CN113221636A - Automatic marking method for canceling lane change of front vehicle in scene marking - Google Patents
Automatic marking method for canceling lane change of front vehicle in scene marking Download PDFInfo
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Abstract
The application discloses an automatic marking method for a front vehicle lane change cancelling behavior in scene marking, wherein the method comprises the following steps: detecting whether other vehicles exist in front of a lane where the vehicles are located; judging whether other vehicles execute lane changing actions at the next moment; and when the lane changing action is judged to be executed and other vehicles reversely cross the lane line where the vehicle is located within the first preset time, calculating the shortest transverse distance between the first preset time and the lane line where the vehicle is located, and marking the lane changing action of other vehicles as the lane changing canceling action when the shortest transverse distance is smaller than the preset distance. Therefore, the problem that the capability of marking the lane change canceling behavior is lacked in the related technology is solved, the calculation complexity is low, and the method is simple and easy to implement.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to an automatic marking method for a lane change canceling behavior of a front vehicle in scene marking.
Background
At present, the situation that a scene marking technology of an automatic driving scene library is lacked in a front vehicle lane changing canceling behavior causes that the simulation of traffic flow in automatic driving simulation is too simple and has too large difference with real world traffic flow, and a solution is needed urgently.
Content of application
The application provides an automatic marking method for a lane change canceling behavior of a front vehicle in scene marking, which aims to solve the problem that an automatic driving scene library scene marking technology is lacked in the lane change canceling behavior of the front vehicle, is low in calculation complexity and is simple and easy to implement.
An embodiment of a first aspect of the present application provides an automatic labeling method for a lane change cancellation behavior of a vehicle ahead in scene labeling, including the following steps:
detecting whether other vehicles exist in front of a lane where the vehicles are located;
judging whether the other vehicles execute lane changing actions at the next moment; and
and when the lane changing action is judged to be executed and the other vehicles reversely cross the lane line where the vehicle is located within a first preset time period, calculating the shortest transverse distance between the other vehicles and the lane line where the vehicle is located within the first preset time period, and when the shortest transverse distance is smaller than a preset distance, marking the lane changing action of the other vehicles as a lane changing canceling action.
Optionally, the detecting whether there is another vehicle in front of the lane where the vehicle is located includes:
acquiring target list position information of the vehicle at the current moment;
calculating the target positions of the other vehicles according to the target list position information;
and identifying whether the vehicle is positioned in front of the lane where the vehicle is positioned according to the target position and the current position of the vehicle.
Optionally, the determining whether the other vehicle performs the lane change action at the next time includes:
judging whether the other vehicles cross the lane line where the vehicle is located according to a preset line crossing formula, wherein the preset line crossing formula is as follows:
(f1(xn)-yn)×(f2(xn)-yn)>0，
wherein x isnIs the abscissa, y, of the target positionnIs the ordinate of the target position, f1(xn) Is xnOrdinate, f, of the corresponding left lane line2(xn) Is xnThe ordinate of the corresponding right lane line.
Optionally, before calculating the shortest lateral distance between the vehicle and the lane line where the vehicle is located within the first preset time period, the method further includes:
after the other vehicles are judged to cross the lane line, whether the other vehicles cross the lane line where the vehicle is located in the reverse direction within the first preset time period is judged according to a preset reverse line crossing formula, wherein the preset reverse line crossing formula is as follows:
(f1(xn)-yn)×(f2(xn)-yn)<0。
optionally, the marking the lane change action of the other vehicle as a lane change cancelling action includes:
determining a lane change cancellation starting time based on a time when the current time is forward by a second preset time or a time when the current time exceeds the preset distance, and determining a lane change ending time based on a time when the current time is backward by the second preset time or the time when the current time exceeds the preset distance;
and marking the behavior between the lane change cancellation starting time and the lane change ending time as the lane change cancellation behavior.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of an automatic marking method for a lane change cancellation behavior of a vehicle ahead in scene marking according to an embodiment of the present application;
fig. 2 is a flowchart of an automatic marking method for a lane change cancellation behavior of a vehicle ahead in scene marking according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The following describes an automatic marking method for a lane change cancelling behavior of a vehicle ahead in scene marking according to an embodiment of the present application with reference to the drawings. In order to solve the problem of the prior art that the capability of marking lane change canceling behaviors is not available, the method for identifying lane change of the automatically driven vehicle is provided.
Specifically, fig. 1 is a schematic flow chart of an automatic labeling method for canceling a lane change of a vehicle ahead in scene labeling according to an embodiment of the present application.
