CN112537299A - Lane keeping method and device based on target object and traffic vehicle - Google Patents
Lane keeping method and device based on target object and traffic vehicle Download PDFInfo
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- CN112537299A CN112537299A CN202011372629.0A CN202011372629A CN112537299A CN 112537299 A CN112537299 A CN 112537299A CN 202011372629 A CN202011372629 A CN 202011372629A CN 112537299 A CN112537299 A CN 112537299A
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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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/20—Static objects
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/24—Direction of travel
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Abstract
The invention relates to a lane keeping method and device based on a target object and a traffic vehicle, wherein the method comprises the following steps: detecting or identifying target objects around the traffic vehicle; detecting the distance between the traffic carrier and the target object; judging the deviation of the traffic carrier; and adjusting the running direction of the traffic vehicle according to the deviation of the traffic vehicle. The invention can keep the same distance between the traffic carrier and the target object all the time, thereby ensuring the driving safety.
Description
Technical Field
The present invention relates to the field of communications technologies, and in particular, to a lane keeping method and apparatus based on a target, and a traffic vehicle.
Background
Vehicles operating in an autonomous driving mode (e.g., unmanned) may relieve occupants, particularly the driver, from some driving-related duties. When operating in an autonomous driving mode, the vehicle may be navigated to various locations using onboard sensors, allowing the vehicle to travel with minimal human interaction or in some cases without any passengers.
In autonomous driving, motion planning and control are vital operations. For an autonomous vehicle (ADV), it is important to travel and remain within the lane in which the ADV is traveling. However, the perception or planning of autonomous driving may be inaccurate, and it may not be detected that the ADV is not driving along the lane properly. On the other hand, in the case that no lane is set on some road surfaces or no lane marking lines are divided on the lane, the Automatic Driving Vehicle (ADV) cannot perform a good lane keeping function by adopting the existing method, and even a driving accident occurs, so that the lane recognition and keeping function relying only on the lane marking lines is limited.
Disclosure of Invention
In order to overcome the technical defects in the prior art, the invention provides a lane keeping method and device based on a target object and a traffic vehicle, which can keep the same distance between the traffic vehicle and the target object all the time, thereby ensuring the driving safety and effectively solving the problems in the background art.
In order to solve the above technical problems, the technical solutions of the lane keeping method and apparatus based on the target object and the traffic vehicle provided by the present invention are as follows:
in a first aspect, an embodiment of the present invention discloses a lane keeping method based on a target, including the following steps:
detecting or identifying target objects around the traffic vehicle;
detecting the distance between the traffic carrier and the target object;
judging the deviation of the traffic carrier;
and adjusting the running direction of the traffic vehicle according to the deviation of the traffic vehicle.
In any of the above aspects, it is preferable that the vehicle has a sensor with a detection function, and the sensor is arranged on the outline or the top of the vehicle.
In any of the above aspects, preferably, the sensor detects a distance between one side of the vehicle and the target object in real time.
In any of the above aspects, preferably, the step of detecting or identifying the target object around the transportation vehicle includes:
acquiring whether a target object with the length larger than a certain threshold value exists on one side in a driving road section with a certain length in front of the traffic carrier through three-dimensional map information, and if so, preferentially selecting a radar or laser ranging mode and acquiring the distance between the traffic carrier and the edge of the road; the threshold value H is not less than V x t, and V is the average speed of the traffic vehicle; t is time, t is more than or equal to 10 s.
In any of the above aspects, preferably, the lane keeping method based on the object further includes selecting a sensor to be used according to the acquired information whether the object exists in front of the transportation vehicle.
In any of the above aspects, preferably, if the distance between the vehicle and the target object is not changed, the vehicle is not adjusted;
if the distance between the traffic carrier and the target object is increased, adjusting the traffic carrier to the direction close to the target object;
if the distance between the traffic carrier and the target object is smaller, the adjustment is carried out in the direction away from the target object.
When the invention is used, the distance between the traffic carrier and the target object is detected by detecting or identifying the target object around the traffic carrier, the deviation of the traffic carrier is judged, the driving direction of the traffic carrier is adjusted according to the deviation of the traffic carrier, the same distance can be always kept between the traffic carrier and the target object, and the driving safety is ensured.
