CN113320547B - Path detection method and device and automobile - Google Patents
Path detection method and device and automobile Download PDFInfo
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- 238000000034 method Methods 0.000 claims description 24
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- 238000005070 sampling Methods 0.000 description 8
- 238000004364 calculation method Methods 0.000 description 6
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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
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
Abstract
The application relates to a path detection method, a path detection device and an automobile. The path detection method comprises the following steps: acquiring a planned path and boundary conditions of the planned path, wherein the planned path uses a target reference lane center line as a reference line; and comparing the boundary condition of the planned path with a detection trigger threshold, and determining that the planned path does not exceed the path limit according to the fact that the boundary condition of the planned path does not meet the detection trigger threshold. The scheme provided by the application can realize rapid detection and screening of the planned path, and meets the real-time requirement of automatic driving.
Description
Technical Field
The present application relates to the field of automatic driving technologies, and in particular, to a path detection method and apparatus, and an automobile.
Background
Currently, automobile automatic driving technology is continuously developed. Wherein, the automatic driving comprises an automatic lane changing function. For the automatic lane change function, it is required to detect whether the planned transition path is within the range allowed by the lane line, and it is required that the transition path cannot be far beyond the center line of the target lane, that is, it is required to detect whether the convex hull exists in the path of the passing section.
In the path detection method in the related art, sampling is needed on a planned path, and then the relative relation between sampling points and path limitation is analyzed. However, the related art method has large calculation amount and low detection speed, and cannot meet the real-time requirement of automatic driving.
Disclosure of Invention
In order to solve or partially solve the problems in the related art, the application provides a path detection method, a path detection device and an automobile.
The first aspect of the present application provides a path detection method, including:
acquiring a planned path and boundary conditions of the planned path, wherein the planned path uses a target reference lane center line as a reference line;
and comparing the boundary condition of the planned path with a detection trigger threshold, and determining that the planned path does not exceed the path limit according to the fact that the boundary condition of the planned path does not meet the detection trigger threshold.
In an embodiment, the method further comprises:
and determining that the planned path does not exceed the path limit according to the boundary condition of the planned path meeting the detection trigger threshold and the extreme point and the extreme value of the curve of the planned path meeting the path convex hull limit condition.
In an embodiment, the method further comprises:
and determining that the planned path exceeds the path limit according to the boundary condition of the planned path meeting the detection trigger threshold and the extreme point extremum of the curve of the planned path not meeting the path convex hull limit condition.
In an embodiment, the acquiring the planned path and the boundary condition of the planned path includes:
obtaining the planned path according to the current reference lane center line and the target reference lane center line;
and acquiring boundary conditions of the planned path according to the planned path, wherein the boundary conditions comprise the heading and the curvature of the starting point.
In an embodiment, the boundary condition of the planned path does not meet the detection trigger threshold, comprising:
after acquiring the heading and the curvature of the starting point of the planned path, if the absolute value of the heading and the absolute value of the curvature are smaller than a set threshold value, determining that the boundary condition of the planned path does not meet the detection trigger threshold value; or alternatively, the first and second heat exchangers may be,
the boundary condition of the planned path satisfies the detection trigger threshold, including:
after the heading and the curvature of the starting point of the planning path are acquired, if the absolute value of the heading and the absolute value of the curvature are larger than or equal to a set threshold value, determining that the boundary condition of the planning path meets the trigger threshold value.
