CN112578796B - Curvature constraint-based guide line generation method and device - Google Patents
Curvature constraint-based guide line generation method and device Download PDFInfo
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Abstract
The invention relates to a method and a device for generating a guide line based on curvature constraint, wherein the method comprises the following steps: determining a road boundary line and a starting point and an end point of a vehicle; constructing a motion element of the vehicle on a high-precision map, and determining a node where the vehicle escapes according to the motion element; determining node weight according to the deviated node and the curvature of the boundary line; and searching a dynamic node sequence according to the node weight to generate a guideline. According to the invention, a plurality of escape nodes are determined through the maximum steering angle and the curvature of the boundary line, the weight of the escape nodes is determined according to the curvature, and then the guide line is obtained through a search algorithm, the degree of consistency between the curvature change of the guide line and the boundary line is high, the turning is smooth, and the jitter and the discomfort of passengers in the automatic driving process are reduced.
Description
Technical Field
The invention belongs to the field of automatic driving navigation and electronic maps, and particularly relates to a method and a device for generating a guide line based on curvature constraint.
Background
The automatic driving vehicle needs to generate a vehicle running track (guide line) meeting vehicle dynamics constraint by combining barrier information sensed by the vehicle and the like under the assistance of a high-precision map, so that the vehicle can run on a road safely, comfortably and reliably. Since the curvature of the vehicle changes during turning, the guide line is curved and uneven, which causes problems such as a rattling of the self-driving vehicle and an uncomfortable feeling of the passenger.
Disclosure of Invention
In order to solve the problems that the generation result of the guide line is consistent with the curvature change of the road boundary line based on the curvature constraint and the comfort of automatic driving is increased, the invention provides a guide line generation method based on the curvature constraint in a first aspect, and the guide line generation method determines the road boundary line and the starting point and the end point of a vehicle; constructing a motion element of the vehicle on a high-precision map, and determining a node where the vehicle is pulled out according to the motion element; determining node weight according to the deviated node and the curvature of the boundary line; and searching a dynamic node sequence according to the node weight to generate a guide line.
In some embodiments of the invention, the construction vehicleThe method for determining the node of the vehicle escape according to the motion primitives comprises the following steps: calculating the minimum turning radius according to the vehicle wheel base information; constructing an external tangent circle along the left side and the right side of the vehicle course respectively, wherein the radius of the external tangent circle is the minimum turning radius; on the circumscribed circle, a point P of arc length equal to the length of the motion element is taken from the vehicle position as a starting point O i And P j Then line segment OP i And OP j The angles formed by the angle and the vehicle course are respectively the maximum left corner and the maximum right corner; equally dividing the arc length determined by the maximum left corner, the maximum right corner and the starting point O into N to obtain N-1 nodes, and then obtaining N-1 nodes and P i 、P j Namely N +1 drop-out nodes. Preferably, the length of the motion element is not more than 1m, and N is more than or equal to 4.
In some embodiments of the present invention, the determining node weights according to the deviated nodes and the curvature of the boundary line comprises the steps of: projecting the vehicle to a boundary line closest to the vehicle body to obtain a projection line segment of the vehicle body on the boundary line; calculating the difference value between the course angle of the projection line segment and the course angle of each disengaged node; and determining the weight of the node which is correspondingly deviated according to the course angle difference value.
In some embodiments of the invention, searching the sequence of kinetic nodes to generate guideline, based on the node weights, comprises the steps of: constructing a motion element of the vehicle on a high-precision map by taking the initial position of the vehicle as a current searching node, and determining a node where the vehicle leaves according to the motion element; removing the drop-out nodes which are not in the passing section according to the collision test, and taking the remaining drop-out nodes as father nodes and storing the father nodes; selecting a point with the minimum weight from the father node as a search node, and repeating the steps according to a heuristic search algorithm until an end point is searched; and backtracking all father nodes from the end point to obtain a node sequence conforming to the dynamics.
Preferably, the search algorithm is an a-star search algorithm.
In a second aspect of the present invention, a guideline generation device based on curvature constraints is provided, comprising a determining module, a constructing module, a weighting module, and a generating module, wherein the determining module is used for determining a road boundary line and a starting point and an end point of a vehicle; the construction module is used for constructing a motion element of the vehicle on the high-precision map and determining a node where the vehicle is out of the map according to the motion element; the weight module is used for determining the node weight according to the deviated node and the curvature of the boundary line; and the generating module is used for searching a node sequence conforming to the dynamics according to the node weight to generate a guide line.
