CN112950960B - Method for judging reverse running of automatic driving vehicle - Google Patents
Method for judging reverse running of automatic driving vehicle Download PDFInfo
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Abstract
The invention discloses a method for judging the reverse running of an automatic driving vehicle, which comprises the following steps: acquiring positioning information of a plurality of points in the driving process of the automatic driving vehicle; selecting a one-way driving road section in a road network, splitting the road section into N paths which are connected end to end, and defining a starting point and an end point; associating points corresponding to a plurality of positioning information with a path, calculating the distance between the points and a starting point, if the distance between a continuous point on a certain path and the starting point is larger and larger, defining the driving direction state as 1, if the distance is smaller and smaller, defining the driving direction state as 0, and assigning the state to the points; screening out points with the driving direction of 0 between all continuous two points in the same path; and calculating the distance between two adjacent points in the state of 0, and if the length is greater than a set threshold value, judging that the automatic driving vehicle runs in the wrong direction. The invention does not need to arrange a camera, thereby saving the cost; the system can monitor the running process of the whole road section; all the devices run automatically, and no later-stage human resource is input.
Description
Technical Field
The invention belongs to the technical field of automatic driving, and relates to a method for judging the retrograde motion of an automatic driving vehicle.
Background
The existing automatic driving system vehicle still continues the traffic regulation judging method of the traditional vehicle in the judgment of the violation of the traffic regulation of the reverse driving (namely the reverse driving), namely, a no-driving mark is arranged on a road section, a camera for shooting the violation is arranged at a special key point, and when the vehicle passes through the area, the driving direction of the vehicle is manually or automatically identified, so that the judgment of the reverse driving is made. The traditional reverse judging method has the following defects: 1. a camera needs to be erected at a key place, so that the urban attractiveness is influenced, the driving of a driver is influenced, and the cost of traffic management is increased; 2. the shooting of camera is snatched has certain position limitation, for example: an effective determination of a reverse driving violation at any point of the full road segment cannot be made. Due to the fixed-point throwing of the cameras, part of drivers are taken at opportunity and get handy, more vehicles change lane and jam behaviors are caused for avoiding the cameras, and traffic safety and efficiency are influenced; 3. the picture evidence obtaining method is to carry out screening through manual work or computer graphics, consumes certain human resources and has certain error identification rate (for example, the forward direction and the backward direction of certain vehicle types are particularly similar, and the driving direction of the vehicle cannot be accurately judged through a single picture).
Disclosure of Invention
An object of the present invention is to solve at least the above problems and/or disadvantages and to provide at least the advantages described hereinafter.
It is a further object of the present invention to provide a method of determining retrograde motion of an autonomous vehicle.
Therefore, the technical scheme provided by the invention is as follows:
the method for judging the reverse running of the automatic driving vehicle comprises the following steps:
1) Continuously acquiring positioning information of a plurality of points passed by an automatic driving vehicle in the driving process;
2) Selecting a one-way driving road section in which the automatic driving vehicle is driving from a road network, splitting the one-way driving road section into a plurality of N end-to-end paths Link, and specifying a starting point and an end point of the paths Link;
3) Associating points corresponding to a plurality of positioning information of the automatic driving vehicle with a Link, and calculating the distance between the points and the starting point of the Link, wherein if the distance between the continuous points on a certain Link and the starting point of the Link is larger and larger, the driving direction state is defined as 1, if the distance between the continuous points on the certain Link and the starting point of the Link is smaller and smaller, the driving direction state is defined as 0, and meanwhile, the state is assigned to the points corresponding to the positioning information;
4) Screening out points with the driving direction of 0 between all continuous two points in the same path Link;
5) And calculating the distance between two adjacent points or continuous points in the state of 0, and if the length is larger than a set threshold value, judging that the automatic driving vehicle is in the reverse direction.
Preferably, the method for determining reverse running of an autonomous vehicle may further include step 6) after step 1):
and 6), extracting positive sequence data recorded by using a laser radar and a camera, selecting a one-way driving road section on which the automatic driving vehicle is driving from the positive sequence data, selecting a marker from the positive sequence data of the one-way type road section, judging that the automatic driving vehicle is normally driven if the distance between the automatic driving vehicle and the marker is smaller and smaller, and judging that the automatic driving vehicle is reversely driven if the distance between the automatic driving vehicle and the marker is larger and larger.
Preferably, the method for determining a reverse running direction of an autonomous vehicle further includes step 7) when the process proceeds to step 6) after step 5):
and 7) comparing the judgment result in the step 5) with the judgment result in the step 6), if the judgment results in the two steps are the same, judging that the running direction of the automatic driving vehicle is judged correctly, and if the judgment results in the two steps are different, circularly executing the steps 1) to 6) and judging again.