In an embodiment, the extreme point of the curve of the planned path satisfies the path convex hull constraint condition, including:
when the initial position ordinate y0 of the extreme point of the curve and the half target reference lane width value D are obtained 0 Limiting threshold D for vehicle crossing target reference lane center line 1 First extreme point extremum y of said curve max A second extreme value y of the curve min Afterwards;
where y0 is greater than 0, y max Greater than D 0 And y is min Less than-D 1 When the extreme point of the curve of the planned path is determined to meet the path convex hull limiting condition; or alternatively, the first and second heat exchangers may be,
where y0 is less than or equal to 0, y min Less than-D 0 And y is max Greater than D 1 When the extreme point of the curve of the planned path is determined to meet the path convex hull limiting condition;
wherein said y max Greater than said y min 。
In an embodiment, the extremum point extremum of the curve of the planned path does not satisfy a path convex hull constraint condition, including:
when the initial position ordinate y0 of the extreme point of the curve and the half target reference lane width value D are obtained 0 Limiting threshold D for vehicle crossing target reference lane center line 1 First extreme point extremum y of said curve max A second extreme value y of the curve min Afterwards;
where y0 is less than or equal to 0 and y min Greater than or equal to-D 0 When determining that the extreme point extremum of the curve of the planned path does not meet the path convexityPackage constraints; or alternatively, the first and second heat exchangers may be,
where y0 is greater than 0 and y max Less than or equal to D 0 When the extreme point extremum of the curve of the planned path is determined to not meet the path convex hull limiting condition; or alternatively, the first and second heat exchangers may be,
where y0 is greater than 0, y max Greater than D 0 And y is min Greater than or equal to-D 1 When the extreme point extremum of the curve of the planned path is determined to not meet the path convex hull limiting condition; or alternatively, the first and second heat exchangers may be,
where y0 is less than or equal to 0, y min Less than-D 0 And y is max Less than or equal to D 1 When the extreme point extremum of the curve of the planned path is determined to not meet the path convex hull limiting condition;
wherein said y max Greater than said y min 。
In one embodiment, the extreme point extremum is determined as follows:
obtaining a parameter equation of a first derivative of the curve according to the parameter equation of the curve of the planned path;
and solving and calculating a parameter equation of the first derivative of the curve to obtain the extreme value of the extreme point.
A second aspect of the present application provides a path detection apparatus, comprising:
the path acquisition module is used for acquiring a planned path and boundary conditions of the planned path, wherein the planned path uses a target reference lane center line as a reference line;
and the path detection module is used for comparing the boundary condition of the planned path with a detection trigger threshold value, and determining that the planned path does not exceed the path limit according to the fact that the boundary condition of the planned path acquired by the path acquisition module does not meet the detection trigger threshold value.
In an embodiment, the path detection module includes:
the first judging sub-module is used for comparing the boundary condition of the planning path with a detection trigger threshold value and judging whether the boundary condition of the planning path meets the detection trigger threshold value or not;
the second judging submodule is used for judging whether the extreme value of the extreme point of the curve of the planned path meets the limiting condition of the convex hull of the path;
the first detection sub-module is used for determining that the planned path does not exceed the path limit according to the fact that the boundary condition of the planned path does not meet the detection trigger threshold;
and the second detection sub-module is used for determining that the planned path does not exceed the path limit according to the fact that the boundary condition of the planned path meets the detection trigger threshold and the extreme point and the extreme value of the curve of the planned path meet the path convex hull limit condition.
In an embodiment, the path detection module further comprises:
and the third detection sub-module is used for determining that the planned path exceeds the path limit according to the fact that the boundary condition of the planned path meets the detection trigger threshold and the extreme value of the extreme point of the curve of the planned path does not meet the path convex hull limit condition.
A third aspect of the present application provides an automobile, which includes the path detection device according to any one of the above embodiments.
A fourth aspect of the application provides a non-transitory machine-readable storage medium having stored thereon executable code which, when executed by a processor of an electronic device, causes the processor to perform a method as described above.
The technical scheme provided by the application can comprise the following beneficial effects:
after the planned path and the boundary condition of the planned path are obtained, the boundary condition of the planned path is compared with a detection trigger threshold value, and the planned path is determined not to exceed the path limit according to the fact that the boundary condition of the planned path does not meet the detection trigger threshold value. By the design, the relative relation between the sampling points and the path limit is not needed to be sampled on the planned path, the shape of the path is determined, judgment is carried out according to comparison between the boundary condition of the path and the detection trigger threshold, calculation is simpler, the result is more accurate, detection and screening of the planned path can be rapidly realized, and the real-time requirement of automatic driving is met.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
FIG. 1 is a flow chart of a path detection method according to an embodiment of the present application;
FIG. 2 is a flow chart of a path detection method according to another embodiment of the present application;
FIG. 3 is a flowchart illustrating a method for determining whether an extremum of an extremum point of a curve of a planned path satisfies a path convex hull constraint condition in FIG. 2;
FIG. 4 is a schematic diagram of a planned path shown in accordance with an embodiment of the present application;
fig. 5 is a schematic structural view of a path detecting device according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the application. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the path detection method in the related art, sampling is needed on a planned path, then the relative relation between sampling points and path limitation is analyzed, the calculated amount is large, the detection speed is low, and the real-time requirement of automatic driving cannot be met.