Further, the constructed fixed module comprises a calculation module, an interception module and an equal division module, wherein the calculation module is used for calculating the minimum turning radius according to the vehicle wheel base information, and constructing an external tangent circle along the left side and the right side of the vehicle course respectively, wherein the radius of the external tangent circle is the minimum turning radius; the intercepting module is used for intercepting a point P of arc length equal to the length of the motion element on the circumscribed circle by taking the position of the vehicle as a starting point O i And P j Then line segment OP i And OP j The angles respectively formed with the vehicle course are respectively a maximum left corner and a maximum right corner; the halving module is used for equally dividing the arc length determined by the maximum left corner, the maximum right corner and the starting point O into N to obtain N-1 nodes, and then the N-1 nodes and the P i 、P j Namely N +1 drop-out nodes.
In a third aspect of the present invention, there is provided an electronic apparatus comprising: one or more processors; the storage device is configured to store one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the method for tagging object detection provided by the first aspect of the present invention.
In a fourth aspect of the present invention, a computer-readable medium is provided, on which a computer program is stored, wherein the computer program, when executed by a processor, implements an annotation method for object detection provided in the first aspect of the present invention.
The invention has the beneficial effects that:
1. according to the invention, a plurality of escape nodes are determined through the maximum steering angle and the curvature of the boundary line, the weight of the escape nodes is determined according to the curvature, and then the guide line is obtained through a search algorithm, the degree of consistency between the curvature change of the guide line and the boundary line is high, the turning is smooth, and the jitter and the discomfort of passengers in the automatic driving process are reduced.
Drawings
FIG. 1 is a basic flow diagram of a guideline generation method based on curvature constraints in some embodiments of the invention;
FIG. 2 is a schematic illustration of a vehicle heading angle in some embodiments of the invention;
FIG. 3 is a schematic illustration of a maximum steering angle in some embodiments of the invention;
FIG. 4 is a schematic view of a break-out node configuration in some embodiments of the present invention;
FIG. 5 is a schematic illustration of the effect of a prior art generated guide wire in some embodiments of the present invention;
FIG. 6 is a schematic diagram illustrating the effect of guidelines generated by a guideline generation method based on curvature constraints in some embodiments of the invention;
figure 7 is a schematic structural diagram of a guideline generation apparatus based on curvature constraints in some embodiments of the invention;
FIG. 8 is a basic block diagram of an electronic device in some embodiments of the invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
With reference to fig. 1, 5, 6, in a first aspect of the present invention, there is provided a guideline generation method based on curvature constraints, comprising the steps of: s101, determining a road boundary line and a starting point and an end point of a vehicle; s102, constructing a motion element of the vehicle on the high-precision map, and determining a node where the vehicle is separated according to the motion element; s103, determining node weight according to the deviated node and the curvature of the boundary line; s104, searching a node sequence conforming to the dynamics according to the node weight to generate a guideline.
Referring to fig. 2, the definition of the vehicle heading angle is as follows: under a ground coordinate system, the included angle between the vehicle mass center speed and the transverse axis; vehicle centroid slip angle: the included angle between the direction of the mass center speed of the vehicle and the direction of the vehicle head; the vehicle yaw angle is equal to a course angle-a mass center slip angle; wherein θ is a heading angle; β is the centroid slip angle; phi is the yaw angle, and theta is beta + phi.
Referring to fig. 3 and 4, in step S102 of some embodiments of the present invention, the constructing a moving element of the vehicle on the high-precision map, and determining a node of the vehicle derailment according to the moving element includes the following steps: calculating the minimum turning radius according to the vehicle wheel base information; constructing an external tangent circle along the left side and the right side of the vehicle course respectively, wherein the radius of the external tangent circle is the minimum turning radius; on the circumscribed circle, a point P of arc length equal to the length of the motion element is taken from the vehicle position as a starting point O i And P j Then line segment OP i And OP j The angles respectively formed with the vehicle course are respectively a maximum left corner and a maximum right corner; equally dividing the arc length determined by the maximum left corner, the maximum right corner and the starting point O into N to obtain N-1 nodes, and then obtaining the N-1 nodes and P i 、P j Namely N +1 drop-out nodes. Preferably, the length of the motion element is not more than 1m, and N is not less than 4.
It can be understood that the larger the value of N, the larger the resulting node, the smoother the curve is finally generated, and the higher the degree of consistency with the boundary line is. The value of N and the length of the motion element can be adaptively changed according to the length of the vehicle body and the map precision so as to better match the boundary.
