CN112339753A - Lane keeping auxiliary system based on laser radar positioning technology - Google Patents
Lane keeping auxiliary system based on laser radar positioning technology Download PDFInfo
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- CN112339753A CN112339753A CN202011125801.2A CN202011125801A CN112339753A CN 112339753 A CN112339753 A CN 112339753A CN 202011125801 A CN202011125801 A CN 202011125801A CN 112339753 A CN112339753 A CN 112339753A
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
Abstract
The invention relates to the technical field of lane keeping auxiliary systems, in particular to a lane keeping auxiliary system based on a laser radar positioning technology, which comprises a high-precision map, a positioning map matching, a navigation calculation, a control calculation, a communication between a navigation control module and an execution mechanism and a unified interactive software operation interface, wherein the high-precision map comprises a high-precision point cloud map and a high-precision vector map, and the high-precision point cloud map is a three-dimensional reconstruction of a real scene. The invention fundamentally avoids the influence of external environments such as illumination, weather and the like on the lane keeping function, so that the lane keeping can easily cope with severe environmental conditions such as curves, night, rain, snow and the like, the normalized control deviation is calculated by utilizing the front viewpoint mode, and the steering wheel of the automobile is controlled to rotate by utilizing the proportional, integral and differential controllers, thereby solving the problems of unstable and swinging control of the automobile, ensuring that the automobile runs more stably and experiences comfortableness.
Description
Technical Field
The invention relates to the technical field of lane keeping auxiliary systems, in particular to a lane keeping auxiliary system based on a laser radar positioning technology.
Background
The lane keeping function is one of the most widely used functions in the driving assistance, and is also the basis of the higher-level driving assistance function. Most of the existing lane keeping function is realized based on a vehicle-mounted camera. The method comprises the steps of collecting image data of a camera in real time in the driving process of the automobile, detecting a road lane line in the image, finding a central line, judging whether the current transverse position of the automobile deviates or not, and adjusting the automobile.
The following problems mainly exist in this way: 1. the process of detecting the lane line in the image is easily interfered by illumination, weather and the like, and the lane line is difficult to detect and cannot complete the lane keeping function under the environment with insufficient illumination such as night, cloudy day and the like; 2. when a vehicle enters a curve, lane detection based on an image becomes difficult, false detection is easy to occur, or a lane line cannot be detected, so that a lane keeping function exits, and the use experience is seriously influenced; 3. the function may be exited even when the lane line on the road surface is not clear or the lane line is complicated. Therefore, it is necessary to design a lane keeping assist system based on the lidar positioning technology to solve the above problems.
Disclosure of Invention
The invention aims to provide a lane keeping auxiliary system based on a laser radar positioning technology, which aims to solve the problems that the process of detecting lane lines in an image is easily interfered by illumination, weather and the like in the background technology, and the lane lines are difficult to detect and the lane keeping function cannot be finished under the environment with insufficient illumination such as night, cloudy day and the like; when a vehicle enters a curve, lane detection based on an image becomes difficult, false detection is easy to occur, or a lane line cannot be detected, so that a lane keeping function exits, and the use experience is seriously influenced; the function can be quitted when the lane line on the road surface is not clear or the lane line is more complicated.
The technical scheme of the invention is as follows: the lane keeping auxiliary system based on the laser radar positioning technology comprises a high-precision map, a positioning map matching, a navigation calculation, a control calculation, a communication of a navigation control module and an execution mechanism and a unified interactive software operation interface, wherein the high-precision map comprises a high-precision point cloud map and a high-precision vector map, the high-precision point cloud map is a three-dimensional reconstruction of a real scene, high-precision positioning can be carried out by means of real-time laser radar observation, and the high-precision semantic vector map comprises semantic and geometric information such as lane lines, road surface identification and traffic rules and can provide navigation information such as lane intermediate lines and road surface identification.
Furthermore, the communication between the navigation control module and the actuator includes a plurality of parts, such as the navigation module, the control module and the actuator, and a communication module is needed to solve the communication, information transmission and control between different modules.
Furthermore, a zeroMQ network transmission framework is adopted for data transmission between the navigation and control module, and a Controller Area Network (CAN) protocol which is relatively universal on an automobile is adopted for data and command transmission between the control module and the executing mechanism.