Aiming at the problems, the application provides a path detection method which can realize rapid detection and screening of a planned path and meet the real-time requirement of automatic driving.
The following describes the technical scheme of the embodiment of the present application in detail with reference to the accompanying drawings.
Referring to fig. 1, the path detection method of the present embodiment includes:
step S110, obtaining a planned path and boundary conditions of the planned path, wherein the planned path uses the target reference lane center line as a reference line.
The automatic driving process of the automobile is a process that the automobile automatically runs from a preset starting point to a preset ending point of a road. Between the preset start point and the preset end point, a plurality of passing paths may be formed.
The step of obtaining the planned path may be to obtain the planned path according to the current reference lane center line and the target reference lane center line, wherein the planned path uses the target reference lane center line as a reference line; according to the planned path, boundary conditions of the planned path are obtained, wherein the boundary conditions comprise heading and curvature of the starting point.
And step S120, comparing the boundary condition of the planned path with a detection trigger threshold, and determining that the planned path does not exceed the path limit according to the fact that the boundary condition of the planned path does not meet the detection trigger threshold.
The step may determine that the boundary condition of the planned path does not satisfy the detection trigger threshold value if the absolute value of the heading and the absolute value of the curvature are smaller than the set threshold value after acquiring the heading and the curvature of the start point of the planned path. And then, determining that the planned path does not exceed the path limit according to the fact that the boundary condition of the planned path does not meet the detection trigger threshold.
In addition, the method can also determine that the planned path does not exceed the path limit according to the boundary condition of the planned path meeting the detection trigger threshold and the extreme point and the extreme value of the curve of the planned path meeting the path convex hull limit condition. After the heading and the curvature of the starting point of the planned path are acquired, if the absolute value of the heading and the absolute value of the curvature are greater than or equal to a set threshold, determining that the boundary condition of the planned path meets the detection trigger threshold.
In summary, after the path detection method of the present application obtains the planned path and the boundary condition of the planned path, the boundary condition of the planned path is compared with the detection trigger threshold, and it is determined that the planned path does not exceed the path limit according to the fact that the boundary condition of the planned path does not satisfy the detection trigger threshold. By the design, the relative relation between the sampling points and the path limit is not needed to be sampled on the planned path, the shape of the path is determined, judgment is carried out according to comparison between the boundary condition of the path and the detection trigger threshold, calculation is simpler, the result is more accurate, detection and screening of the planned path can be rapidly realized, and the real-time requirement of automatic driving is met.
For further understanding of the method of the present application, referring to fig. 2, the path detection method of the present embodiment includes:
step S210, obtaining a planned path and boundary conditions of the planned path, wherein the planned path uses the target reference lane center line as a reference line.
The step may be to obtain a planned path according to the current reference lane center line and the target reference lane center line, and obtain a boundary condition of the planned path according to the planned path. Boundary conditions of the planned path may include heading and curvature of the starting point of the planned path.
The method comprises the steps of obtaining a planned transition path C, namely a planned path, according to a current reference lane center line A and a target reference lane center line B, wherein the planned path uses the target reference lane center line B as a reference line. The curve planned by the planned path is an n-degree polynomial curve, for example, a 5-degree polynomial curve, and the heading and curvature of the curve end point are both 0, i.e., the first derivative (heading) of the curve end point and the second derivative (curvature) of the curve end point are both 0.
The parameter equation of the curve of the planned path is y=f (x), y and x are coordinates of the curve of the planned path in an SL coordinate system established based on the target reference lane center line B, and a schematic diagram of the planned path is shown in fig. 4.
In the embodiment of the application, the planned coordinate system is an SL coordinate system established by taking the center line of the target reference lane as a reference, namely the SL coordinate system uses the center line of the target reference lane as a reference line, wherein S represents the longitudinal distance (namely, the distance along the center line direction of the target reference lane), and L represents the transverse distance (namely, the distance deviating from the center line of the target reference lane, namely, the reference line).
