction of the vehicle trajectory includes a left direction of the overall vehicle trajectory and a right direction of the overall vehicle trajectory.
The second nth order polynomial expression includes a left-hand translational expression and a right-hand translational expression. The left translation expression represents the vehicle running track translated along the left direction of the whole vehicle running track, and the right translation expression represents the vehicle running track translated along the right direction of the whole vehicle running track.
The step S150 may specifically be: acquiring a first curve corresponding to the left translation expression in a coordinate axis; acquiring a second curve corresponding to the right translation expression in the coordinate axis; and acquiring an area surrounded by the first curve and the second curve, wherein the area is a traffic area of the vehicle.
The method comprises the steps that the original vehicle running track can be respectively obtained and translated for L unit lengths in the left side direction and the right side direction respectively, and a left translation expression and a right translation expression are respectively obtained; and then a first curve of the left translation expression in the coordinate axis and a second curve of the right translation expression in the coordinate axis are obtained, and an area surrounded by the first curve and the second curve is used as a passing area of the vehicle. The accuracy of the left translation expression and the right translation expression is improved compared with the prior art, so that the passing area of the vehicle is more accurate.
In the above embodiment, a plurality of trace sample points may be obtained according to the power of the polynomial expression of degree n; and then, based on the overall translation direction of the running track, respectively moving each track sample point in the plurality of track sample points by L unit lengths to obtain a plurality of translated track sample points. And then calculating the expression coefficient of the polynomial expression of the translated vehicle running track according to the track translation sample points, thereby obtaining a corresponding polynomial expression and realizing the construction of the passing area of the vehicle. Because each track sample point only takes the whole translation direction as the basis to translate respectively, each track sample point can determine the respective movement direction according to the respective position characteristics, so that the distances between the corresponding points before and after the track curve is translated are approximately the same, the intersection of the two points is avoided, and the track curve after the translation is more accurate.
Alternatively, in the first n-degree polynomial expression representing the vehicle running track and the second n-degree polynomial expression representing the translated vehicle running track, in order to obtain a more accurate expression, a specific point on the vehicle may be taken as a point of interest, and the point of interest represents the vehicle running track. That is, the first n-degree polynomial expression may be a running track of the point of interest on the vehicle, and the second n-degree polynomial expression may be a running track of the point of interest on the vehicle after the translation.
Optionally, referring to fig. 3, fig. 3 shows a specific embodiment of step S120, specifically including the following steps S121 to S126:
step S121, obtaining a first coordinate point representing a start point of the vehicle running track and a second coordinate point representing an end point of the vehicle running track from the first n-degree polynomial expression.
The start point and the end point representing the running track of the vehicle can be divided according to the running direction of the vehicle, and the two end point values of the running of the vehicle. It is understood that the start point and the end point may also be interchanged, and the division therebetween should not be construed as limiting the present application.
Step S122, calculating an absolute value of a difference between the coordinate value of the first coordinate point on the first coordinate axis and the coordinate value of the second coordinate point on the first coordinate axis.
The first coordinate axis may be any one of an x axis and a y axis in the plane rectangular coordinate system, and for convenience of description, the first coordinate axis may be the x axis in the plane rectangular coordinate system.
Therefore, the coordinate value of the first coordinate point in the x-axis and the coordinate value of the second coordinate point in the x-axis can be determined, and then the coordinate values of the first coordinate point and the second coordinate point in the x-axis are differenced, so that the distance between the first coordinate point and the second coordinate point in the x-axis direction can be obtained, namely the absolute value of the difference value.
It should be understood that, since the distance between the first coordinate point and the second coordinate point in the x-axis direction is calculated, the absolute value of the difference may be taken regardless of whether the difference between the coordinate values of the two in the x-axis is positive or negative, thereby obtaining the distance.
Step S123, calculating the ratio of the absolute value to n, wherein the ratio is the interval length of the track sample points.
Step S124, calculating coordinate values of each of the n+1 track sample points on the first coordinate axis according to the interval length and the first coordinate point.
