CN113525365A - Road planning method, device and computer readable storage medium - Google Patents
Road planning method, device and computer readable storage medium Download PDFInfo
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- CN113525365A CN113525365A CN202110828419.6A CN202110828419A CN113525365A CN 113525365 A CN113525365 A CN 113525365A CN 202110828419 A CN202110828419 A CN 202110828419A CN 113525365 A CN113525365 A CN 113525365A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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Abstract
The invention provides a road planning method, a device and a computer readable storage medium, wherein the road planning method comprises the steps of obtaining a left lane line and a right lane line; calculating and generating a road center line according to the left lane line and the right lane line; acquiring a running track line of a vehicle; and calculating a planned route according to the trajectory line and the road center line. According to the technical scheme, the single camera is used for collecting and transmitting the left lane line information and the right lane line information on two sides of the vehicle, then the left lane line information and the right lane line information are combined with the track line of automatic driving or auxiliary driving of the vehicle to carry out path planning, and the planned route is generated so as to be provided for a driving system of the vehicle to control the vehicle. Therefore, the future driving track of the vehicle is planned only by the camera without depending on additional hardware equipment, the product research and development production cost is reduced, and the product competitiveness is improved.
Description
Technical Field
The invention relates to the technical field of intelligent driving, in particular to a road planning method and device and a computer readable storage medium.
Background
At present, vehicles with intelligent auxiliary driving systems at home and abroad are generally required to be controlled to move to a target track from a position deviating from the target track currently. The common technical solution includes modeling the surrounding environment by using various sensors, and then performing path planning by using a local path planning algorithm, so as to control the vehicle to travel to a target track. However, in the prior art, to realize automatic planning of the path, a variety of sensors, such as an ultrasonic radar, a millimeter wave radar, a laser radar, a look-around camera, etc., need to be mounted on the vehicle; and the requirement on chip computing power is too high, and the currently commonly used local path planning algorithms all need larger chip memory and higher computing speed. However, the current commonly used vehicle-mounted chip can use too small internal memory; secondly, the calculation speed is too slow, if a higher-level processing chip is required to be selected in order to ensure the real-time performance and operability of the intelligent auxiliary driving system, the selection range is greatly reduced. Therefore, in the prior art, the cost of equipment is high in the research and development process of realizing automatic driving and auxiliary driving of the vehicle, and the product competitiveness is low.
Disclosure of Invention
The invention mainly aims to provide a road planning method, a road planning device and a computer readable storage medium, and aims to solve the technical problem that the system road planning cost is high when a vehicle automatically runs or assists in running in the prior art.
In order to achieve the above object, the present invention provides a road planning method, which comprises:
acquiring a left lane line and a right lane line;
calculating and generating a road center line according to the left lane line and the right lane line;
acquiring a running track line of a vehicle;
and calculating a planned route according to the trajectory line and the road center line.
Optionally, after the step of obtaining the left lane line and the right lane line, the method further includes:
detecting whether the left lane line and the right lane line are arranged on two sides of the vehicle or not;
when the left lane line and the right lane line are detected on the two sides of the vehicle, executing the step of obtaining the left lane line and the right lane line;
and when the two sides of the vehicle detect that the left lane line and/or the right lane line do not exist, detecting the position of the left side edge of the road and/or the position of the right side edge of the road, and taking the position of the left side edge of the road as the left lane line and/or taking the position of the right side edge of the road as the right lane line.
Optionally, the step of calculating and generating a road center line according to the left lane line and the right lane line includes:
acquiring a first confidence coefficient of the left lane line and a second confidence coefficient of the right lane line;
and calculating the road center line according to the first confidence coefficient, the second confidence coefficient, a left lane line and the right lane line, wherein the sum of the first confidence coefficient and the second confidence coefficient is 1.