Specifically, referring to fig. 4, the length of the motion primitive is set to be 1m, and points with an arc length of 1m, a point P1 and a point P5 are cut from the left and right circles with the vehicle position as a starting point, so that the angles formed by the line segment OP1 and the line segment OP2 and the vehicle heading respectively are the maximum rotation angle of the vehicle; discretizing the steering angle, equally dividing a sector area formed by the left maximum steering angle and the right maximum steering angle into 4 parts to obtain 5 motion element nodes: p1, P2, P3, P4 and P5. Thereby obtaining 5 missed nodes Node from the vehicle position.
In step S103 according to some embodiments of the present invention, the determining the node weight according to the deviated node and the curvature of the boundary line includes: projecting the vehicle to a boundary line closest to the vehicle body to obtain a projection line segment of the vehicle body on the boundary line; calculating the difference value of the course angle of the projection line segment and the course angle of each node which is separated; and determining the weight of the node which is correspondingly deviated according to the course angle difference value.
Specifically, the vehicle is projected on a boundary line closest to the center of mass of the vehicle to obtain a segment (a line segment formed by connecting two shape points) where the projection point is located, and the course angle of the segment is calculated; and calculating the course angle difference value of each deviated node and each sideline segment, wherein the smaller the course angle difference value is, the smaller the weight is, the larger the course angle difference value is, and the larger the weight is, so as to ensure that the node with the minimum weight searched each time is attached to the boundary line curvature change.
In some embodiments of the invention, searching the sequence of nodes conforming to the dynamics according to the node weights to generate guideline comprises the steps of: constructing a motion element of the vehicle on a high-precision map by taking the initial position of the vehicle as a current searching node, and determining a node where the vehicle leaves according to the motion element; removing the drop-out nodes which are not in the passing section according to the collision test, and taking the remaining drop-out nodes as father nodes and storing the father nodes; selecting a point with the minimum weight from the father node as a search node, and repeating the steps according to a heuristic search algorithm until an end point is searched; and backtracking all father nodes from the end point to obtain a node sequence conforming to the dynamics. Preferably, the search algorithm is an a-star search algorithm.
It can be understood that the a star algorithm is a heuristic search algorithm of the shortest path, and heuristic search is an effective method for solving the problem of transition from an initial state to a target state in a complex environment, and the core idea is to evaluate current state information according to a cost evaluation function, then select a favorable adjacent node for expansion, and perform the search process in a loop until the target node is searched. Of course, the search process may also be implemented by using one or more of other search algorithms such as breadth-first, depth-first, D i jkstra algorithm, greedy algorithm, and the like based on a graph formed by nodes.
Referring to fig. 7, in a second aspect of the present invention, there is provided a guideline generation apparatus 1 based on curvature constraints, comprising a determination module 11, a construction module 12, a weighting module 13, a generation module 14, wherein the determination module 11 is used for determining a road boundary line and a start point and an end point of a vehicle; the construction module 12 is used for constructing a motion element of the vehicle on the high-precision map, and determining a node where the vehicle runs out according to the motion element; the weight module 13 is configured to determine a node weight according to the deviated node and the curvature of the boundary line; the generating module 14 is configured to search a sequence of nodes conforming to the dynamics according to the node weights to generate a guideline.
Further, the constructed module 11 comprises a calculation module, an interception module and an equal division module, wherein the calculation module is used for calculating the minimum turning radius according to the vehicle wheel base information, and constructing an external tangent circle along the left side and the right side of the vehicle course respectively, wherein the radius of the external tangent circle is the minimum turning radius; the intercepting module is used for intercepting a point P of arc length equal to the length of the motion element on the circumscribed circle by taking the position of the vehicle as a starting point O i And P j Then line segment OP i And OP j The angles respectively formed with the vehicle course are respectively a maximum left corner and a maximum right corner; the halving module is used for equally dividing the arc length determined by the maximum left corner, the maximum right corner and the starting point O into N to obtain N-1 nodes, and then the N-1 nodes and the P i 、P j Namely N +1 drop-out nodes.
In a third aspect of the present invention, there is provided an electronic device comprising: one or more processors; a storage device, configured to store one or more programs, which when executed by the one or more processors, cause the one or more processors to implement the customized compiling method for high-precision maps provided by the first aspect of the present invention.