In a second aspect, an apparatus for object-based lane keeping, comprising:
the system comprises a detection and identification unit, a traffic vehicle and a real-time positioning unit, wherein the detection and identification unit is used for detecting or identifying a target object, detecting the distance between the traffic vehicle and the target object, and judging whether the target object exists in a front road section or not by combining three-dimensional map information and real-time positioning information, the three-dimensional map is reconstructed three-dimensional map information obtained by scanning a certain area by an unmanned aerial vehicle in advance, and whether the target object exists in front of the traffic vehicle or not is obtained through the three;
the deviation judging unit is used for judging the deviation of the traffic carrier according to the distance between the traffic carrier and the target object detected or identified by the detection and identification unit;
and a direction adjusting unit for adjusting the driving direction of the traffic vehicle according to the deviation of the traffic vehicle.
In any of the above aspects, it is preferable that the apparatus for lane keeping based on an object further includes a sensor fixedly disposed on the contour or the top of the vehicle, and the sensor detects the distance between one side of the vehicle and the object in real time.
In any of the above schemes, preferably, when the distance between the transportation vehicle and the target object is not changed, the transportation vehicle does not need to be adjusted;
when the distance between the traffic carrier and the target object is increased, the traffic carrier is adjusted to the direction close to the target object;
when the distance between the traffic carrier and the target object is reduced, the traffic carrier is adjusted to the direction far away from the target object.
The second aspect of the present invention performs the same function as the first aspect, and therefore, the description thereof is omitted.
In a third aspect, a vehicle includes the apparatus for lane keeping based on an object.
The third aspect of the present invention plays the same role as the second aspect and the first aspect, and therefore, the description thereof is omitted.
Drawings
The drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification.
FIG. 1 is a schematic diagram of a preferred embodiment of a lane keeping method based on an object in accordance with the present invention;
FIG. 2 is a schematic diagram of a road boundary line in the object-based lane keeping method according to the present invention as a solid line;
FIG. 3 is a schematic view of a road boundary line in the object-based lane keeping method according to the present invention as a dotted line;
fig. 4 is a schematic view of a case where the transportation vehicle in the object-based lane keeping method according to the present invention is a car for home use.
Fig. 5 is a schematic view of the situation when the distance measurement is performed on the car in the target-based lane keeping method according to the present invention.
Fig. 6 is a schematic diagram illustrating the selection manner of the sensor detection when the traffic vehicle in the lane keeping method based on the object is a sedan and the object with a longer distance is always present on the right side of the road where the automobile runs.
Fig. 7 is a schematic diagram of the selection manner of sensor detection when the traffic vehicle in the object-based lane keeping method according to the invention is a sedan in the presence of an object interval on the right side of the road where the automobile is running.
Fig. 8 is a schematic diagram illustrating a road on which a traffic vehicle of the lane keeping method based on an object is driven by a family car and provided with some sensing components.
Fig. 9 is a schematic diagram of the reference object on the right road boundary of the vehicle when L1> L0 in the lane keeping method based on the object according to the present invention.
Fig. 10 is a schematic diagram of the reference object on the right road boundary of the vehicle when L1< L0 in the lane keeping method based on the object according to the present invention.
Fig. 11 is a logic diagram of the lane keeping apparatus of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" 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" or "second" 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 specifically defined otherwise.
For better understanding of the above technical solutions, the technical solutions of the present invention will be described in detail below with reference to the drawings and the detailed description of the present invention.
Example (b):
in a first aspect, an embodiment of the present invention discloses a data communication method, as shown in fig. 1, the method includes the following steps:
step 1, detecting or identifying a reference object 100 around a vehicle.
The vehicle may be a vehicle powered by a powertrain. Such as passenger cars, freight cars, public transportation vehicles, etc. driven by gasoline or diesel engines, or two-wheel, three-wheel or four-wheel electric vehicles driven by motors, or transportation vehicles driven by other new energy sources as power sources.
Preferably, the reference object may be a recognizable object having a certain regular shape or arrangement. Such as a presence in the environment surrounding the vehicle, which may be moving, such as other traffic vehicles surrounding the traffic vehicle, or moving objects having a certain relative speed with respect to the traffic vehicle, or stationary, such as a road marking, a road boundary, a telegraph pole, a traffic sign, a building, etc., surrounding the traffic vehicle. More preferably, in one embodiment of the present invention, the reference object is a road boundary line. As shown in fig. 2, the road boundary line may be a solid white line drawn by traffic, a road administration department, or other departments at the boundary of the road surface, or may be a mark line 101 in other colors and in other line types. Alternatively, as shown in fig. 3, the road boundary line may be a virtual boundary line or a marker line 102 detected or recognized in a static or dynamic image captured in real time by the vehicle.