Optionally, before the step of calculating a planned route according to the trajectory line and the road centerline, the method further includes:
acquiring a first curvature of the road center line, and calculating a second curvature of the track line;
calculating a curvature difference between the first curvature and the second curvature;
judging whether the signs of the first curvature and the second curvature are the same or not, and whether the curvature difference value is smaller than or equal to a preset difference value or not;
and when the signs of the first curvature and the second curvature are the same and the curvature difference value is less than or equal to a preset difference value, executing the step of calculating a planned route according to the trajectory line and the road center line.
Optionally, the step of calculating the second curvature of the trajectory line comprises:
judging whether the current speed of the vehicle is greater than or equal to a preset speed or not;
when the current speed is greater than or equal to the preset speed, calculating the second curvature through a first formula;
and when the current speed is less than the preset speed, calculating the second curvature through a second formula.
Optionally, the step of calculating a planned route from the trajectory line and the road centerline comprises:
sampling at preset intervals along the direction from the initial position to the final position of the central line of the road to obtain a plurality of first sampling points;
sampling at intervals of the preset distance along the direction from the initial position to the end position of the trajectory line to obtain a plurality of second sampling points;
acquiring a first weight of the first sampling point and a second weight of the second sampling point, wherein the sum of the first weight and the second weight is 1;
calculating and generating a third sampling point according to the first weight, the second weight, the first sampling point and the second sampling point corresponding to the first sampling point;
and generating the planned route according to the third sampling point.
Optionally, the first weight is gradually increased along the direction from the starting position to the end position of the road center line;
the second weight gradually decreases in a direction from the starting position to the ending position of the trajectory line.
Optionally, the step of generating the planned route from the third sampling point comprises:
performing quadratic curve fitting on the third sampling point according to a least square method to generate a fitting curve;
and taking the fitted curve as the planned route.
In addition, in order to solve the above problems, the present invention further provides a road planning device, including:
image collector, memory, treater and store on the memory and can the road planning procedure of operation on the treater, wherein:
the image collector is used for obtaining a left lane line and a right lane line on two sides of the vehicle;
the road planning program, when executed by the processor, implements the steps of the road planning method as described above.
In addition, to solve the above problem, the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a road planning program, and the road planning program, when executed by a processor, implements the steps of the road planning method as described above.
According to the technical scheme, the single camera is used for collecting and transmitting the left lane line information and the right lane line information on two sides of the vehicle, then the left lane line information and the right lane line information are combined with the track line of automatic driving or auxiliary driving of the vehicle to carry out path planning, and the planned route is generated so as to be provided for a driving system of the vehicle to control the vehicle. Therefore, the future driving track of the vehicle is planned only by the camera without depending on additional hardware equipment, the product research and development production cost is reduced, and the product competitiveness is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a first embodiment of a road planning method according to the present invention;
FIG. 2 is a schematic flow chart of a second embodiment of the road planning method of the present invention;
FIG. 3 is a schematic flow chart of a road planning method according to a third embodiment of the present invention;
FIG. 4 is a schematic flow chart of a road planning method according to a fourth embodiment of the present invention;
FIG. 5 is a schematic flow chart of a fifth embodiment of the road planning method of the present invention;
fig. 6 is a flowchart illustrating a road planning method according to a sixth embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are 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 addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a road planning method, please refer to fig. 1, fig. 1 is a schematic flow diagram of a first embodiment of the road planning method of the invention, and the road planning method includes:
step S10: acquiring a left lane line and a right lane line;
step S20: calculating and generating a road center line according to the left lane line and the right lane line;
step S30: acquiring a running track line of a vehicle;
step S40: and calculating a planned route according to the trajectory line and the road center line.