Step S220, judging whether the boundary condition of the planning path meets the detection trigger threshold, if so, proceeding to step S230, and if not, proceeding to step S260.
Wherein the boundary condition of the planned path does not satisfy the detection trigger threshold, comprising: after the heading and the curvature of the starting point of the planned path are acquired, if the absolute value of the heading and the absolute value of the curvature are smaller than a set threshold value, determining that the boundary condition of the planned path does not meet the detection trigger threshold value.
Wherein the boundary condition of the planned path satisfies the detection trigger threshold, comprising: after the heading and the curvature of the starting point of the planned path are acquired, if the absolute value of the heading and the absolute value of the curvature are larger than or equal to a set threshold value, determining that the boundary condition of the planned path meets the detection trigger threshold value.
That is, the heading and curvature of the starting point of the planned path are obtained, if the absolute value of the heading and the absolute value of the curvature are both smaller than the set threshold (for example, 1e-4, i.e., 1×0.0001), the extremum point of the planned path is close to the starting point of the path, so that the planned path does not need to perform convex hull detection, does not meet the detection trigger threshold, and the step S260 is entered to return the result that the planned path is not overrun; otherwise, the planned path needs to perform convex hull detection, meets the detection trigger threshold, and proceeds to step S230 to continue processing.
Step S230, determining extreme points of the curve of the planned path.
The calculation method of the extreme point position and the extreme point magnitude of the curve of the planned path can adopt the following modes:
(1) According to the parameter equation y=f (x) of the curve of the planned path, the parameter equation of the first derivative of the curve is calculated
(2) Solving g (x) =0 to obtain extreme points of y=f (x), and since y=f (x) is a polynomial of degree 5, there are four extreme points, denoted as x a ,x b ,x c ,x d Wherein they are respectively:
x a ＝ b ＝S
x c ＝(0.2·S 3 ·a0-0.2·A+0.4·S 2 ·v0)·B
x d ＝(A+S 3 ·ddy0+2·S 2 ·dy0)·0.2·B
wherein:
[ y0, dy0, ddy0] is an initial condition of y=f (x), and [ y1, dy1, ddy1] is a termination condition of y=f (x), S is a distance in S direction of a curve end point of the planned path relative to a start point,
A＝(120·dy0·y0-120·dy0·y1+64·S·dy0·dy0+S 3 ·ddy0·ddy0+14·S 2 ·ddy0·dy0)·S 3 ，
B＝1/(ddy0·S 2 +6·dy0·S+12·y0-12·y1)。
(3) The first two extreme points x a And x b Are all located at the end of the curve and are therefore excluded, only x is considered c And x d . By x c And x d The corresponding extreme values of the extreme points can be obtained by respectively:
y c ＝f(x c )
y d ＝f(x d )
step S240, judging whether the extreme point extremum of the curve of the planned path meets the path convex hull limiting condition, if so, proceeding to step S260, and if not, proceeding to step S250.
In step S240, it is mainly determined whether the extremum point extremum of the curve of the planned path satisfies the path convex hull constraint condition, and the process may be as follows: judging the position x of the extreme point c And x d Whether the curve is within the range of the length from the starting point to the end point, if the curve is not within the range, the corresponding extreme value y is obtained c Or y d Setting to 0; select y c And y d The larger of (2) is set as y max The smaller one is set as y min The method comprises the steps of carrying out a first treatment on the surface of the Let one-half the target reference lane width be D 0 The allowable threshold value of the vehicle crossing the center line of the target reference lane is D 1 Then the following judgment is made: if the ordinate y0 of the initial position of the extreme point is greater than 0, continuing to judge y max Whether or not it is greater than D 0 And judge y min Whether or not it is smaller than-D 1 If one of the two judging conditions is not met, determining that the path convex hull limiting condition is not met, and finally returning the result of the path overrun, otherwise, determining that the path convex hull limiting condition is met, and finally returning the result of the path not overrun; if the ordinate y0 of the initial position of the extreme point is less than or equal to 0 (i.e. not greater than 0), continuing to judge y min Whether or not it is smaller than-D 0 And judge y max Whether or not it is greater than D 1 If one of the two judging conditions is not met, determining that the path convex hull limiting condition is not met, and finally returning a result of overrun of the planned path, if notAnd determining that the path convex hull constraint condition is met, and finally returning the result that the path is not overrun.