Between two adjacent track sample points in n+1 track sample points can be setThe interval length of (2) is k, then it can be according to the formula x i ＝x 0 +ik calculating the coordinate value x of the (i+1) th trace sample point on the first coordinate axis i Wherein x is 0 For the coordinate value of the first coordinate point in the first coordinate axis, i is a natural number and i is 0, n]。
And step S125, substituting the coordinate value of each track sample point in the first coordinate axis into the first n-degree polynomial expression, and calculating the coordinate value of each track sample point in the second coordinate axis.
The second coordinate axis is a coordinate axis different from the first coordinate axis in the two coordinate axes in the rectangular plane coordinate system, and the second coordinate axis corresponds to the y axis because the first coordinate axis is the x axis. Substituting the coordinate value of the x-axis into the first n-degree polynomial expression can obtain the coordinate value of the corresponding y-axis.
Step S126, obtaining each track sample point according to the coordinate value of each track sample point on the first coordinate axis and the coordinate value of each track sample point on the second coordinate axis.
After the coordinate values of the two coordinate axes of each track sample point in the plane rectangular coordinate system are obtained, each track sample point of n+1 track sample points can be obtained.
Alternatively, in another specific embodiment of step S120, the first nth order polynomial expression may be divided according to the interval g between two adjacent points of n+1 track sample points set by the person until n+1 track sample points are divided. And then taking any one point of the n+1 track sample points as the coordinate origin of the plane rectangular coordinate system, and obtaining each track sample point of the n+1 track sample points according to the selected coordinate origin and the interval g between two adjacent points.
For example. Selecting a certain point in n+1 track sample points as (0, 0), wherein the x-axis coordinate of the point at the back of the original point is g, and the corresponding y-axis coordinate is a value obtained by substituting g into the first n-degree polynomial expression; the x-axis coordinate of the point before the origin is-g, and the corresponding y-axis coordinate is a value … obtained by substituting-g into the first n-degree polynomial expression, thereby sequentially calculating, and obtaining the coordinate value of each track sample point.
Optionally, referring to fig. 4, fig. 4 shows a specific embodiment of step S130, specifically including the following steps S131 to S133:
step S131, calculating the tangential tilt θ of each track sample point.
Alternatively, the first n-degree polynomial expression f (x) =a may be expressed as n x n +a n-1 x n-1 +…a 0 And (3) differential calculation is carried out to obtain: f' (x) =na n x n-1 +(n-1)a n-1 x n-2 +…a 1 . Each of the n+1 trace sample points is then taken as a trace sample point x i Substitution of f' (x) =na n x n-1 +(n-1)a n-1 x n-2 +…a 1 Obtaining the tangential slope f' (x) of each track sample point i ). And then according to the formula θ=arctan f' (x) i )]And calculating the tangential tilt angle theta of each track sample point.
Step S132, calculating a translation vector of each track sample point translated in the overall translation direction according to the tangential tilt angle θ and the translation distance L of each track sample point.
For different overall translation directions, the specific formulas for calculating the translation vector according to the tangential tilt angle theta and the translation distance L are different.
Alternatively, the overall translational direction may be a left direction of the vehicle running track overall, and the translational vector of the left direction translational of the vehicle running track overall may be calculated as follows:
for each track sample point p i (x i ,y i ) According to the formulaCalculating a translation vector (vx) i ,vy i )。
Alternatively, the overall translational direction may be a right direction of the vehicle running track overall, and the translational vector translated in the right direction of the vehicle running track overall may be calculated as follows:
For each track sample point p i (x i ,y i ) According toFormula (VI)Calculating a translation vector (vx) i ,vy i )。
Step S133, calculating corresponding track translation sample points according to the coordinate values of each track sample point and the corresponding translation vectors.
For each track sample point p i (x i ,y i ) According toObtaining a trajectory translation sample point (x i +vx i ,y i +vy i )。
For each track sample point, the respective translation vector is calculated based on the same translation distance L and the respective tangential tilt angle theta, and the tangential tilt angles are generally different, so that the translation vectors are correspondingly different, and inaccuracy caused by carrying out integral track function translation according to a certain point in the prior art is avoided when the corresponding track translation sample point is calculated.