In this embodiment, an image collector may be mounted or carried on the vehicle, and the image collector may be a camera, or may be a terminal device such as a video camera having an image collecting function or an imaging function. The image collector can be arranged on the front windshield of the vehicle to collect video information in front of the vehicle. Thereby, the lane lines at both sides of the vehicle, that is, the left lane line and the right lane line, are recognized according to the environment in front of the vehicle. In practical application, a road is usually gray black, the left lane line and the right lane line are usually white or yellow, and the like, and the image collector can distinguish the left lane line and the right lane line through colors so as to accurately acquire the left lane line and the right lane line and send information of the left lane line and the right lane line to a vehicle-mounted system of a vehicle. The information of the left lane line and the right lane line may include, but is not limited to, information of a clothoid curve (clothoid curve) representing the lane line, a start position, an end position, a confidence level, and a validity.
After the left lane line and the right lane line are obtained, the road center line may be calculated according to the left lane line and the right lane line through a calculation module (e.g., an ADAS controller) in the vehicle-mounted system. And performing Kalman filtering on the generated road center line to obtain stable line information. Meanwhile, the calculation module acquires the trajectory line during automatic driving or auxiliary driving through a vehicle-mounted system, calculates the planned route according to the trajectory line and the road center line, and finally sends the planned route to an execution system in the vehicle-mounted system, so that the execution system controls the vehicle to run along the planned route. Wherein the actuating system may include, but is not limited to, an Electronic Brake System (EBS) for controlling vehicle braking, an Electronic Power Steering (EPS) for controlling vehicle steering, a Vehicle Control Unit (VCU) for controlling vehicle driving, a Body Controller (BCM) for controlling vehicle door lock signals, power signals, seat belt signal lights, and a body electronic stability control system (ESC) for controlling vehicle wheel speed, wheel speed direction, longitudinal acceleration, lateral acceleration, etc.
According to the technical scheme, the single camera is used for collecting and transmitting the left lane line information and the right lane line information on two sides of the vehicle, then the left lane line information and the right lane line information are combined with the track line of automatic driving or auxiliary driving of the vehicle to carry out path planning, and the planned route is generated so as to be provided for a driving system of the vehicle to control the vehicle. Therefore, the future driving track of the vehicle is planned only by the camera without depending on additional hardware equipment, the product research and development production cost is reduced, and the product competitiveness is improved. In addition, the algorithm of the embodiment has strong operability, reduces the requirement on chip computing power, has a wide usable range, and provides a low-cost scheme for vehicle path planning.
Further, referring to fig. 2, fig. 2 is a schematic flow chart of a second embodiment of the road planning method of the present invention, before the step S10, the method further includes:
step S50: detecting whether the left lane line and the right lane line are arranged on two sides of the vehicle or not;
step S60: when the left lane line and the right lane line are detected on the two sides of the vehicle, executing the step of obtaining the left lane line and the right lane line;
step S70: and when the two sides of the vehicle detect that the left lane line and/or the right lane line do not exist, detecting the position of the left side edge of the road and/or the position of the right side edge of the road, and taking the position of the left side edge of the road as the left lane line and/or taking the position of the right side edge of the road as the right lane line.
In practical applications, a lane line for guidance is not painted on a side of the lane where the lane is located at the edge, and therefore, in this embodiment, when the image collector identifies the lane line, information about the surroundings of the vehicle, such as fences, flower nursery edges, and road teeth, which can identify the edge of the road, is detected as the left lane line and/or the right lane line. Specifically, the image collector firstly detects and judges the effectiveness of the left lane line and the right lane line, and when the left lane line and the right lane line are both effective, the calculation module directly calculates and generates the road center line; when only one lane line on one side is detected and judged to be effective, the edge of the road on the other side is used as the lane line and sent to a calculation module so as to calculate the center line of the road; and when the lane lines on the two sides are detected and judged to be invalid, the road edges on the two sides are used as the left lane line and the right lane line and are sent to a calculation module so as to calculate the road center line. Therefore, the stability and the reliability of the road planning method are ensured, and the deviation of the planned route is prevented when the vehicle runs to a border lane or a road without a lane line.