And 2, detecting the distance 200 between the traffic carrier and the reference object.
In this step, the vehicle has a sensor 201 with a detection function, such as a radar, a laser range finder, an infrared detector, a sonar sensor, a visible light camera, a camera, or the like. The sensor 201 may be located on the contour or on top of the vehicle. As shown in fig. 4, fig. 4 illustrates a case where the vehicle is a car for home use, and those skilled in the art will appreciate that the vehicle may be any of the foregoing examples in a broader application scenario. One or more sensors may be provided on one or more sides of the body of the home car. For example, one or more radar distance meters or laser distance meters are arranged on the left side of the vehicle body. One or more radar rangefinders, or laser rangefinders, may also be provided at the front or right or rear side of the vehicle body. It is also possible to provide different types of sensors on one or more sides of the vehicle body, for example at least one radar distance measuring device and at least one camera on the right side of the vehicle body.
In a preferred embodiment, as shown in fig. 5, fig. 5 illustrates a case where the vehicle is a home sedan for distance measurement, and it will be understood by those skilled in the art that the vehicle may be any one of the aforementioned examples in a broader application scenario. The radar detector is to be installed and fixed at the right side position in front of the vehicle body, has a certain height from the road surface and faces the right side area of the vehicle at a certain downward inclined angle, and the installation height and the angle are determined according to the self condition of the vehicle, such as the installation on the lower part of a vehicle door, a chassis, a support column, the top of the right side of the vehicle body and the like. After the radar detector is fixed, a stable range value can be obtained, namely the range value calculated from the time from the signal sending of the radar detector to the time of receiving the signal.
The sensor detects the distance between one side of the vehicle and a reference object in real time. For example, a laser range finder disposed on the right side of the vehicle body detects the distance between the right side of the vehicle body and the right road boundary in real time. For another example, a camera provided in the front of the vehicle captures a real-time image of the traveling of the vehicle, detects or recognizes a right road boundary from the image, and calculates a distance between the right side of the vehicle body and the detected or recognized right road boundary.
In a preferred embodiment, the infrared detector is installed and fixed at a position at the right side in front of the vehicle body, at a certain height from the road surface and at a certain angle obliquely downward toward the right side area of the vehicle, and the installation height and angle are determined according to the condition of the vehicle itself, such as the lower part of the door, the chassis, the support pillar, the top of the right side of the vehicle body, and the like. After the infrared detector is fixed, a stable distance measurement value can be obtained, namely the distance value calculated from the time when the infrared detector sends a signal to the time when the infrared detector receives the signal.
In a preferred embodiment, as shown in fig. 6, fig. 6 illustrates the choice of sensor detection when the vehicle is a sedan car with a long distance object on the right side of the road where the car is traveling, and it will be understood by those skilled in the art that the vehicle may be any of the foregoing examples in a broader application scenario. Assuming that a long distance target object such as a road shoulder, a curb, a guardrail, a sound insulation wall, a sound insulation board and the like always exists on the right side of a road on which an automobile runs, if any combination of a plurality of radar, a laser range finder, an infrared detector, a sonar sensor, a visible light camera, a camera and the like is used, the sensor is installed and fixed at the right side position in front of the automobile body, the sensor has a certain height from the road surface and is parallel to, inclined upwards or downwards at a certain angle towards the right side area of the automobile, and the installation height and the angle are determined according to the conditions of the automobile, such as the lower part of an automobile door, the chassis, the support column, the top part of the right side of the automobile body and. After radar, laser range finder, infrared detector, sonar sensor are fixed, alright obtain a more stable range finding value, from radar, laser range finder, infrared detector, sonar sensor signal emission promptly to the distance value that the time calculation of receiving this signal was obtained. The visible light camera or the camera is arranged to detect or identify the right road boundary through shooting a real-time image of the vehicle running, and calculate the distance between the right side of the vehicle body and the right road boundary detected or identified, so that the radar detection is preferentially selected to be used for improving the running safety of the vehicle, when the visible light camera or the camera is specifically used, a millimeter wave radar, an ultrasonic radar, a laser radar, a look-around radar and the like can be selected to be used by the radar, and other sensors are not used.