Step S250, determining that the planned path exceeds the path limit.
This step eventually returns the result that the planned path exceeds the path limit.
In step S260, it is determined that the planned path does not exceed the path limit.
This step eventually returns the result that the planned path does not exceed the path limit.
Further referring to fig. 3, a flowchart of step S240 in fig. 2 is shown for determining whether the extremum of the extremum points of the curve of the planned path meets the path convex hull constraint condition. The flow in fig. 3 includes:
step S310, obtaining the initial position ordinate y0 of the extreme point of the curve and the half target reference lane width value D 0 Limiting threshold D for vehicle crossing target reference lane center line 1 First extreme point extremum y of curve max Second extreme value y of curve min Wherein y is max Greater than y min ；
Step S320, judging whether y0 is larger than 0, if y0 is larger than 0, entering step S330, otherwise, entering step S360;
step S330, judge y max Whether or not it is greater than D 0 If y max Is greater than D 0 Step S340 is entered, otherwise step S380 is entered;
step S340, judging y min Whether or not it is smaller than-D 1 If y min Is less than-D 1 Step S350 is entered, otherwise step S380 is entered;
step S350, determining that the extreme point and the extreme value of the curve of the planned path meet the path convex hull limiting condition;
step S360, judge y min Whether or not it is smaller than-D 0 If y min Is less than-D 0 Step S370 is entered, otherwise step S380 is entered;
step S370, judging y max Whether or not it is greater than D 1 If y max Is greater than D 1 Returning to step S350, NOThen, step S380 is entered;
step S380, determining that the extreme point extremum of the curve of the planned path does not meet the path convex hull limiting condition.
In summary, the path detection method of the application does not need to sample on the planned path and then analyze the relative relation between the sampling point and the path limit, but determines the shape of the path, judges according to the comparison between the boundary condition of the path and the detection trigger threshold, judges according to the extreme value of the curve of the planned path and the limit condition of the path convex hull, has simpler calculation and more accurate result, can rapidly realize the detection and screening of the planned path, and meets the real-time requirement of automatic driving.
Corresponding to the embodiment of the application function implementation method, the application also provides a path detection device, an automobile, a non-transitory machine-readable storage medium and corresponding embodiments.
Referring to fig. 5, a schematic diagram of a path detection device according to an embodiment of the present application is shown.
The present application provides a path detection device 50 according to an embodiment, which includes: a path acquisition module 510, a path detection module 520.
The path acquisition module 510 is configured to acquire a planned path and boundary conditions of the planned path, where the planned path uses the target reference lane centerline as a reference line. The path obtaining module 510 may obtain the planned path according to the current reference lane center line and the target reference lane center line, where the planned path uses the target reference lane center line as a reference line; according to the planned path, boundary conditions of the planned path are obtained, wherein the boundary conditions comprise heading and curvature of the starting point.
The path detection module 520 is configured to compare the boundary condition of the planned path with a detection trigger threshold, and determine that the planned path does not exceed the path limit according to the boundary condition of the planned path not meeting the detection trigger threshold.
In one embodiment, the path detection module 520 may include: the first judging sub-module 5201, the second judging sub-module 5202, the first detecting sub-module 5203, the second detecting sub-module 5204 and the third detecting sub-module 5205.
A first judging submodule 5201, configured to compare a boundary condition of the planned path with a detection trigger threshold, and judge whether the boundary condition of the planned path meets the detection trigger threshold;
a second judging submodule 5202, configured to judge whether an extremum point extremum of a curve of the planned path meets a path convex hull constraint condition;
a first detection submodule 5203, configured to determine that the planned path does not exceed the path limit according to the boundary condition of the planned path not meeting the detection trigger threshold;
the second detection submodule 5204 determines that the planned path does not exceed the path limit according to the fact that the boundary condition of the planned path meets the detection trigger threshold and the extreme point polar value of the curve of the planned path meets the path convex hull limit condition;
and the third detection submodule 5205 is used for determining that the planned path exceeds the path limit according to the fact that the boundary condition of the planned path meets the detection trigger threshold and the extreme value of the curve of the planned path does not meet the path convex hull limit condition.