Further, referring to fig. 3, fig. 3 is a schematic flow chart of a road planning method according to a third embodiment of the present invention, where the step S20 includes:
step S21: acquiring a first confidence coefficient of the left lane line and a second confidence coefficient of the right lane line;
step S21: and calculating the road center line according to the first confidence coefficient, the second confidence coefficient, the left lane line and the right lane line.
In this embodiment, a sum of the first confidence and the second confidence is 1, where the confidence is a confidence level of a lane line, and the first confidence and the second confidence may be calculated by the image collector according to a gray value of a road surface and the lane line, which is a conventional prior art in the art and is not described herein again. After the first confidence degree W1 and the second confidence degree W2 are obtained, the road center line can be obtained through formula calculation, and the specific calculation process is as follows: left lane line W1+ right lane line W2 is the center line of the roadway. It should be noted that, when the left lane line and/or the right lane line is not detected, the road edge is used as the left lane line and/or the right lane line for calculation, so as to ensure the accuracy of the road planning method of the present invention.
Further, referring to fig. 4, fig. 4 is a schematic flow chart of a road planning method according to a fourth embodiment of the present invention, before step S40, the method further includes:
step S70: acquiring a first curvature of the road center line, and calculating a second curvature of the track line;
step S80: calculating a curvature difference between the first curvature and the second curvature;
step S90: judging whether the signs of the first curvature and the second curvature are the same or not, and whether the curvature difference value is smaller than or equal to a preset difference value or not;
step S100: when the signs of the first curvature and the second curvature are the same and the curvature difference is smaller than or equal to a preset difference, step S40 is performed.
In this embodiment, after the road center line and the trajectory line are acquired, the road center line is represented by an image, and may be analyzed by an image recognition module in the vehicle-mounted system to obtain the first curvature, and the second curvature is calculated by a calculation module. The planned route is calculated after comparing the first curvature to the second curvature. Specifically, when comparing the first curvature with the second curvature, firstly comparing signs of the first curvature and the second curvature, and comparing whether a difference between the first curvature and the second curvature is smaller than or equal to the preset difference; when one or more conditions that the signs of the first curvature and the second curvature are different (namely, different signs) and the difference value is larger than the preset difference value are met, the difference between the track line and the road center line is larger, so that the planned route is not planned for a vehicle or information of failed planning is fed back to a vehicle-mounted system to prompt a driver in order to ensure driving safety. Thereby ensuring the safety of the road planning method.
Further, referring to fig. 5, fig. 5 is a schematic flow chart of a fifth embodiment of the road planning method of the present invention, where the step S70 includes:
step S71: judging whether the current speed of the vehicle is greater than or equal to a preset speed or not;
step S72: when the current speed is greater than or equal to the preset speed, calculating the second curvature through a first formula;
step S73: and when the current speed is less than the preset speed, calculating the second curvature through a second formula.
The trajectory line is calculated according to information transmitted by an on-board system of the vehicle according to the chassis, and when the form speeds of the vehicles are different, the second curvature is calculated in a different mode. Before calculating the second curvature, the current speed of the vehicle is firstly obtained through a vehicle-mounted system, and when the current speed is greater than or equal to the preset speed, it should be noted that the preset speed can be set according to different vehicle types, and the preset speed can be selected to be different from 60km/h to 80km/h, so as to improve the compatibility of the road planning method. When the current vehicle speed is greater than the preset speed, the second curvature is calculated in the following mode: the second curvature is yaw angular velocity/longitudinal velocity; when the current vehicle speed is less than the preset speed, the second curvature is calculated in the following manner: the second curvature is sin (front wheel steering angle)/wheelbase.
In this embodiment, the second curvatures are respectively calculated according to the current speed of the vehicle, so as to improve the accuracy of the second curvatures, further improve the accuracy of the planned route, and ensure the safety and stability of the driver during driving.