The vehicle passing area construction method provided by the embodiment of the application has the following advantages:
the base point (namely the track sample point) of the translation and the translation vector can be flexibly selected according to the actual application requirement, and the translation vector is easier to determine. And the curve coefficient is respectively determined for each track sample point, so that the accuracy and stability of the translation effect are ensured. The translation effect of the curve is greatly improved, and the unexpected change trend of the distance between the curve before translation and the curve after translation can not occur due to the change of curvature. It does not occur that the curve after translation intersects the curve before translation. In the set range, the translation result can be used for preparing a translation vector meeting the requirement according to the translation requirement, so that the translation result has higher conformity with the translation requirement. When the method is used for solving the polynomial track function coefficients, an LU decomposition method is adopted, so that the computer programming implementation operation is facilitated.
Referring to fig. 7, fig. 7 shows a vehicle passing area construction apparatus provided in an embodiment of the present application, and the apparatus 500 includes:
the track expression acquisition module 510 is configured to acquire a first nth order polynomial expression representing a running track of the vehicle.
The sample point obtaining module 520 is configured to obtain n+1 track sample points on the vehicle running track according to the first n-degree polynomial expression.
The translation point obtaining module 530 is configured to, based on the overall translation direction of the vehicle running track, move each of the n+1 track sample points by L unit lengths according to respective position features, to obtain n+1 track translation sample points, where L is determined by a width of the vehicle or a width of the lane.
And the translation track acquisition module 540 is configured to calculate n+1 expression coefficients of a second n-degree polynomial expression according to each track translation sample point in the n+1 track translation sample points, where the second n-degree polynomial expression characterizes the translated vehicle running track.
And a traffic zone construction module 550, configured to construct a traffic zone of the vehicle according to the second nth order polynomial expression.
The sample point obtaining module 520 is specifically configured to obtain, from the first n-degree polynomial expression, a first coordinate point representing a start point of the vehicle running track and a second coordinate point representing an end point of the vehicle running track; calculating the absolute value of the difference value between the coordinate value of the first coordinate point on the first coordinate axis and the coordinate value of the second coordinate point on the first coordinate axis; calculating the ratio of the absolute value to n, wherein the ratio is the interval length of the track sample points; according to the interval length and the first coordinate point, calculating coordinate values of each track sample point in n+1 track sample points in the first coordinate axis; substituting the coordinate value of each track sample point in the first coordinate axis into the first n-degree polynomial expression, and calculating the coordinate value of each track sample point in the second coordinate axis; and acquiring each track sample point according to the coordinate value of each track sample point on the first coordinate axis and the coordinate value of each track sample point on the second coordinate axis.
The translation point obtaining module 530 is specifically configured to calculate a tangential tilt angle θ of each track sample point; calculating a translation vector of each track sample point translating in the whole translation direction according to the tangential tilt angle theta and the translation distance L of each track sample point; and calculating corresponding track translation sample points according to the coordinate values of each track sample point and the corresponding translation vectors.
In one possible design, the overall translational direction is the left direction of the overall vehicle trajectory; a translation point acquisition module 530, specifically configured to, for each track sample point p i (x i ,y i ) According to the formulaA translation vector (vx, vy) is calculated.
In one possible design, the overall translational direction is the right direction of the overall vehicle trajectory; a translation point acquisition module 540, specifically configured to, for each track sample point p i (x i ,y i ) According to the formulaA translation vector (vx, vy) is calculated.
The translation track obtaining module 540 is specifically configured to construct a vandermonde matrix a according to the abscissa of the translation sample point of each track; constructing an ordinate sequence Y according to the ordinate of each track translation sample point, wherein the ordinate sequence Y comprises the ordinate of each track translation sample point; calculating a coefficient sequence B according to an equation relation ab=y among the vandermonde matrix a, the coefficient sequence B and the ordinate sequence Y, wherein the coefficient sequence B comprises n+1 expression coefficients of the second n-degree polynomial expression.