Furthermore, the positioning map is matched by taking a vehicle positioning result as an origin and positioning uncertainty as a radius, a circumferential area is taken, then a nearest neighbor method is used for searching N lanes which are closest to the area in the vector map, the N lanes are traversed, and the lane which is overlapped with the area is found.
Furthermore, the navigation calculation is to determine the control target pose of the vehicle according to the relative position relationship between the current vehicle and the lane, calculate the deviation degree from the quantized current pose to the target pose, calculate the navigation parameters and transmit the navigation parameters to the control module.
Further, the control calculation is to control the executing mechanism to realize the trajectory planned by the navigation algorithm according to the output of the navigation algorithm and the current state of the vehicle.
Furthermore, the unified interactive software operation interface can render the relative position of the vehicle and the high-precision map according to the vehicle positioning information, simultaneously display the center line of the current lane as a target navigation track, display the position and the connection line of the forward-looking point according to the navigation calculation result, display navigation and control parameters through the operation interface, adjust the parameters and facilitate the realization of navigation and control algorithms.
Furthermore, the control calculation takes the navigation offset as a deviation, calculates the control quantity according to a proportional, differential and integral calculation formula, applies the control quantity to an actuating mechanism to control the rotation of a steering wheel, then the vehicle can move towards the center line of the lane, and recalculates the navigation offset according to positioning and a map, so that closed-loop feedback is formed, the effect of feedback control is achieved, the control deviation is gradually reduced, the vehicle converges to the center of the lane, and swing cannot occur.
Further, the navigation calculation calculates the distance between the front view points according to the current speed of the vehicle, then, on the lane central line, a point which is in front of the vehicle and is equal to the distance between the front view points is found as a front view point, a line segment which connects the vehicle and the front view points is connected, the angle difference between the line segment and the vehicle orientation is the angle deviation, the distance between the vehicle and the lane central line in the transverse direction is the vehicle distance deviation, the angle deviation and the distance deviation are normalized, the vehicle navigation offset is obtained, when the vehicle is positioned on the lane central line and the vehicle course is tangent to the central line, the deviation is 0, and the advantage of adopting the front view point navigation is that the vehicle track can be ensured to gradually converge towards the lane central line.
The invention provides a lane keeping auxiliary system based on laser radar positioning technology through improvement, and compared with the prior art, the lane keeping auxiliary system has the following improvement and advantages:
(1) the invention creates a new lane keeping function realized based on laser radar positioning technology, obtains the position of the current vehicle through positioning, obtains the lane where the current vehicle is located through matching with a high-precision map, and controls the vehicle to run on the center line of the lane.
(2) The invention utilizes the positioning technology based on the laser radar, so that the all-source state information of the three-dimensional position, the speed, the attitude and the like of the vehicle can be obtained, and the accurate vehicle track deviation can be calculated.
(3) The invention has the advantages that the prior of a high-precision map is provided, the mutual position relation between the vehicle and the map can be calculated, the unified interactive software operation interface displays the current position of the vehicle and the map around the vehicle in a third person weighing view angle mode, the current lane, the lane around the vehicle and the vehicle tracking route are included, and the display content is richer and more visual.
Drawings
The invention is further explained below with reference to the figures and examples:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of an operation interface structure according to the present invention;
fig. 3 is a schematic diagram of a high-precision map structure of the present invention.
Detailed Description
The present invention will be described in detail with reference to fig. 1 to 3, and the technical solutions in the embodiments of the present invention will be clearly and completely described, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The invention provides a lane keeping auxiliary system based on a laser radar positioning technology through improvement, as shown in figures 1-3, the lane keeping auxiliary system comprises a high-precision map, a positioning map matching, a navigation calculation, a control calculation, a communication between a navigation control module and an execution mechanism and a unified interactive software operation interface, the high-precision map comprises a high-precision point cloud map and a high-precision vector map, the high-precision point cloud map is a three-dimensional reconstruction of a real scene, high-precision positioning can be carried out by depending on real-time laser radar observation, the high-precision semantic vector map comprises semantic and geometric information such as lane lines, road surface marks, traffic rules and the like, and navigation information such as lane intermediate lines, road surface marks and the like can be provided.
Furthermore, the communication between the navigation control module and the actuator includes a plurality of parts, such as the navigation module, the control module and the actuator, and a communication module is needed to solve the communication, information transmission and control between different modules.