Further, referring to fig. 6, fig. 6 is a flowchart illustrating a sixth embodiment of the road planning method according to the present invention, where the step S40 includes:
step S41: sampling at preset intervals along the direction from the initial position to the final position of the central line of the road to obtain a plurality of first sampling points;
step S42: sampling at intervals of the preset distance along the direction from the initial position to the end position of the trajectory line to obtain a plurality of second sampling points;
step S43: acquiring a first weight of the first sampling point and a second weight of the second sampling point, wherein the sum of the first weight and the second weight is 1;
step S44: calculating and generating a third sampling point according to the first weight, the second weight, the first sampling point and the second sampling point corresponding to the first sampling point;
step S45: and generating the planned route according to the third sampling point.
And when the trajectory line and the road center line meet the planning condition, calculating the planned route according to the trajectory line and the road center line. The specific calculation process is as follows: sampling points on the track line and the road center line respectively, wherein the sampling points sampled on the road center line are the first sampling points; and sampling points obtained by sampling on the trajectory are the second sampling points. The sampling process is that sampling is carried out once at the starting position of the road center line at intervals of the preset distance, namely, one first sampling point is taken, in the embodiment, the preset distance is set to be 10 meters for illustration, and when the distance between the last first sampling point and the end position of the road center line is less than 10 meters, redundant parts are discarded and sampling is not carried out; similarly, starting from the initial position of the trajectory line, sampling once at the same preset distance, namely, taking one second sampling point, and when the distance between the last second sampling point and the end position of the trajectory line is less than 10 meters, discarding the redundant part and not sampling. It can be understood that, in this embodiment, the first sampling point located at the starting position of the road centerline corresponds to the first second sampling point at the starting position of the trajectory line, and so on.
And calculating a third sampling point between the first sampling point and the corresponding second sampling point according to the first weight and the second weight by presetting the first weight and the second weight, so that the third sampling point is used as a sampling point on the planned route, and finally, the final planned route is fitted through the third sampling point.
In order to consider the influence factors of the distance on the track in the process of calculating the planned route, the first weight is gradually increased along the direction from the starting position to the end position of the road center line; the second weight gradually decreases in a direction from the starting position to the ending position of the trajectory line. It is common for the driver to base the start position on the current vehicle position, refer to the road surface information at the end position, and then control the vehicle to approach the end position gradually from the start position. Therefore, when the path planning is carried out, the driving state and the target track of the current vehicle and the driving habit of the driver are fully considered, the current vehicle smoothly changes from one track to another track, and the operation habit of the driver is better met. And the accuracy of the planned route can be improved, and the driving safety of the vehicle is ensured.
In this embodiment, the planned route may perform cubic curve fitting on the third sampling point according to a least square method to obtain a curve equation, where the curve equation is used to generate a curve that is a curve with a minimum sum of squares of errors with respect to the third sampling point; and taking the fitted curve as the planned route. It is understood that the characteristic curve equation is calculated by the least square method, and in this embodiment, a cubic curve or a keleson curve fit may be used, or a higher-order curve fit of more than three times may also be used.
In addition, in order to solve the above problems, the present invention further provides a road planning device, including:
image collector, memory, treater and store on the memory and can the road planning procedure of operation on the treater, wherein:
the image collector is used for obtaining a left lane line and a right lane line on two sides of the vehicle;
the road planning program, when executed by the processor, implements the steps of the road planning method as described above.
In this embodiment, an image collector may be mounted or carried on the vehicle, and the image collector may be a camera, or may be a terminal device such as a video camera having an image collecting function or an imaging function. The image collector can be arranged on the front windshield of the vehicle to collect video information in front of the vehicle. Thereby, the lane lines at both sides of the vehicle, that is, the left lane line and the right lane line, are recognized according to the environment in front of the vehicle. In practical application, a road is usually gray black, the left lane line and the right lane line are usually white or yellow, and the like, and the image collector can distinguish the left lane line and the right lane line through colors so as to accurately acquire the left lane line and the right lane line and send information of the left lane line and the right lane line to a vehicle-mounted system of a vehicle. The information of the left lane line and the right lane line may include, but is not limited to, information of a clothoid curve (clothoid curve) representing the lane line, a start position, an end position, a confidence level, and a validity.