Referring to fig. 8, an electronic device 500 may include a processing means (e.g., central processing unit, graphics processor, etc.) 501 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)502 or a program loaded from a storage means 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for the operation of the electronic apparatus 500 are also stored. The processing device 501, the ROM502, and the RAM 503 are connected to each other through a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
The following devices may be connected to the I/O interface 505 in general: input devices 506 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 507 including, for example, a Liquid Crystal Display (LCD), speakers, vibrators, and the like; a storage device 508 including, for example, a hard disk; and a communication device 509. The communication means 509 may allow the electronic device 500 to communicate with other devices wirelessly or by wire to exchange data. While fig. 8 illustrates an electronic device 500 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may be alternatively implemented or provided. Each block shown in fig. 8 may represent one device or may represent multiple devices as desired.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means 509, or installed from the storage means 508, or installed from the ROM 502. The computer program, when executed by the processing device 501, performs the above-described functions defined in the methods of embodiments of the present disclosure. It should be noted that the computer readable medium described in the embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In embodiments of the present disclosure, however, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more computer programs which, when executed by the electronic device, cause the electronic device to:
computer program code for carrying out operations for embodiments of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, Sma l ta l k, C + +, Python, and conventional procedural programming languages, such as the "C" programming language or similar programming languages, or combinations thereof. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A guideline generation method based on curvature constraint is characterized by comprising the following steps:
determining a road boundary line and a starting point and an end point of a vehicle;
constructing a motion element of the vehicle on a high-precision map, and determining a node of the vehicle drop-out according to the motion element: calculating the minimum turning radius according to the vehicle wheel base information;constructing an external tangent circle along the left side and the right side of the vehicle course respectively, wherein the radius of the external tangent circle is the minimum turning radius; on the circumscribed circle, a point P of arc length equal to the length of the motion element is taken from the vehicle position as a starting point O i And P j Then line segment OP i And OP j The angles formed by the angle and the vehicle course are respectively the maximum left corner and the maximum right corner; equally dividing the arc length determined by the maximum left corner, the maximum right corner and the starting point O into N to obtain N-1 nodes, and then obtaining the N-1 nodes and P i 、P j Namely N +1 drop-out nodes;
determining node weight according to the deviated node and the curvature of the boundary line;
and searching a dynamic node sequence according to the node weight to generate a guide line.
2. The curvature constraint-based guideline generation method of claim 1, wherein the motion primitive length is not more than 1m, and N is not less than 4.
3. A curvature constraint based guideline generation method as claimed in claim 1, wherein said determining node weights from the escaped node and the border line curvature comprises the steps of:
projecting the vehicle to a boundary line closest to the vehicle body to obtain a projection line segment of the vehicle body on the boundary line;
calculating the difference value between the course angle of the projection line segment and the course angle of each disengaged node;
and determining the weight of the node which is correspondingly deviated according to the course angle difference.
4. A curvature constraint based guideline generation method as claimed in claim 1, wherein searching a sequence of kinematically compliant nodes according to the node weights to generate a guideline comprises the steps of:
constructing a motion element of the vehicle on a high-precision map by taking the initial position of the vehicle as a current searching node, and determining a node where the vehicle leaves according to the motion element;
removing the drop-out nodes which are not in the passing section according to the collision test, and taking the remaining drop-out nodes as father nodes and storing the father nodes;
selecting a point with the minimum weight from the father node as a search node, and repeating the steps according to a heuristic search algorithm until an end point is searched;
and backtracking all father nodes from the end point to obtain a node sequence conforming to the dynamics.
5. The curvature constraint-based guideline generation method of claim 4, wherein the heuristic search algorithm is an A-star search algorithm.
6. A guideline generation device based on curvature constraint is characterized by comprising a determining module, a constructing module, a weighting module and a generating module,
the determining module is used for determining a road boundary line and a starting point and an end point of a vehicle;
the construction module is used for constructing a motion element of the vehicle on the high-precision map, and determining a node of the vehicle falling off according to the motion element: calculating the minimum turning radius according to the vehicle wheel base information; constructing an external tangent circle along the left side and the right side of the vehicle course respectively, wherein the radius of the external tangent circle is the minimum turning radius; on the circumscribed circle, a point P of arc length equal to the length of the motion element is taken from the position of the vehicle as a starting point O i And P j Then line segment OP i And OP j The angles respectively formed with the vehicle course are respectively a maximum left corner and a maximum right corner; equally dividing the arc length determined by the maximum left corner, the maximum right corner and the starting point O into N to obtain N-1 nodes, and then obtaining the N-1 nodes and P i 、P j Namely N +1 drop-out nodes;
the weight module is used for determining the node weight according to the deviated node and the curvature of the boundary line;
and the generating module is used for searching a node sequence conforming to the dynamics according to the node weight to generate a guide line.
7. An electronic device, comprising: one or more processors; storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to carry out the method according to any one of claims 1-5.
8. A computer-readable medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, carries out the method according to any one of claims 1-5.
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