Preferably, in the method for determining the reverse driving of the autonomous vehicle, in step 2), the one-way driving road section may be split by using the forward sequence data recorded by the laser radar and the camera.
Preferably, in the method for determining the reverse direction of the autonomous vehicle, in step 3), the specific method for associating the point corresponding to the plurality of positioning information of the autonomous vehicle with the route Link includes:
assigning the positioning information of a plurality of points to the road network and marking,
and making a perpendicular line for the plurality of paths Link by using the marked points through a perpendicular line method, wherein the path Link with the shortest perpendicular line between the marked points is the associated path Link with the point.
Preferably, in the method for determining the retrograde motion of the autonomous vehicle, in step 2), the distance from the starting point to the end point of the route Link is defined as positive, that is, a true value of 1 is given, and the attribute of the one-way driving road is assigned to 1.
Preferably, in the method for determining the reverse driving of the autonomous vehicle, the positioning information and the start point and the end point of the route Link are represented by latitude and longitude values.
Preferably, in the method for determining the reverse running of the autonomous vehicle, in the step 2), each of the paths Link is 5 to 50 meters, and the length of the path Link can be reduced at a road turn.
Preferably, in the method for determining retrograde motion of the autonomous vehicle, in the step 1), a sampling frequency of the positioning information obtained at the plurality of points is 1HZ.
Preferably, in the method for determining a reverse running of an autonomous vehicle, in step 5), the set threshold is 1km.
The invention at least comprises the following beneficial effects:
the invention provides a method for judging the retrograde motion of a future automatic driving vehicle, which can effectively judge the driving direction of the vehicle by positioning the vehicle information of the automatic driving vehicle through the self-contained facilities and equipment of the automatic driving vehicle and combining with the road network of a map, wherein the driving direction is matched with the road direction attribute in the road network of the map, if the driving direction is the same as the road direction attribute, the vehicle normally drives, and if the driving direction is different from the road direction attribute, the vehicle is judged to be the retrograde motion. Finally, the reverse driving judgment of the vehicles in the whole road section can be achieved according to the existing resources of the vehicles. The invention does not need to arrange a camera, thereby saving the cost; the running process of the whole road section can be monitored; all automatic operation is realized, and no later-period human resource investment is realized. The method can be a pioneer method, is derived to the utilization of other traffic violations, and promotes the cost reduction and the efficiency improvement of the whole traffic field.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for determining a vehicle back-driving according to the present invention;
FIG. 2 is a schematic diagram illustrating a method for determining a correct driving of an autonomous vehicle on a determined road with a two-way lane with a solid-yellow line in the middle according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a method for matching the location information of the autonomous vehicle with the road network and determining the driving direction according to an embodiment of the present invention.
Detailed Description
The present invention is described in further detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
The invention provides a method for judging the reverse running of an automatic driving vehicle, which comprises the following steps:
1) Continuously acquiring positioning information of a plurality of points passed by an automatic driving vehicle in the driving process; the automatic driving vehicle is a fuel vehicle or a new energy vehicle and is provided with an automatic driving system, and the automatic driving system comprises a high-precision positioning device or is a high-precision positioning system carried by the fuel vehicle or the new energy vehicle.
2) Selecting a one-way driving road section in which the automatic driving vehicle is driving from a road network, splitting the one-way driving road section into a plurality of N end-to-end paths Link, and specifying a starting point and an end point of the paths Link; the road network is a data display of the structural form of a road, including a more accurate display, such as: and (5) high-precision maps. The description form of the road network is not necessarily fixed, and may be a single Link description in fig. 2 and 3, or a more detailed three-dimensional description of a high-precision map.
3) Associating points corresponding to a plurality of positioning information of the automatic driving vehicle with a Link, calculating the distance between the points and the Link starting point, if the distance between the continuous points on a certain Link and the Link starting point is larger and larger, defining the driving direction state as 1, if the distance between the continuous points on the certain Link and the Link starting point is smaller and smaller, defining the driving direction state as 0, and assigning the state to the points corresponding to the positioning information;
4) Screening out points with the driving direction of 0 between all continuous two points in the same route Link;
5) And calculating the distance between two adjacent points or continuous points in the state of 0, and if the length is larger than a set threshold value, judging that the automatic driving vehicle is in the reverse direction. The determination of the reverse running can be adjusted according to the set parameters. And (4) non-fixation. The present application focuses on the description of the method thereof.