After the left lane line and the right lane line are obtained, the road center line may be calculated according to the left lane line and the right lane line through a calculation module (e.g., an ADAS controller) in the vehicle-mounted system. And performing Kalman filtering on the generated road center line to obtain stable line information. Meanwhile, the calculation module acquires the trajectory line during automatic driving or auxiliary driving through a vehicle-mounted system, calculates the planned route according to the trajectory line and the road center line, and finally sends the planned route to an execution system in the vehicle-mounted system, so that the execution system controls the vehicle to run along the planned route. Wherein the actuating system may include, but is not limited to, an Electronic Brake System (EBS) for controlling vehicle braking, an Electronic Power Steering (EPS) for controlling vehicle steering, a Vehicle Control Unit (VCU) for controlling vehicle driving, a Body Controller (BCM) for controlling vehicle door lock signals, power signals, seat belt signal lights, and a body electronic stability control system (ESC) for controlling vehicle wheel speed, wheel speed direction, longitudinal acceleration, lateral acceleration, etc.
According to the technical scheme, the single camera is used for collecting and transmitting the left lane line information and the right lane line information on two sides of the vehicle, then the left lane line information and the right lane line information are combined with the track line of automatic driving or auxiliary driving of the vehicle to carry out path planning, and the planned route is generated so as to be provided for a driving system of the vehicle to control the vehicle. Therefore, the future driving track of the vehicle is planned only by the camera without depending on additional hardware equipment, the product research and development production cost is reduced, and the product competitiveness is improved.
In addition, to solve the above problem, the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a road planning program, and the road planning program, when executed by a processor, implements the steps of the road planning method as described above.
In this embodiment, an image collector may be mounted or carried on the vehicle, and the image collector may be a camera, or may be a terminal device such as a video camera having an image collecting function or an imaging function. The image collector can be arranged on the front windshield of the vehicle to collect video information in front of the vehicle. Thereby, the lane lines at both sides of the vehicle, that is, the left lane line and the right lane line, are recognized according to the environment in front of the vehicle. In practical application, a road is usually gray black, the left lane line and the right lane line are usually white or yellow, and the like, and the image collector can distinguish the left lane line and the right lane line through colors so as to accurately acquire the left lane line and the right lane line and send information of the left lane line and the right lane line to a vehicle-mounted system of a vehicle. The information of the left lane line and the right lane line may include, but is not limited to, information of a clothoid curve (clothoid curve) representing the lane line, a start position, an end position, a confidence level, and a validity.
After the left lane line and the right lane line are obtained, the road center line may be calculated according to the left lane line and the right lane line through a calculation module (e.g., an ADAS controller) in the vehicle-mounted system. And performing Kalman filtering on the generated road center line to obtain stable line information. Meanwhile, the calculation module acquires the trajectory line during automatic driving or auxiliary driving through a vehicle-mounted system, calculates the planned route according to the trajectory line and the road center line, and finally sends the planned route to an execution system in the vehicle-mounted system, so that the execution system controls the vehicle to run along the planned route. Wherein the actuating system may include, but is not limited to, an Electronic Brake System (EBS) for controlling vehicle braking, an Electronic Power Steering (EPS) for controlling vehicle steering, a Vehicle Control Unit (VCU) for controlling vehicle driving, a Body Controller (BCM) for controlling vehicle door lock signals, power signals, seat belt signal lights, and a body electronic stability control system (ESC) for controlling vehicle wheel speed, wheel speed direction, longitudinal acceleration, lateral acceleration, etc.