In a preferred embodiment, assuming that the right side of the road on which the vehicle is traveling has no target such as a shoulder, a curb, a guardrail, a sound-proof wall, a sound-proof plate, etc., then radar, laser range finder, sonar sensor, etc. may not detect the road edge and detection may fail, and therefore, in order to improve safety during traveling of the vehicle, the sensors are selected to be used when the vehicle is traveling under the following conditions:
when the automobile runs under the condition of strong light all the time, the visible light camera is installed on the automobile, the visible light camera is installed and fixed at the position of the right side in front of the automobile body, has a certain height from the road surface and faces the area of the right side of the automobile at a certain downward inclined angle, and the installation height and the angle are determined according to the conditions of the automobile, such as the installation height and the angle are installed at the lower part of an automobile door, the installation height and the angle are determined on a chassis, a support column, the top of the right side of. After the visible light camera is fixed, detecting or identifying the right road boundary through images, and calculating the distance between the right side of the vehicle body and the detected or identified right road boundary;
when the car traveles in the middle of the darker environment of light, in order to improve the security that the vehicle travel, need fix the infrared detector installation at automobile body the place ahead right side position, have certain height and with certain angle orientation vehicle right side region down in the slant apart from the road surface, installation height and angle are confirmed according to vehicle self condition, for example install in the lower part of door, on the chassis, on the support column, automobile body right side top etc.. After the infrared detector is fixed, the right road boundary is detected or identified through images, and the distance between the right side of the vehicle body and the right road boundary is calculated, so that when the visible light camera and the infrared detector are installed on the vehicle body at the same time, when the vehicle runs in an environment with strong light, the visible light camera is preferably selected for detection, the infrared detector is not used, and when the vehicle runs in a condition with dark light, the infrared detector is preferably selected for detection, and the visible light camera is not used.
In a preferred embodiment, assuming that the right side of the road on which the automobile runs has no target object such as a road shoulder, a curb, a guardrail, a sound insulation wall, a sound insulation board and the like, a radar, a laser range finder, a sonar sensor and the like may not detect the edge of the road and the detection may fail, and therefore, in order to improve the safety of the automobile during running, a visible light camera and/or a camera and/or an infrared detector is mounted and fixed at a position at the right side in front of the automobile body, and has a certain height from the road surface and is inclined at a certain downward angle toward the right side area of the automobile, and the mounting height and angle are determined according to the conditions of the automobile, such as the lower part of the automobile door, the chassis, the support pillar, the top of the right side of. When the automobile runs in an environment with strong light, the visible light camera and/or the infrared detector are fixed, then the right side road boundary is detected or identified through images, and the distance between the right side of the automobile body and the detected or identified right side road boundary is calculated.
In a preferred embodiment, as shown in fig. 7, fig. 7 illustrates the selection of sensor detection when the vehicle is a sedan in the presence of a target object spaced to the right of the road on which the vehicle is traveling, and those skilled in the art will appreciate that in a broader application scenario, the vehicle may be any of the foregoing examples. When the object interval on the right side of the automobile driving road appears, such as a road shoulder, a curb, a guardrail, a sound insulation wall, a sound insulation plate and the like, any plurality of sensors in a radar, a laser range finder, an infrared detector, a sonar sensor, a visible light camera, a camera and the like are combined for use, the sensors are installed and fixed at the right side position in front of the automobile body, have a certain height from the road surface and face the right side area of the automobile at a downward inclined angle, and the installation height and the angle are determined according to the conditions of the automobile, such as the installation on the lower part of a door, the chassis, the support column, the top part of the right side of the automobile body and the like. After radar, laser range finder, infrared detector, sonar sensor are fixed, alright obtain a more stable range finding value, from radar, laser range finder, infrared detector, sonar sensor signal emission promptly to the distance value that the time calculation of receiving this signal was obtained. The visible light camera or the camera is arranged to detect or recognize the right road boundary through images by shooting real-time picture images of the running of the vehicle, and calculate the distance between the right side of the vehicle body and the detected or recognized right road boundary, so that:
when the automobile runs under the conditions that the light is strong and no target object exists on the right side of the road, in order to improve the running safety of the automobile, a camera, a radar and/or a laser range finder and/or an infrared detector and/or a sonar sensor and/or a visible light camera are preferably selected not to be used;
when the automobile runs under the conditions that the light is strong and a target object exists on the right side of the road, in order to improve the running safety of the automobile, a radar, a camera and/or a laser range finder and/or an infrared detector and/or a sonar sensor and/or a visible light camera are preferably selected not to be used;
when the automobile runs under the conditions that light is dark and no target object exists on the right side of the road, in order to improve the running safety of the automobile, an infrared detector is preferably selected for detection, and a radar and/or a laser range finder and/or a camera and/or a sonar sensor and/or a visible light camera are not used;
when the automobile runs in dark light and a target object is on the right side of the road, in order to improve the running safety of the automobile, the radar detection is preferably selected and used, and the infrared detector and/or the laser range finder and/or the camera and/or the sonar sensor and/or the visible light camera are not used;
therefore, different sensors can be selectively used according to the actual condition of the right side of the automobile, so that the purpose of keeping the distance from the target object can be realized.