The invention judges the reverse driving behavior by comparing and calculating the allowable driving direction of the road network and the actual running direction of the automatic driving vehicle calculated by combining the positioning information and the road information.
The invention provides a method for judging the retrograde motion of a future automatic driving vehicle, which can effectively judge the driving direction of the vehicle by positioning the vehicle information of the automatic driving vehicle through the self-contained facilities and equipment of the automatic driving vehicle and combining with the road network of a map, wherein the driving direction is matched with the road direction attribute in the road network of the map, if the driving direction is the same as the road direction attribute, the vehicle normally drives, and if the driving direction is different from the road direction attribute, the vehicle is judged to be the retrograde motion. Finally, the reverse driving judgment of the vehicles in the whole road section can be achieved according to the existing resources of the vehicles. The invention does not need to arrange a camera, thereby saving the cost; the running process of the whole road section can be monitored; all the devices run automatically, and no later-stage human resource is input. The method can be a pioneer method, is derived to the utilization of other traffic violations, and promotes the cost reduction and the efficiency improvement of the whole traffic field.
In one embodiment of the present invention, step 1) may be preferably followed by step 6):
and 6), extracting positive sequence data recorded by using a laser radar and a camera, selecting a one-way driving road section on which the automatic driving vehicle is driving from the positive sequence data, selecting a marker from the positive sequence data of the one-way type road section, judging that the automatic driving vehicle is normally driven if the distance between the automatic driving vehicle and the marker is smaller and smaller, and judging that the automatic driving vehicle is reversely driven if the distance between the automatic driving vehicle and the marker is larger and larger. As an alternative, for example, under a tunnel or a bridge, the positioning accuracy is not accurate enough, which may result in an undetermined backward movement. Data collected in advance through a laser radar and a camera can be adopted, and accuracy of converse judgment is improved (because a judgment method of positioning plus road network has the defect that positioning errors are caused by building shielding).
In one embodiment of the present invention, if step 6) is entered after step 5), step 7) is further included, as preferable:
and 7) comparing the judgment result in the step 5) with the judgment result in the step 6), if the judgment results in the two steps are the same, judging that the running direction of the automatic driving vehicle is judged correctly, and if the judgment results in the two steps are different, circularly executing the steps 1) to 6) and judging again. The two methods can be combined for use, and the accuracy of judgment is enhanced.
In one embodiment of the present invention, preferably, in step 3), the specific method for associating the points corresponding to the plurality of positioning information of the autonomous vehicle with the route Link includes:
assigning the positioning information of a plurality of points to the road network and marking,
and making a perpendicular line for the plurality of paths Link by using the marked points through a perpendicular line method, wherein the path Link with the shortest perpendicular line between the marked points is the associated path Link with the point. The matching relation between the vehicle positioning information and the road network is not limited to a vertical line method, but is mainly characterized in that the vehicle positioning information and the road network are associated, and the relative driving direction relation between the vehicle and the road can be displayed.
In one embodiment of the present invention, preferably, in step 2), the attribute of the one-way driving road is assigned to 1 by defining the direction from the start point to the end point of the route Link as positive, i.e., giving a true value of 1.
In one embodiment of the present invention, preferably, the positioning information, the starting point and the ending point of the path Link are represented by latitude and longitude values. And 4, the standard is unified, and calculation is convenient.
In one embodiment of the present invention, preferably, in step 2), each of the paths Link is 5 to 50 meters, and the length of the path Link can be reduced at a road turn. The length of each Link is not longer than 15 meters.
In one embodiment of the present invention, preferably, in step 1), the sampling frequency for acquiring the positioning information of the plurality of points is 1HZ. In some embodiments of the present invention, the autonomous vehicle may have an inertial navigation positioning system, and may read directly through a bus or in other ways, and preferably, the reading information includes at least: time information, positioning information (longitude, latitude), speed information, heading angle information, etc. An example of the extraction information is as follows: 1. the sampling period of time is at least selected to be 1s, the higher the sampling period is, the higher the sampling frequency is, and the more accurate the later calculation is. However, the sampling frequency is too high, which will burden the system. For the determination of reverse travel, the sampling frequency is first 1hz. 2. Heading angle heading is the angle that defines the true north direction. The definition of the north direction is consistent with the road network requirement, and the north is used as a standard. (or magnetic north is used uniformly as a standard and the definition of north direction is consistent).
In one embodiment of the present invention, preferably, in step 5), the set threshold is 1km. As the settable parameter, it is conceivable to set it in accordance with traffic regulations or in accordance with the circumstances. The purpose of setting a threshold value here is to prevent the vehicle from slipping slightly, which may lead to a determination of a wrong-way driving.