As shown in fig. 1, the automatic marking method for canceling lane change of the vehicle ahead in the scene marking includes the following steps:
in step S101, it is detected whether there is another vehicle in front of the lane in which the vehicle is located.
Optionally, in some embodiments, detecting whether there are other vehicles ahead of the lane in which the vehicle is located includes: acquiring target list position information of a vehicle at the current moment; calculating the target positions of other vehicles according to the position information of the target list; and identifying whether the vehicle is positioned in front of the lane where the vehicle is positioned according to the target position and the current position of the vehicle.
It should be understood that, in the embodiment of the present application, the target list position information at the current time may be obtained by the intelligent sensor, so that the target position of the other vehicle may be determined and calculated, where a calculation method in the related art may be adopted as a method for calculating the target position of the other vehicle, and a calculation method developed based on Python language may also be adopted, and is not limited specifically herein.
Further, it is assumed that the equations of the left lane line and the right lane line of the lane are respectively:
y＝f1(x)＝c31x3+c21x2+c11x+c01；
y＝f2(x)＝c32x3+c22x2+c12x+c02；
wherein the target positions are respectively (x)n，yn)。
From this, it can be seen that if (f)1(xn)-yn)×(f2(xn)-yn)<0, then it indicates that there is another vehicle in front of the lane where the vehicle is located, and ynThe smallest target is the leading car.
In step S102, it is determined whether or not another vehicle executes a lane change operation at the next time.
As a possible implementation manner, in some embodiments, when determining whether another vehicle performs a lane change action at the next time, the embodiment of the present application may determine whether the other vehicle crosses a lane line where the vehicle is located according to a preset lane crossing formula, where the preset lane crossing formula is:
(f1(xn)-yn)×(f2(xn)-yn)>0，
wherein x isnIs the abscissa, y, of the target positionnIs the ordinate of the target position, f1(xn) Is xnOrdinate, f, of the corresponding left lane line2(xn) Is xnThe ordinate of the corresponding right lane line.
I.e. if the next moment in the preceding vehicle is not satisfied (f)1(xn)-yn)×(f2(xn)-yn)>0, the lane line of the vehicle is not crossed.
In step S103, when it is determined that the lane change action is executed and the other vehicle reversely crosses the lane line where the vehicle is located within the first preset time period, the shortest lateral distance between the other vehicle and the lane line where the vehicle is located within the first preset time period is calculated, and when the shortest lateral distance is smaller than the preset distance, the lane change action of the other vehicle is marked as the lane change cancelling action.
Optionally, in some embodiments, before calculating the shortest lateral distance between the vehicle and the lane line where the vehicle is located within the first preset time period, the method further includes: after the other vehicles are judged to cross the lane line, whether the other vehicles cross the lane line where the vehicle is located in the reverse direction within the first preset time period is judged according to a preset reverse line crossing formula, wherein the preset reverse line crossing formula is as follows:
(f1(xn)-yn)×(f2(xn)-yn)<0。
specifically, if (f) is satisfied in step S1021(xn)-yn)×(f2(xn)-yn)>0, continuously calculating the T in the first preset time length backwards1Whether the inner vehicle crosses the lane line in the reverse direction, i.e., whether the first satisfaction (f) exists1(xn)-yn)×(f2(xn)-yn)<Point of 0, if not present, the action does not belong to a lane change cancellation.
It should be noted that the first preset time period may be T1, preferably T1The time is approximately 4-6 s, and is not particularly limited herein.
Optionally, in some embodiments, marking the lane change action of the other vehicle as a lane change cancellation action includes: determining a lane change cancellation starting time based on a time when the current time is forward by a second preset time or a time when the current time exceeds a preset distance, and determining a lane change ending time based on a time when the current time is backward by the second preset time or a time when the current time exceeds the preset distance; and marking the behavior between the lane change cancellation starting time and the lane change ending time as the lane change cancellation behavior.
Wherein the second preset duration may be T2, such as T2Approximately equals 2 to 3s, the preset distance can be L, L approximately equals 1.0 to 1.5m,
specifically, if the lateral distance does not exceed the preset distance L, the behavior belongs to lane change cancellation. Searching a second preset duration T from the current moment forward2If the transverse distance between the vehicle and the lane line exceeds the preset distance L, the time is the initial time of lane changing cancellation; if not, the current frame is forwarded by a second preset time length T2The time of (1) is the track-changing cancellation starting time. Searching backward for a second preset time length T from the moment of reversely crossing lane lines2If the distance between the vehicle and the lane line exceeds the preset distance L, the time is the time of canceling the termination of lane changing; if not, the current frame is backward for a second preset time T2The time of the lane change cancellation is the lane change cancellation ending time, and the behavior of the preceding vehicle between the starting time and the ending time is marked as the lane change cancellation behavior.