In a preferred embodiment, as shown in fig. 8, fig. 8 is a schematic diagram illustrating a traffic vehicle as a car, wherein some sensing components are disposed on a road on which the car travels, and it will be understood by those skilled in the art that the traffic vehicle may be any one of the aforementioned examples in a wider application scenario. In order to improve the safety and stability of the vehicle, some inductive components 203 may be disposed on the road, and the inductive components may be, for example, inductive coils embedded under the lane, preferably toroidal coils (generally 2m × 1.5m) through which a certain operating current is passed. When the vehicle passes through the annular buried coil or stops on the annular buried coil, the iron of the vehicle cuts the magnetic flux lines to cause the inductance of the coil loop to change, and the detector can detect the existence of the vehicle by detecting the inductance. Further, the phase latch and the phase comparator can be used for detecting the change of the phase; in another embodiment, the oscillation frequency is detected by a coupling circuit in which a loop is formed by a ring-shaped buried coil. The inductive loop running vehicle detector has the characteristics of stable performance, high cost performance, no maintenance, uncomplicated technology and the like. In actual use, when an automobile runs on the lane induction coil side, the phase change is detected by using a phase latch and a phase comparator, and/or the oscillation frequency of the loop formed by the loop of the loop-shaped buried coil is detected by using a coupling circuit, so that the right road boundary can be identified, and the distance between the right side of the automobile body and the detected or identified right road boundary can be calculated.
In a preferred embodiment, the system can make an alternative in advance by judging whether a road section ahead has a reference object such as a road shoulder or not by combining three-dimensional map information and real-time positioning information, wherein the three-dimensional map information is reconstructed after scanning a certain area by an unmanned aerial vehicle in advance in a 3D mode similar to a baidu or a high-grade map.
At this time, the steps of detecting or identifying the target objects around the traffic vehicle are as follows:
obtaining information of a driving road section of a certain length in front of a traffic carrier through three-dimensional map informationWhether a target object with the length larger than a certain threshold value exists on one side, such as a road shoulder, a curb stone, a guardrail, a sound insulation wall, a sound insulation plate and the like, if so, the radar or laser distance measurement mode is preferably selected and the distance between the traffic vehicle and the edge of the road is obtained; the threshold value H is not less than
Is the average speed of the traffic vehicle; t is time, t is more than or equal to 10 s. The method obtains a running road section with a certain length in front of a traffic vehicle through three-dimensional map information to obtain a longer distance on the right side of the road where an automobile runs without target objects such as road shoulders, kerbs, guardrails, sound insulation walls, sound insulation boards and the like, and then a radar, a laser range finder, a sonar sensor and the like may not detect the road edge and the detection may fail, so that when the automobile runs in an environment with strong light, a visible light camera and/or a camera and/or an infrared detector detect or identify the right side road boundary through images, and calculate the distance between the right side of the automobile body and the detected or identified right side road boundary, in order to improve the safety of the automobile running, the camera, the infrared detector and/or the infrared detector are preferably selected to be not used, and when the automobile runs in a dark condition, the infrared detector is preferably selected to be used for detection, the visible light camera and/or the camera are not used.
When the object space on the right side of the automobile driving road is detected, for example, a road shoulder, a curb, a guardrail, a sound insulation wall, a sound insulation plate, or the like, any of a plurality of sensors such as a radar, a laser range finder, an infrared detector, a sonar sensor, a visible light camera, a camera, or the like are used in combination.
When the automobile runs under the conditions that the light is strong and no target object exists on the right side of the road, in order to improve the running safety of the automobile, the camera, the radar and/or the laser range finder and/or the infrared detector and/or the sonar sensor and/or the visible light camera are preferably not used.