In order to make the technical solution of the present invention better understood by those skilled in the art, the following examples are now provided for illustration:
as shown in fig. 1, the present invention provides a method for determining a reverse running of a future autonomous vehicle, which is capable of determining a running direction of the vehicle efficiently by locating own vehicle information by means of facilities and devices of the autonomous vehicle and combining the located information with a road network of a map, wherein the running direction matches with a road direction attribute in the road network of the map, and if the running direction is the same as the road direction attribute, the vehicle runs normally, and if the running direction is different from the road direction attribute, the vehicle runs in reverse. Finally, the reverse driving judgment of the vehicles in the whole road section can be achieved according to the existing resources of the vehicles. The advantages are that: 1. a camera is not required to be arranged, so that the cost is saved; 2. the running process of the whole road section can be monitored; 3. all the devices run automatically, and no later-stage human resource is input.
The first step is as follows: location information extraction for autonomous vehicles
The automatic driving vehicle is provided with an inertial navigation positioning system, can be directly read through a bus or other modes, and the information reading at least comprises the following steps: time information, positioning information (longitude, latitude), speed information, heading angle information, etc. An example of the extraction information is as follows: 1. the sampling period of time is at least selected to be 1s, and the higher the sampling period is, the higher the sampling frequency is, and the more accurate the later calculation is. However, the sampling frequency is too high, which will burden the system. For the determination of reverse travel, the sampling frequency is first 1hz. 2. Heading angle heading is the angle that defines the true north direction. The definition of the north direction is consistent with the road network requirement, and the north is used as a standard. (or magnetic north is used as a standard uniformly, and the definition of north direction is consistent) as follows.
The second step is that: attribute addition to road networks (i.e. determination of the correct direction of travel of a road) — i.e. "true value" of the allowable direction of travel of a road "
Roads that allow only one-way travel are defined, for example: there is a double lane with a solid-yellow line in the middle, as shown in fig. 2. The road for two-way travel is not defined. (since it is meaningless for a decision to go backwards). 1. And selecting a one-way driving road section in the road network. 2. The road section is split into N links which are connected end to end, such as Link1, link2 and Link 8230, link N. The length of each Link is not suitable to be too long, preferably 15 meters, and the length of the Link can be properly reduced at a turning position. 3. Specify the direction of Link, for example: link1 is the road from point A to point B, and is defined as positive from A to B, i.e. true value "1". Link2 is a road from point B to point C, and is defined as positive from point B to point C, i.e., true value "1". The attribute of the road allowing only one-way travel is assigned to 1. 4. The starting point and the end point of each Link are endowed with actual geographic information, namely longitude and latitude numerical values.
The determination of the backward running is performed by forward sequence data ("recording in advance", defined as forward running) of the laser radar and the camera. For example underneath tunnels, bridges. The positioning accuracy is not accurate enough, and the judgment of the retrograde motion can be caused. Data collected in advance through a laser radar and a camera can be adopted, and accuracy of reverse judgment is improved (because the judgment method of positioning and road network has the defect of positioning error caused by building shielding).
The third step: method for matching positioning information with road network and determination of traveling direction (actual direction)
The positioning information mainly selects longitude and latitude values. 1. The longitude and latitude are directly dropped into the road network, and are one point, as shown in the black point in fig. 3. 2. Determining an "associated Link": the preferred vertical line method for matching the certain point positioning information with the Link is that a point pair Link is used as a vertical line, and the Link with the shortest vertical line is the 'associated Link' with the point. 3. And calculating the distance between the point and the Link starting point. 4. Judging the driving direction, wherein if the distance between a continuous point on a certain Link and the Link starting point is larger and larger, the direction is 1; if the distance becomes smaller, the direction becomes 0. The state is assigned to the located point.
The fourth step: direction comparison (correct driving direction VS actual driving direction)
Since only one-way travel of the road is permitted in the second step, the attribute value is assigned to "1". Therefore, all points in which the traveling direction between two consecutive points is 0 are selected as a link where a reverse traveling is likely to occur.
The fifth step: retrograde determination (reach conclusion)
The length of the section of the retrograde motion, that is, the distance between two adjacent points in a state of 0, is calculated by directly adopting longitude and latitude, or is obtained by subtracting the distance from the end point. If the length is greater than 1km (as a settable parameter, it may be set by traffic regulations or by itself, as the case may be), it is determined to be retrograde. The purpose of setting a threshold value here is to prevent the vehicle from slipping slightly, which may lead to a determination of a wrong-way driving.