In order to enable those skilled in the art to further understand the automatic marking method for the lane change canceling behavior of the vehicle ahead in the scene marking in the embodiment of the present application, the following description is made with reference to a specific embodiment.
As shown in fig. 2, the automatic marking method for canceling lane change of the vehicle ahead in the scene marking includes the following steps:
s201, the algorithm starts.
And S202, analyzing the next moment.
S203, judging whether the front vehicle exists, if so, executing the step S204, otherwise, executing the step S202.
S204, judging whether the channel is changed at the next moment, if so, executing the step S205, otherwise, executing the step S202.
S205, judging whether the reverse lane changing is carried out within 5S, if so, executing the step S206, otherwise, executing the step S202.
S206, judging whether the distance between the vehicle and the lane line in 5S exceeds 1.0m, if not, executing the step S207, otherwise, executing the step S202.
And S207, searching the starting time and the ending time.
S208, marking the behavior, and executing the step S202.
Therefore, automatic marking of the lane change canceling behavior of the front vehicle is achieved based on the kinematic parameters, various data of the scene can be obtained in batch on the basis, subsequent work such as index extraction, parameter analysis and scene generation of the scene can be conveniently carried out, and meanwhile, an automatic standard of the lane change canceling scene of the front vehicle can be carried out and used for establishing a driver model in a simulated traffic flow and helping to improve the reliability of the simulation result of the automatic driving algorithm.
According to the automatic marking method for the lane change canceling behavior of the front vehicle in the scene marking, whether the vehicle changes lane at the next moment can be judged when the vehicle is in front of the lane where the vehicle is located, after lane change action is executed, if lane change is carried out reversely within a certain time, the shortest transverse distance between the lane line where the vehicle is located and the certain time is calculated, and when the short transverse distance is smaller than a certain distance, the lane change action of other vehicles is marked as the lane change canceling behavior, so that the problem that the scene marking technology of an automatic driving scene library is lacked in the lane change canceling behavior of the front vehicle is solved, the calculation complexity is low, and the method is simple and easy to implement.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
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 at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.
In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
Claims (5)
1. An automatic marking method for a front vehicle lane change cancelling behavior in scene marking is characterized by comprising the following steps:
detecting whether other vehicles exist in front of a lane where the vehicles are located;
judging whether the other vehicles execute lane changing actions at the next moment; and
and when the lane changing action is judged to be executed and the other vehicles reversely cross the lane line where the vehicle is located within a first preset time period, calculating the shortest transverse distance between the other vehicles and the lane line where the vehicle is located within the first preset time period, and when the shortest transverse distance is smaller than a preset distance, marking the lane changing action of the other vehicles as a lane changing canceling action.
2. The method of claim 1, wherein detecting whether there are other vehicles ahead of the lane in which the vehicle is located comprises:
acquiring target list position information of the vehicle at the current moment;
calculating the target positions of the other vehicles according to the target list position information;
and identifying whether the vehicle is positioned in front of the lane where the vehicle is positioned according to the target position and the current position of the vehicle.
3. The method of claim 1, wherein the determining whether the other vehicle performs a lane-change action at a next time comprises:
judging whether the other vehicles cross the lane line where the vehicle is located according to a preset line crossing formula, wherein the preset line crossing formula is as follows:
(f1(xn)-yn)×(f2(xn)-yn)>0，
wherein x isnIs the abscissa, y, of the target positionnIs the ordinate of the target position, f1(xn) Is xnOrdinate, f, of the corresponding left lane line2(xn) Is xnOrdinate of corresponding right lane line。
4. The method of claim 3, further comprising, before calculating the shortest lateral distance to the lane line of the vehicle within the first preset time period:
after the other vehicles are judged to cross the lane line, whether the other vehicles cross the lane line where the vehicle is located in the reverse direction within the first preset time period is judged according to a preset reverse line crossing formula, wherein the preset reverse line crossing formula is as follows:
(f1(xn)-yn)×(f2(xn)-yn)<0。
5. the method of claim 1, wherein the labeling of the lane-change action of the other vehicle as a lane-change cancellation action comprises:
determining a lane change cancellation starting time based on a time when the current time is forward by a second preset time or a time when the current time exceeds the preset distance, and determining a lane change ending time based on a time when the current time is backward by the second preset time or the time when the current time exceeds the preset distance;
and marking the behavior between the lane change cancellation starting time and the lane change ending time as the lane change cancellation behavior.
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