When the automobile runs under the conditions that the light is strong and a target object exists on the right side of the road, in order to improve the running safety of the automobile, the radar, the camera, the laser range finder, the infrared detector, the sonar sensor and the visible light camera are preferably not used.
When the automobile runs under the conditions that light is dark and no target object exists on the right side of the road, in order to improve the running safety of the automobile, an infrared detector is preferably selected for detection, and a radar and/or a laser range finder and/or a camera and/or a sonar sensor and/or a visible light camera are not used.
When the automobile runs in dark light and a target object is on the right side of the road, in order to improve the running safety of the automobile, the radar detection is preferably selected and used, and the infrared detector and/or the laser range finder and/or the camera and/or the sonar sensor and/or the visible light camera are not used;
therefore, different sensors can be selectively used according to the actual condition of the right side of the automobile, so that the purpose of keeping the distance from the target object can be realized.
And 3, judging the deviation of the traffic carrier and the reference object 300.
In the above method or one of the above methods, it is determined whether the distance between the side of the vehicle and the road boundary changes, and it is assumed that the distance between the side of the vehicle and the road boundary at a certain time is L1, and the distance between the side of the vehicle and the road boundary at the previous time is L0, and if L0 is L1, it means that the vehicle is not deviated left or right. If L1> L0, this means that the vehicle has displaced to the side away from the reference object, and if L1> L0, this means that the vehicle has left the traveling direction, as shown in fig. 9, on the right road boundary of the vehicle; conversely, an actually measured value of L1< L0 indicates that the vehicle has displaced toward the reference object, and as shown in fig. 10, the reference object is on the right road boundary of the vehicle, and an actual value of L1< L0 indicates that the vehicle has deviated to the right in the traveling direction.
And 4, adjusting the driving direction 400 of the traffic vehicle according to the deviation of the traffic vehicle and the reference object.
When the distance between the vehicle and the road boundary on one side is unchanged relative to the previous moment, the vehicle is in a normal lane keeping state, and no left-right direction adjustment operation is required to be performed on the vehicle. As described in the foregoing steps, if the distance between the vehicle and one road boundary changes, it means that the vehicle is already off-track, and in order to ensure the driving safety, the driving direction needs to be adjusted. Specifically, if the distance between the vehicle and the boundary of one side road is increased, the direction adjustment is performed in the direction approaching the boundary of the side road, for example, if the vehicle deviates left, the steering of the vehicle is adjusted to turn right. If the distance between the traffic vehicle and the boundary of one side road is reduced, the direction adjustment of the direction far away from the boundary of the side road is made, for example, if the traffic vehicle deviates to the right, the steering of the traffic vehicle is adjusted to turn to the left. More preferably, for higher fault tolerance, if L1' -L0< δ L at time T2 is a preset threshold, such as 0.3 m, 0.2 m, 0.1 m, 0.05 m, etc., or other values besides these examples, this means that the vehicle is not deviated, or the deviation range is within the safe range, and no adjustment may be made to the steering of the vehicle. If L1-L0> δ L at time T2, this means that the vehicle has a significant deviation or the deviation range is outside the safe range, and the steering of the vehicle is adjusted. In order to avoid the situation that the initial L0 value and the L1 value measured in the 10 th second may exceed the δ L due to the fact that δ L in two consecutive time periods is small enough, for example, the time interval between T1 and T2 may be 10 milliseconds, the offset value of the vehicle in 10 milliseconds is small, and the accumulated value of δ L in a plurality of consecutive time periods becomes large, for example, the time interval between T1 and T2 is 10 seconds, but the 10 seconds are divided into a plurality of time periods, which may be 1000 time periods, 10000 time periods, or the like, if L1-L0 in the small time periods is calculated in real time, the steering of the vehicle may be not adjusted and the initial L0 value and the L1 value measured in the 10 th second may exceed the δ L, that is the vehicle is running for a long time and accumulated deviation occurs. At this time, more preferably, the time interval of T1 and T2 may be 10 msec, 100 msec, 1 sec, 5 sec, 10 sec, or the like. That is, instead of simply comparing L1-L0 between two temporally adjacent images, L1-L0 between two temporally non-adjacent images may be compared, which may further increase the safety of the vehicle.