The first detection sub-module 5203 may determine that the boundary condition of the planned path does not satisfy the detection trigger threshold after acquiring the heading and the curvature of the start point of the planned path if the absolute value of the heading and the absolute value of the curvature are smaller than the set threshold.
The second detection sub-module 5204 may determine that the boundary condition of the planned path satisfies the detection trigger threshold value if the absolute value of the heading and the absolute value of the curvature are greater than or equal to the set threshold value after acquiring the heading and the curvature of the start point of the planned path.
The process of the second detection submodule 5204 determining that the extreme point of the curve of the planned path meets the path convex hull constraint condition may include:
when the initial position ordinate y of the extreme point of the curve is obtained 0 Half target reference lane width value D 0 Limiting threshold D for vehicle crossing target reference lane center line 1 First extreme point extremum y of curve max Second extreme value y of curve min Afterwards;
in y 0 Greater than 0, y max Greater than D 0 And y is min Less than-D 1 When the extreme point value of the curve of the planned path is determined to meet the path convex hull limiting condition; or alternatively, the first and second heat exchangers may be,
at y0 less than or equal to 0, y min Less than-D 0 And y is max Greater than D 1 When the extreme point value of the curve of the planned path is determined to meet the path convex hull limiting condition;
wherein y is max Greater than y min 。
The process of the third detection submodule 5205 determining that the extreme point extremum of the curve of the planned path does not meet the path convex hull constraint condition may include:
when the initial position ordinate y0 of the extreme point of the curve is obtained, the half target reference lane width value D 0 Limiting threshold D for vehicle crossing target reference lane center line 1 First extreme point extremum y of curve max Second extreme value y of curve min Afterwards;
in y 0 Less than or equal to 0 and y min Greater than or equal to-D 0 When the extreme point extremum of the curve of the planned path is determined to not meet the path convex hull limiting condition; or alternatively, the first and second heat exchangers may be,
at y0 greater than 0 and y max Less than or equal to D 0 When the extreme point extremum of the curve of the planned path is determined to not meet the path convex hull limiting condition; or alternatively, the first and second heat exchangers may be,
at y0 greater than 0, y max Greater than D 0 And y is min Greater than or equal to-D 1 When the extreme point extremum of the curve of the planned path is determined to not meet the path convex hull limiting condition; or alternatively, the first and second heat exchangers may be,
in y 0 Less than or equal to 0, y min Less than-D 0 And y is max Less than or equal to D 1 When the extreme point extremum of the curve of the planned path is determined to not meet the path convex hull limiting condition;
wherein y is max Greater than y min 。
Wherein the extreme point extremum may be determined as follows: obtaining a parameter equation of a first derivative of the curve according to the parameter equation of the curve of the planned path; and solving and calculating a parameter equation of the first derivative of the curve to obtain an extreme value of the extreme point.
In summary, after the path detection device of the present application acquires the planned path, it is determined that the planned path does not exceed the path limit according to the boundary condition of the planned path not meeting the detection trigger threshold. By the design, the relative relation between the sampling points and the path limit is not needed to be sampled on the planned path, the shape of the path is determined, judgment is carried out according to comparison between the boundary condition of the path and the detection trigger threshold, calculation is simpler, the result is more accurate, detection and screening of the planned path can be rapidly realized, and the real-time requirement of automatic driving is met.
The application also provides an automobile, which comprises the path detection device of any embodiment. The function and structure of the path detecting device can be described with reference to fig. 5, and will not be described here.
Referring to fig. 6, the present application also provides an electronic device 600, the electronic device 600 comprising a memory 610 and a processor 620. The memory 610 has stored thereon executable code that, when executed by the processor 620, causes the processor 620 to perform the path detection method described in any of the embodiments above.
The processor 620 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors 620, digital signal processors 620 (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The general purpose processor 620 may be a microprocessor 620 or the processor 620 may be any conventional processor 620 or the like.