The present invention provides a method for determining an autonomous vehicle, which comprises the following steps: (1) The automatic driving vehicle is a fuel vehicle or a new energy vehicle and carries an automatic driving system, and the automatic driving system comprises a high-precision positioning device or a high-precision positioning system carried by the fuel vehicle or the new energy vehicle. (2) The road network is a data display of the structural form of the road, and includes a more accurate display, for example: and (5) high-precision maps.
The reverse driving behavior is judged by comparing the allowable driving direction of the road network with the actual running direction of the automatic driving vehicle calculated by combining the positioning information and the road information.
The description form of the road network is not necessarily fixed, and may be a single Link description in the text, or a more detailed three-dimensional description of a high-precision map.
The matching relation between the vehicle positioning information and the road network is not limited to a vertical line method, but the key point is that the vehicle positioning information and the road network establish a correlation relation, and the relative driving direction relation between the vehicle and the road can be displayed.
The determination of reverse travel may be adjusted according to set parameters. And (4) non-fixation. The method is described in detail herein.
The number of modules and the processing scale described herein are intended to simplify the description of the invention. Applications, modifications and variations of the present inventive decision method for determining the retrograde motion of an autonomous vehicle will be apparent to those skilled in the art.
As described above, according to the present invention, it is possible to: 1. a series of costs for erecting the camera are saved. 2. The method monitors the whole road section of the road running of the automatic driving vehicle, and improves the traffic safety. 3. Personnel maintenance is not needed in the later period, information can be directly extracted, and the reliability is high. 4. The method can be a pioneer method, is derived to the utilization of other traffic violations, and promotes the cost reduction and the efficiency improvement of the whole traffic field.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (6)
1. The method for judging the reverse running of the automatic driving vehicle is characterized by comprising the following steps of:
1) Continuously acquiring positioning information of a plurality of points passed by an automatic driving vehicle in the driving process;
2) Selecting a one-way driving road section in which the automatic driving vehicle is driving from a road network, splitting the one-way driving road section into N paths Link connected end to end, defining the starting point and the end point of each path Link, wherein the length of each path Link is 5-50 meters, and reducing the length of each path Link at a road turning place;
3) Associating points corresponding to a plurality of positioning information of the automatic driving vehicle with a Link, calculating the distance between the points and the starting point of the Link, defining the driving direction state as 1 if the distance between the continuous points on a certain Link and the starting point of the Link is larger and larger, defining the driving direction state as 0 if the distance between the continuous points on the certain Link and the starting point of the Link is smaller and smaller, and assigning the state to the points corresponding to the positioning information;
the method for associating the points corresponding to the plurality of positioning information of the autonomous vehicle with the route Link comprises the following steps:
assigning the positioning information of a plurality of points to a road network and marking the positioning information,
making a perpendicular line for the plurality of paths Link by using the marked points through a perpendicular line method, wherein the path Link with the shortest perpendicular line between the marked points is the associated path Link with the point;
4) Screening out points with the driving direction of 0 between all continuous two points in the route Link;
5) And calculating the distance between a plurality of continuous points in a state of 0, and if the length is greater than a set threshold value, judging that the automatic driving vehicle runs in the wrong direction, wherein the set threshold value is 1km.
2. The method for determining retrograde motion of an autonomous vehicle according to claim 1, further comprising step 6) after step 5):
and 6), extracting positive sequence data recorded by using a laser radar and a camera, selecting a one-way driving road section on which the automatic driving vehicle is driving from the positive sequence data, selecting a marker from the positive sequence data of the one-way driving road section, judging that the automatic driving vehicle is normally driven if the distance between the automatic driving vehicle and the marker is smaller and smaller, and judging that the automatic driving vehicle is reversely driven if the distance between the automatic driving vehicle and the marker is larger and larger.
3. The method for determining retrograde motion of an autonomous vehicle according to claim 2, further comprising step 7):
and 7) comparing the judgment result in the step 5) with the judgment result in the step 6), if the judgment results in the two steps are the same, judging that the driving direction of the automatic driving vehicle is judged correctly, and if the judgment results in the two steps are different, circularly executing the steps 1) to 6) to judge again.
4. The method for determining backward travel of an autonomous vehicle according to claim 1, characterized in that in step 2), the attribute of the one-way traveling road is assigned to 1 by defining the range from the start point to the end point of the route Link as positive, i.e., giving a true value of 1.
5. The method for determining the reverse travel of an autonomous vehicle as claimed in claim 1, wherein the positioning information, the start point and the end point of the route Link are represented by latitude and longitude values.
6. The method for determining retrograde motion of an autonomous vehicle according to claim 1, wherein in step 1), the sampling frequency of the positioning information obtained at the plurality of points is 1HZ.
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