In a second aspect, as shown in fig. 11, an apparatus for object-based lane keeping includes:
the system comprises a detection and identification unit, a traffic vehicle and a real-time positioning unit, wherein the detection and identification unit is used for detecting or identifying a target object, detecting the distance between the traffic vehicle and the target object, and judging whether the target object exists in a front road section or not by combining three-dimensional map information and real-time positioning information, the three-dimensional map is reconstructed three-dimensional map information obtained by scanning a certain area by an unmanned aerial vehicle in advance, and whether the target object exists in front of the traffic vehicle or not is obtained through the three;
the deviation judging unit is used for judging the deviation of the traffic carrier according to the distance between the traffic carrier and the target object detected or identified by the detection and identification unit;
and a direction adjusting unit for adjusting the driving direction of the traffic vehicle according to the deviation of the traffic vehicle.
Further, the device for keeping the lane based on the target object also comprises a sensor which is fixedly arranged on the outline or the top of the traffic vehicle, and the sensor detects the distance between one side of the vehicle and the target object in real time.
Furthermore, when the distance between the traffic carrier and the target object is not changed, the traffic carrier does not need to be used
To be adjusted;
when the distance between the traffic carrier and the target object is increased, the traffic carrier is adjusted to the direction close to the target object;
when the distance between the traffic carrier and the target object is reduced, the traffic carrier is adjusted to the direction far away from the target object.
In a third aspect, a vehicle includes the apparatus for lane keeping based on an object.
Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that various changes, modifications and substitutions can be made without departing from the spirit and scope of the invention as defined by the appended claims. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method of target-based lane keeping, the method comprising the steps of:
detecting or identifying target objects around the traffic vehicle;
detecting the distance between the traffic carrier and the target object;
judging the deviation of the traffic carrier;
and adjusting the running direction of the traffic vehicle according to the deviation of the traffic vehicle.
2. The object-based lane keeping method of claim 1, wherein the vehicle has a sensor thereon with a detection function, the sensor being disposed on the contour or on the top of the vehicle.
3. The object-based lane keeping method of claim 2, wherein the sensor detects a distance of one side of the vehicle from the object in real time.
4. The method of claim 3, wherein the step of detecting or identifying objects in the vicinity of the vehicle comprises:
acquiring whether a target object with the length larger than a certain threshold value exists on one side in a driving road section with a certain length in front of the traffic carrier through three-dimensional map information, and if so, preferentially selecting a radar or laser ranging mode and acquiring the distance between the traffic carrier and the edge of the road; the threshold value H is not less than V x t, and V is the average speed of the traffic vehicle; t is time, t is more than or equal to 10 s.
5. The object-based lane keeping method of claim 4, further comprising selecting a sensor to be used based on the information obtained as to whether there is an object in front of the vehicle.
6. The object-based lane keeping method of claim 5,
if the distance between the traffic carrier and the target object is not changed, the traffic carrier is not adjusted;
if the distance between the traffic carrier and the target object is increased, adjusting the traffic carrier to the direction close to the target object;
if the distance between the traffic carrier and the target object is smaller, the adjustment is carried out in the direction away from the target object.
7. An apparatus for lane keeping based on an object, comprising:
the system comprises a detection and identification unit, a traffic vehicle and a real-time positioning unit, wherein the detection and identification unit is used for detecting or identifying a target object, detecting the distance between the traffic vehicle and the target object, and judging whether the target object exists in a front road section or not by combining three-dimensional map information and real-time positioning information, the three-dimensional map is reconstructed three-dimensional map information obtained by scanning a certain area by an unmanned aerial vehicle in advance, and whether the target object exists in front of the traffic vehicle or not is obtained through the three;
the deviation judging unit is used for judging the deviation of the traffic carrier according to the distance between the traffic carrier and the target object detected or identified by the detection and identification unit;
and a direction adjusting unit for adjusting the driving direction of the traffic vehicle according to the deviation of the traffic vehicle.
8. The target-based lane keeping apparatus of claim 8, wherein:
the vehicle-mounted intelligent monitoring system further comprises a sensor, wherein the sensor is fixedly arranged on the outline or the top of the vehicle, and the sensor detects the distance between one side of the vehicle and a target object in real time.
9. The target-based lane keeping apparatus of claim 8, wherein:
when the distance between the traffic carrier and the target object is not changed, the traffic carrier does not need to be adjusted;
when the distance between the traffic carrier and the target object is increased, the traffic carrier is adjusted to the direction close to the target object;
when the distance between the traffic carrier and the target object is reduced, the traffic carrier is adjusted to the direction far away from the target object.
10. A vehicle comprising the object-based lane keeping apparatus of any one of claims 7-9.
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