The memory 610 may include various types of storage units, such as system memory, read only memory 610 (ROM), and persistent storage systems. Where the ROM may store static data or instructions that are required by the processor 620 or other modules of the computer. The persistent storage system may be a read-write capable storage system. The persistent storage system may be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered down. In some embodiments, the persistent storage system employs a mass storage system (e.g., magnetic or optical disk, flash memory) as the persistent storage system. In other embodiments, the persistent storage system may be a removable storage device (e.g., diskette, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as dynamic random access memory. The system memory may store some or all of the instructions and data that the processor 620 needs at runtime. Furthermore, memory 610 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory 610), magnetic disks, and/or optical disks may also be employed. In some implementations, memory 610 may include readable and/or writable removable storage devices such as Compact Discs (CDs), digital versatile discs (e.g., DVD-ROMs, dual-layer DVD-ROMs), blu-ray discs read only, super-density discs, flash memory cards (e.g., SD cards, min SD cards, micro-SD cards, etc.), magnetic floppy disks, and the like. The computer readable storage medium does not contain a carrier wave or an instantaneous electronic signal transmitted by wireless or wired transmission.
The memory 610 has stored thereon executable code that, when processed by the processor 620, can cause the processor 620 to perform some or all of the methods described above.
The specific manner in which the respective modules perform the operations in the apparatus of the above embodiments has been described in detail in the embodiments related to the method, and will not be described in detail herein.
Furthermore, the method according to the application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing part or all of the steps of the above-described method of the application.
Alternatively, the application may also be embodied as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) having stored thereon executable code (or a computer program, or computer instruction code) that, when executed by a processor of an electronic device (or electronic device, server, etc.), causes the processor to perform some or all of the steps of the above-described method according to the application.
The foregoing description of embodiments of the application has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (8)
1. A path detection method, comprising:
acquiring a planned path and boundary conditions of the planned path, wherein the planned path uses a target reference lane center line as a reference line;
comparing the boundary condition of the planned path with a detection trigger threshold, and determining that the planned path does not exceed a path limit according to the fact that the boundary condition of the planned path does not meet the detection trigger threshold; the method further comprises the steps of:
determining that the planned path does not exceed the path limit according to the boundary condition of the planned path meeting the detection trigger threshold and the extreme point and the extreme value of the curve of the planned path meeting the path convex hull limit condition;
determining that the planned path exceeds a path limit according to the boundary condition of the planned path meeting the detection trigger threshold and the extreme point extremum of the curve of the planned path not meeting the path convex hull limit condition;
the extreme point of the curve of the planned path meets the path convex hull limiting condition, and the method comprises the following steps:
after the initial position ordinate y0 of the extreme point of the curve, the half target reference lane width value D0, the limit threshold value D1 of the vehicle crossing the center line of the target reference lane, the first extreme point value ymax of the curve, the second extreme point value ymin of the curve are acquired,
when y0 is larger than 0, ymax is larger than D0 and ymin is smaller than-D1, determining that the extreme point polar value of the curve of the planned path meets the path convex hull limiting condition; or alternatively, the first and second heat exchangers may be,
when y0 is smaller than or equal to 0, ymin is smaller than-D0 and ymax is larger than D1, determining that the extreme point and the extreme value of the curve of the planned path meet the path convex hull limiting condition;
wherein the ymax is greater than the ymin.
2. The path detection method according to claim 1, wherein the acquiring boundary conditions of a planned path and the planned path includes:
obtaining the planned path according to the current reference lane center line and the target reference lane center line;
and acquiring boundary conditions of the planned path according to the planned path, wherein the boundary conditions comprise the heading and the curvature of the starting point.
3. The path detection method according to claim 1, wherein:
the boundary condition of the planned path does not meet the detection trigger threshold, including:
after acquiring the heading and the curvature of the starting point of the planned path, if the absolute value of the heading and the absolute value of the curvature are smaller than a set threshold value, determining that the boundary condition of the planned path does not meet the detection trigger threshold value; or alternatively, the first and second heat exchangers may be,
the boundary condition of the planned path satisfies the detection trigger threshold, including:
after the heading and the curvature of the starting point of the planned path are obtained, if the absolute value of the heading and the absolute value of the curvature are larger than or equal to a set threshold value, determining that the boundary condition of the planned path meets the detection trigger threshold value.