According to the technical scheme, the single camera is used for collecting and transmitting the left lane line information and the right lane line information on two sides of the vehicle, then the left lane line information and the right lane line information are combined with the track line of automatic driving or auxiliary driving of the vehicle to carry out path planning, and the planned route is generated so as to be provided for a driving system of the vehicle to control the vehicle. Therefore, the future driving track of the vehicle is planned only by the camera without depending on additional hardware equipment, the product research and development production cost is reduced, and the product competitiveness is improved.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A road planning method, characterized in that the road planning method comprises:
acquiring a left lane line and a right lane line;
calculating and generating a road center line according to the left lane line and the right lane line;
acquiring a running track line of a vehicle;
and calculating a planned route according to the trajectory line and the road center line.
2. The road planning method according to claim 1, wherein the step of obtaining the left lane line and the right lane line is preceded by the step of:
detecting whether the left lane line and the right lane line are arranged on two sides of the vehicle or not;
when the left lane line and the right lane line are detected on the two sides of the vehicle, executing the step of obtaining the left lane line and the right lane line;
and when the left lane line and/or the right lane line are not detected on the two sides of the vehicle, detecting the position of the left side edge of the road and/or the position of the right side edge of the road, and taking the position of the left side edge of the road as the left lane line and/or taking the position of the right side edge of the road as the right lane line.
3. The road planning method according to claim 1, wherein the step of calculating a road centerline from the left lane line and the right lane line comprises:
acquiring a first confidence coefficient of the left lane line and a second confidence coefficient of the right lane line;
and calculating the road center line according to the first confidence coefficient, the second confidence coefficient, a left lane line and the right lane line, wherein the sum of the first confidence coefficient and the second confidence coefficient is 1.
4. The road planning method according to claim 1, wherein the step of calculating a planned route from the trajectory line and the road centerline is preceded by:
acquiring a first curvature of the road center line, and calculating a second curvature of the track line;
calculating a curvature difference between the first curvature and the second curvature;
judging whether the signs of the first curvature and the second curvature are the same or not, and whether the curvature difference value is smaller than or equal to a preset difference value or not;
and when the signs of the first curvature and the second curvature are the same and the curvature difference value is less than or equal to a preset difference value, executing the step of calculating a planned route according to the trajectory line and the road center line.
5. The road planning method of claim 4 wherein the step of calculating the second curvature of the trajectory line comprises:
judging whether the current speed of the vehicle is greater than or equal to a preset speed or not;
when the current speed is greater than or equal to the preset speed, calculating the second curvature through a first formula;
and when the current speed is less than the preset speed, calculating the second curvature through a second formula.
6. The road planning method according to claim 1, wherein the step of calculating a planned route from the trajectory line and the road centerline comprises:
sampling at preset intervals along the direction from the initial position to the final position of the central line of the road to obtain a plurality of first sampling points;
sampling at intervals of the preset distance along the direction from the initial position to the end position of the trajectory line to obtain a plurality of second sampling points;
acquiring a first weight of the first sampling point and a second weight of the second sampling point, wherein the sum of the first weight and the second weight is 1;
calculating and generating a third sampling point according to the first weight, the second weight, the first sampling point and the second sampling point corresponding to the first sampling point;
and generating the planned route according to the third sampling point.
7. The road planning method according to claim 6, wherein the first weight is gradually increased in a direction from a start position to an end position of the road center line;
the second weight gradually decreases in a direction from the starting position to the ending position of the trajectory line.
8. The road planning method of claim 1, wherein the step of generating the planned route from the third sampling point comprises:
performing quadratic curve fitting on the third sampling point according to a least square method to generate a fitting curve;
and taking the fitted curve as the planned route.
9. A road planning device, characterized in that the road planning device comprises:
image collector, memory, treater and store on the memory and can the road planning procedure of operation on the treater, wherein:
the image collector is used for obtaining a left lane line and a right lane line on two sides of the vehicle;
the road planning program when executed by the processor implements the steps of the road planning method according to any of claims 1 to 8.
10. A computer-readable storage medium, characterized in that a road planning program is stored on the computer-readable storage medium, which when executed by a processor implements the steps of the road planning method according to any one of claims 1 to 8.
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