The translation track obtaining module 540 is specifically configured to perform descending order arrangement on the absolute value of the abscissa of each track translation sample point to obtain a descending order coordinate sequence p' i (x' i ,y' i ) The method comprises the steps of carrying out a first treatment on the surface of the Filling the vandermonde matrix A by using a descending order coordinate sequence to obtainWherein (1)>Is x' i To the power j of (2).
In one possible design, the overall translational direction of the vehicle trajectory includes a left direction of the vehicle trajectory overall, and a right direction of the vehicle trajectory overall; the second n-degree polynomial expression comprises a left translation expression and a right translation expression, wherein the left translation expression represents a vehicle running track translated along the left direction of the whole vehicle running track, and the right translation expression represents a vehicle running track translated along the right direction of the whole vehicle running track; the passing area construction module 550 is configured to obtain a first curve corresponding to the left translation expression in a coordinate axis; acquiring a second curve corresponding to the right translation expression in the coordinate axis; and acquiring an area surrounded by the first curve and the second curve, wherein the area is a traffic area of the vehicle.
The vehicle passing area construction device shown in fig. 7 corresponds to the vehicle passing area construction method shown in fig. 2, and a detailed description thereof will be omitted.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
Further, the units described as separate units may or may not be physically separate, and units displayed as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Furthermore, functional modules in various embodiments of the present application may be integrated together to form a single portion, or each module may exist alone, or two or more modules may be integrated to form a single portion.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The foregoing is merely exemplary embodiments of the present application and is not intended to limit the scope of the present application, and various modifications and variations may be suggested to one skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (9)
1. A vehicle passing area construction method, characterized in that the method comprises:
acquiring a first nth order polynomial expression representing a vehicle running track;
acquiring n+1 track sample points on the vehicle running track according to the first n-degree polynomial expression;
Based on the overall translation direction of the vehicle running track, respectively moving each track sample point in n+1 track sample points by L unit lengths according to respective position characteristics to obtain n+1 track translation sample points, wherein L is determined by the width of the vehicle or the width of a lane;
according to each track translation sample point in the n+1 track translation sample points, n+1 expression coefficients of a second n-degree polynomial expression are calculated, and the second n-degree polynomial expression represents the translated vehicle running track;
constructing a passing area of the vehicle according to the second n-degree polynomial expression;
said calculating n+1 expression coefficients of the second n-degree polynomial expression from each of said n+1 trajectory translation sample points, comprising:
according to the abscissa of each track translation sample point, a vandermonde matrix A is constructed;
constructing an ordinate sequence Y according to the ordinate of each track translation sample point, wherein the ordinate sequence Y comprises the ordinate of each track translation sample point;
calculating a coefficient sequence B according to an equation relation ab=y among the vandermonde matrix a, the coefficient sequence B and the ordinate sequence Y, wherein the coefficient sequence B comprises n+1 expression coefficients of the second n-degree polynomial expression.
2. The method of claim 1, wherein the obtaining n+1 track sample points on the vehicle running track according to the first nth order polynomial expression comprises:
acquiring a first coordinate point representing a starting point of the vehicle running track and a second coordinate point representing an end point of the vehicle running track from the first n-degree polynomial expression;
calculating the absolute value of the difference value between the coordinate value of the first coordinate point on the first coordinate axis and the coordinate value of the second coordinate point on the first coordinate axis;
calculating the ratio of the absolute value to n, wherein the ratio is the interval length of the track sample points;
according to the interval length and the first coordinate point, calculating coordinate values of each track sample point in n+1 track sample points in the first coordinate axis;
substituting the coordinate value of each track sample point in the first coordinate axis into the first n-degree polynomial expression, and calculating the coordinate value of each track sample point in the second coordinate axis;
and acquiring each track sample point according to the coordinate value of each track sample point on the first coordinate axis and the coordinate value of each track sample point on the second coordinate axis.