Furthermore, a zeroMQ network transmission framework is adopted for data transmission between the navigation and control module, and a Controller Area Network (CAN) protocol which is relatively universal on an automobile is adopted for data and command transmission between the control module and the executing mechanism.
Furthermore, the positioning map is matched with a vehicle positioning result as an origin, positioning uncertainty is used as a radius, a circumferential area is taken, then a nearest neighbor method is used for searching N lanes which are closest to the area in the vector map, the N lanes are traversed, and a lane which is overlapped with the area is found.
Furthermore, the navigation calculation is to determine the control target pose of the vehicle according to the relative position relationship between the current vehicle and the lane, calculate the deviation degree from the quantized current pose to the target pose, calculate the navigation parameters and transmit the navigation parameters to the control module.
Furthermore, the control calculation is to control the executing mechanism to realize the track planned by the navigation algorithm according to the output of the navigation algorithm and the current state of the vehicle.
Furthermore, the unified interactive software operation interface can render the relative position of the vehicle and the high-precision map according to the vehicle positioning information, simultaneously display the center line of the current lane as a target navigation track, display the position and the connection line of the forward-looking point according to the navigation calculation result, display navigation and control parameters through the operation interface, adjust the parameters and facilitate the realization of navigation and control algorithms.
Furthermore, the control calculation takes the navigation offset as a deviation, calculates the control quantity according to a proportional, differential and integral calculation formula, applies the control quantity to an actuating mechanism to control the rotation of a steering wheel, then the vehicle can move towards the center line of the lane, and recalculates the navigation offset according to positioning and a map, so that closed-loop feedback is formed, the effect of feedback control is achieved, the control deviation is gradually reduced, the vehicle converges to the center of the lane, and swing cannot occur.
Further, the navigation calculation calculates the distance of a front viewpoint according to the current speed of the vehicle, then, on a lane central line, a point which is in front of the vehicle and is equal to the distance of the front viewpoint is found as a front view point, a line segment which connects the vehicle and the front viewpoint, the angle difference between the line segment and the orientation of the vehicle is an angle offset, the distance between the transverse direction of the vehicle and the lane central line is the vehicle distance offset, the angle offset and the distance offset are normalized, and a vehicle navigation offset is obtained, when the vehicle is positioned on the lane central line and the heading of the vehicle is tangent to the central line, the offset is 0, and the adoption of the front view point navigation has the advantages of ensuring that the track of the vehicle gradually converges towards the lane.
The working principle of the invention is as follows: the high-precision map is divided into a high-precision vector map and a high-precision point cloud map, the high-precision point cloud map is a three-dimensional reconstruction of a real scene, high-precision positioning can be carried out by means of real-time laser radar observation, the high-precision vector map comprises semantic and geometric information such as lane lines, road marks, traffic rules and the like, navigation information such as lane intermediate lines, road marks and the like can be provided, and priori knowledge is provided for realizing a lane keeping function of a vehicle, firstly, a vehicle positioning result is taken as an origin, positioning uncertainty is taken as a radius, a circumferential area is taken, then, a nearest N lanes in the vector map are searched by using a nearest neighbor method, the N lanes are traversed, and intersections overlapped with the area are found, wherein under the complex traffic condition, if a vehicle passes through a cross road, the condition of multi-lane overlapping can exist, at the moment, the vehicle history tracks are required, judging which lane the vehicle belongs to at present, calculating the distance of a front viewpoint according to the current speed of the vehicle, finding a point in front of the vehicle, which is equal to the distance of the front viewpoint, on a lane central line as a front viewpoint, connecting the vehicle with the line segment of the front viewpoint, wherein the angle difference between the line segment and the vehicle direction is the angle deviation, the distance between the vehicle in the transverse direction and the lane central line is the vehicle distance deviation, and normalizing the angle deviation and the distance deviation to obtain the vehicle navigation deviation. When the vehicle is positioned on the central line of the lane and the course of the vehicle is tangent to the central line, the deviation is 0, the forward sight point navigation has the advantages that the vehicle track CAN be ensured to be gradually converged towards the central line of the lane, the track is smooth, the vehicle swing is reduced, the control quantity is calculated according to the navigation offset as the deviation, the control quantity is acted on the actuating mechanism to control the rotation of the steering wheel, then the vehicle CAN move towards the central line of the lane, the navigation offset is recalculated according to the positioning and the map, thereby forming the closed loop feedback, achieving the effect of feedback control, gradually reducing the control offset, converging the vehicle to the center of the lane and avoiding the swing, a ZeroMQ network transmission frame is adopted for data transmission between the navigation module and the control module, the vehicle navigation control module and the actuating mechanism have the advantages of light weight and high efficiency, and a Controller Area Network (CAN) protocol which is relatively common on the vehicle is adopted for data and, the interactive software operation interface can render the relative position of the vehicle and the high-precision map according to the vehicle positioning information, simultaneously display the center line of the current lane as a target navigation track, display the position and the connection line of a forward-looking point according to the navigation calculation result, display the navigation and control parameters and adjust the parameters, thereby being convenient for realizing the navigation and control algorithm.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. Lane keeps auxiliary system based on laser radar location technique, its characterized in that: the high-precision point cloud map is a three-dimensional reconstruction of a real scene, can be used for high-precision positioning by means of real-time laser radar observation, and comprises semantic and geometric information such as lane lines, pavement marks and traffic rules, and can provide navigation information such as lane intermediate lines and pavement marks.