4. The path detection method according to claim 1, wherein the extreme point extremum of the curve of the planned path does not satisfy a path convex hull constraint condition, comprising:
after the initial position ordinate y0 of the extreme point of the curve, the half target reference lane width value D0, the limit threshold value D1 of the vehicle crossing the center line of the target reference lane, the first extreme point value ymax of the curve, the second extreme point value ymin of the curve are acquired,
when y0 is smaller than or equal to 0 and ymin is larger than or equal to-D0, determining that the extreme value of the extreme point of the curve of the planned path does not meet the path convex hull limiting condition; or alternatively, the first and second heat exchangers may be,
when y0 is greater than 0 and ymax is less than or equal to D0, determining that the extreme value of the extreme point of the curve of the planned path does not meet the path convex hull limiting condition; or alternatively, the first and second heat exchangers may be,
when y0 is greater than 0, ymax is greater than D0 and ymin is greater than or equal to-D1, determining that the extreme value of the extreme point of the curve of the planned path does not meet the path convex hull limiting condition; or alternatively, the first and second heat exchangers may be,
when y0 is smaller than or equal to 0, ymin is smaller than-D0 and ymax is smaller than or equal to D1, determining that the extreme value of the extreme point of the curve of the planned path does not meet the path convex hull limiting condition;
wherein the ymax is greater than the ymin.
5. The path detection method according to claim 1, wherein the extreme point extremum is determined as follows:
obtaining a parameter equation of a first derivative of the curve according to the parameter equation of the curve of the planned path;
and solving and calculating a parameter equation of the first derivative of the curve to obtain the extreme value of the extreme point.
6. A path detection apparatus, comprising:
the path acquisition module is used for acquiring a planned path and boundary conditions of the planned path, wherein the planned path uses a target reference lane center line as a reference line;
the path detection module is used for comparing the boundary condition of the planned path with a detection trigger threshold value, and determining that the planned path does not exceed a path limit according to the fact that the boundary condition of the planned path acquired by the path detection module does not meet the detection trigger threshold value; the path detection module includes:
the first judging sub-module is used for comparing the boundary condition of the planning path with a detection trigger threshold value and judging whether the boundary condition of the planning path meets the detection trigger threshold value or not;
the second judging submodule is used for judging whether the extreme value of the extreme point of the curve of the planned path meets the limiting condition of the convex hull of the path;
the first detection submodule is used for determining that the planned path does not exceed the path limit according to the fact that the boundary condition of the planned path judged by the first judgment submodule does not meet the detection trigger threshold;
the second detection submodule is used for determining that the planned path does not exceed the path limit according to the fact that the boundary condition of the planned path judged by the first judgment submodule meets the detection trigger threshold and the extreme point polar value of the curve of the planned path judged by the second judgment submodule meets the path convex hull limit condition; the third detection submodule is used for determining that the planned path exceeds the path limit according to the fact that the boundary condition of the planned path judged by the first judgment submodule meets the detection trigger threshold and the extreme value of the extreme point of the curve of the planned path judged by the second judgment submodule does not meet the path convex hull limit condition;
the extreme point of the curve of the planned path meets the path convex hull limiting condition, and the method comprises the following steps:
after the initial position ordinate y0 of the extreme point of the curve, the half target reference lane width value D0, the limit threshold value D1 of the vehicle crossing the center line of the target reference lane, the first extreme point value ymax of the curve, the second extreme point value ymin of the curve are acquired,
when y0 is larger than 0, ymax is larger than D0 and ymin is smaller than-D1, determining that the extreme point polar value of the curve of the planned path meets the path convex hull limiting condition; or alternatively, the first and second heat exchangers may be,
when y0 is smaller than or equal to 0, ymin is smaller than-D0 and ymax is larger than D1, determining that the extreme point and the extreme value of the curve of the planned path meet the path convex hull limiting condition;
wherein the ymax is greater than the ymin.
7. An automobile comprising the path detecting device according to claim 6.
8. A non-transitory machine-readable storage medium having stored thereon executable code, which when executed by a processor of an electronic device, causes the processor to perform the method of any of claims 1-5.
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| CN202110802322.8A CN113320547B (en) | 2021-07-15 | 2021-07-15 | Path detection method and device and automobile |
| PCT/CN2022/105985 WO2023284859A1 (en) | 2021-07-15 | 2022-07-15 | Path detection method and apparatus, automobile, and storage medium |
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| CN117553801A (en) * | 2024-01-08 | 2024-02-13 | 深圳市普渡科技有限公司 | Topology path diagram generation method, device, robot and storage medium |
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