3. The method according to claim 1, wherein moving each of the n+1 track sample points by L unit lengths according to the respective position features based on the overall translation direction of the vehicle running track, to obtain n+1 track translation sample points, includes:
calculating the tangential tilt angle theta of each track sample point;
calculating a translation vector of each track sample point translating in the whole translation direction according to the tangential tilt angle theta and the translation distance L of each track sample point;
and calculating corresponding track translation sample points according to the coordinate values of each track sample point and the corresponding translation vectors.
4. A method according to claim 3, wherein the overall translational direction is the left-hand direction of the overall vehicle trajectory;
calculating a translation vector of each track sample point translating in the whole translation direction according to the tangential tilt angle theta and the translation distance L of each track sample point, wherein the translation vector comprises the following components:
for each track sample point p i (x i ,y i ) According to the formulaCalculating a translation vector (vx) i ,vy i )。
5. A method according to claim 3, wherein the overall translational direction is a right-hand direction of the overall vehicle trajectory;
Calculating a translation vector of each track sample point translating in the whole translation direction according to the tangential tilt angle theta and the translation distance L of each track sample point, wherein the translation vector comprises the following components:
for each track sample point p i (x i ,y i ) According to the formulaCalculating a translation vector (vx) i ,vy i )。
6. The method of claim 1, wherein said constructing a vandermonde matrix a based on said abscissa of each track translated sample point comprises:
the absolute values of the abscissas of the sample points of each track translation are arranged in a descending order to obtain a descending order coordinate sequence p' i (x' i ,y' i )；
Filling the vandermonde matrix A by using a descending order coordinate sequence to obtainWherein x' i j Is x' i To the power j of (2).
7. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the overall translation direction of the vehicle running track comprises the left side direction of the vehicle running track overall and the right side direction of the vehicle running track overall;
the second n-degree polynomial expression comprises a left translation expression and a right translation expression, wherein the left translation expression represents a vehicle running track translated along the left direction of the whole vehicle running track, and the right translation expression represents a vehicle running track translated along the right direction of the whole vehicle running track;
The constructing the traffic area of the vehicle according to the second n-degree polynomial expression comprises:
acquiring a first curve corresponding to the left translation expression in a coordinate axis;
acquiring a second curve corresponding to the right translation expression in the coordinate axis;
and acquiring an area surrounded by the first curve and the second curve, wherein the area is a traffic area of the vehicle.
8. A vehicle passing area construction apparatus, characterized by comprising:
the track expression acquisition module is used for acquiring a first nth order polynomial expression representing the running track of the vehicle;
the sample point acquisition module is used for acquiring n+1 track sample points on the vehicle running track according to the first n-degree polynomial expression;
the translation point acquisition module is used for respectively moving each track sample point in the n+1 track sample points by L unit lengths according to respective position characteristics based on the overall translation direction of the vehicle running track to obtain n+1 track translation sample points, wherein L is determined by the width of the vehicle or the width of the lane;
the translation track acquisition module is used for calculating n+1 expression coefficients of a second n-degree polynomial expression according to each track translation sample point in the n+1 track translation sample points, wherein the second n-degree polynomial expression represents the translated vehicle running track;
The passing area construction module is used for constructing the passing area of the vehicle according to the second n-degree polynomial expression;
the translation track acquisition module is specifically used for:
according to the abscissa of each track translation sample point, a vandermonde matrix A is constructed;
constructing an ordinate sequence Y according to the ordinate of each track translation sample point, wherein the ordinate sequence Y comprises the ordinate of each track translation sample point;
calculating a coefficient sequence B according to an equation relation ab=y among the vandermonde matrix a, the coefficient sequence B and the ordinate sequence Y, wherein the coefficient sequence B comprises n+1 expression coefficients of the second n-degree polynomial expression.
9. An electronic device, comprising: a processor, a storage medium, and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor in communication with the storage medium via the bus when the electronic device is running, the processor executing the machine-readable instructions to perform the method of any one of claims 1-7 when executed.
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