2. The lidar positioning technology-based lane keeping assist system of claim 1, wherein: the communication between the navigation control module and the execution mechanism comprises a navigation module, a control module, an execution mechanism and the like, and a communication module is needed to solve the communication, information transmission and control among different modules.
3. The lidar positioning technology-based lane keeping assist system of claim 2, wherein: the data transmission between the navigation and control module adopts a zeroMQ network transmission framework, and the control module and the execution mechanism adopt a Controller Area Network (CAN) protocol which is relatively universal on an automobile to transmit data and commands.
4. The lidar positioning technology-based lane keeping assist system of claim 1, wherein: the positioning map is matched by taking a vehicle positioning result as an origin point and positioning uncertainty as a radius, a circumferential area is taken, then a nearest neighbor method is used for searching N lanes which are closest to the area in the vector map, the N lanes are traversed, and the lane which is overlapped with the area is found.
5. The lidar positioning technology-based lane keeping assist system of claim 1, wherein: the navigation calculation is to determine the control target pose of the vehicle according to the relative position relationship between the current vehicle and the lane, calculate the deviation degree from the quantized current pose to the target pose, calculate the navigation parameters and transmit the navigation parameters to the control module.
6. The lidar positioning technology-based lane keeping assist system of claim 1, wherein: the control calculation is to control the executing mechanism to realize the track planned by the navigation algorithm according to the output of the navigation algorithm and the current state of the vehicle.
7. The lidar positioning technology-based lane keeping assist system of claim 1, wherein: the unified interactive software operation interface can render the relative position of the vehicle and the high-precision map according to the vehicle positioning information, simultaneously display the center line of the current lane as a target navigation track, display the position and the connection line of a forward-looking point according to the navigation calculation result, display navigation and control parameters through the operation interface, adjust the parameters and facilitate the realization of a navigation and control algorithm.
8. The lidar positioning technology-based lane keeping assist system of claim 6, wherein: the control calculation takes the navigation offset as the deviation, calculates the control quantity according to a proportional, differential and integral calculation formula, applies the control quantity to an actuating mechanism to control the rotation of a steering wheel, then the vehicle can move towards the center line of a lane, and recalculates the navigation offset according to positioning and a map so as to form closed-loop feedback, thereby achieving the effect of feedback control, gradually reducing the control deviation, converging the vehicle to the center of the lane and avoiding swinging.
9. The lidar positioning technology-based lane keeping assist system of claim 5, wherein: the navigation calculation calculates the distance of a front viewpoint according to the current speed of a vehicle, then, on a lane central line, a point which is in front of the vehicle and is equal to the distance of the front viewpoint is found as a front view point, a line segment which connects the vehicle and the front viewpoint, the angle difference between the line segment and the direction of the vehicle is an angle deviation, the distance between the transverse direction of the vehicle and the lane central line is the vehicle distance deviation, the angle deviation and the distance deviation are normalized, and a vehicle navigation offset is obtained, when the vehicle is positioned on the lane central line and the heading of the vehicle is tangent to the central line, the deviation is 0, and the advantage of adopting the front view point navigation is that the vehicle track can be ensured to gradually converge towards the lane.
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Cited By (1)
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| CN115465816A (en) * | 2022-11-14 | 2022-12-13 | 深圳海星智驾科技有限公司 | Cargo unloading method and device and electronic equipment |
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Application publication date: 20210209 |