CN113587940A - Lane line checking method and system based on vehicle turning radius and vehicle - Google Patents
Lane line checking method and system based on vehicle turning radius and vehicle Download PDFInfo
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- CN113587940A CN113587940A CN202110873920.4A CN202110873920A CN113587940A CN 113587940 A CN113587940 A CN 113587940A CN 202110873920 A CN202110873920 A CN 202110873920A CN 113587940 A CN113587940 A CN 113587940A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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Abstract
The invention provides a lane line checking method, a system and a vehicle based on vehicle turning radius, the scheme is that the vehicle turning radius is dynamically calculated by collecting sensor and vehicle information data and utilizing the vehicle information, a plurality of points are taken on the turning radius and are fitted into a cubic curve, the fitted cubic curve is compared with the difference output by a sensor or obtained by a map and is used as a rationality checking basis, and a set of method is formed according to the rationality checking basis to improve the adaptability and the robustness of the lane line, so that the problems that the lane line output by the sensor is large in error and cannot meet the control requirement when the vision of an automatically driven vehicle is used for detecting the inaccurate lane line and the inaccurate map position are solved.
Description
Technical Field
The invention belongs to the field of intelligent driving of automobiles, and particularly relates to a lane line checking method based on a turning radius of a vehicle.
Background
In a vehicle autopilot system, the role of the lane line is extremely important, directly affecting the vehicle lateral control boundary. When the intelligent driving vehicle runs on an actual road, the lane line information sources have image perception and map positioning. In actual working conditions, the real lane line is inevitably damaged and unclear, so that the problems of loss, inaccuracy and the like of the detection of the lane line by the camera are caused; positioning is also inaccurate, and lane lines in map information cannot be used.
Chinese patent document CN110967026A discloses a lane line fitting method and system, which determines the actual road condition of the vehicle according to the map information and/or navigation information by acquiring the map information and navigation information for the current position of the vehicle, and correspondingly determines the lane line fitting state triggered by the actual road condition; determining a lane line deviation reference according with the fitting state of the lane line by combining map information and navigation information; generating a plurality of lane lines of the host vehicle based on the lane line offset reference offset; and performing curve fitting on the generated set of line points on the plurality of lane lines to obtain a corresponding lane line equation.
Chinese patent document CN109724615B discloses a method and system for verifying lane line recognition results, which is to obtain lane line information of the position of the vehicle in a high-precision map, perform coordinate transformation on the lane line information to obtain the position of the lane line points in the high-precision map under the vehicle coordinate system, and then determine the correctness of the lane line recognition results output by the camera of the vehicle by using the position of the lane line points in the high-precision map under the vehicle coordinate system.
The methods all depend on high-precision map information, and the high-precision map information cannot guarantee correct judgment when the positioning is inaccurate.
Disclosure of Invention
The invention provides a lane line checking method and system based on a turning radius of a vehicle and the vehicle, and mainly solves the problems that the lane line output by a sensor is large in error and cannot meet the control requirement when an automatic driving vehicle visually detects that the lane line is inaccurate and the map is not in a correct position.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a lane line checking method based on vehicle turning radius is characterized by comprising the following steps:
step 1: sensor information and vehicle information are obtained from the sensing interface, the sensor information comprises target information, lane line information and positioning information, and the vehicle information comprises yaw acceleration of the vehicle, steering wheel turning angle of the vehicle and vehicle speed of the vehicle.
Step 2: and calculating the turning radius of the vehicle according to the yaw acceleration of the vehicle, the steering wheel angle of the vehicle and the vehicle speed of the vehicle.
And step 3: and combining the turning radius and the lane line information, taking points on the arc of the turning radius, and fitting the aggregation formed by the points into a cubic equation to obtain a fitted lane line.
And 4, step 4: and calculating the difference between the fitted lane line and the lane line to obtain a check basis, and further reasonably correcting the lane line.
The present invention further provides a lane line checking system based on a turning radius of a vehicle, comprising:
and the information acquisition module acquires sensor information and vehicle information from the sensing interface, wherein the sensor information comprises target information, lane line information and positioning information, and the vehicle information comprises yaw acceleration of the vehicle, steering wheel angle of the vehicle and vehicle speed of the vehicle.
And the calculation module is used for calculating the turning radius of the vehicle according to the yaw acceleration of the vehicle, the steering wheel angle of the vehicle and the vehicle speed of the vehicle.
And the fitting module is used for combining the turning radius and the lane line information, taking points on the arc of the turning radius, and fitting a set formed by the points into a cubic equation to obtain a fitted lane line.
And the correction module calculates the difference between the fitted lane line and the lane line to obtain a check basis, and further reasonably corrects the lane line.
The invention also provides a vehicle which is provided with the lane line checking system based on the turning radius of the vehicle, and the steps of the lane line checking method are executed through the system.
According to the technical scheme, the sensor and the vehicle information data are collected, the vehicle turning radius is dynamically calculated by using the vehicle information, and a plurality of points are taken on the turning radius and are fitted into a cubic curve. And comparing the fitted cubic curve with the difference of the sensor output or the map acquisition, taking the difference as a rationality check basis, and forming a set of method according to the rationality check basis. The invention CAN check the lane line identified by the sensor only by collecting the existing information on the CAN bus of the vehicle without depending on the information of an external controller, thereby improving the adaptability and the robustness of the lane line, and solving the problems that the lane line output by the sensor has large error and cannot meet the control requirement when the visual detection of the vehicle is inaccurate and the map status is not accurate.
Drawings
FIG. 1 is a block diagram of a lane line verification system.
FIG. 2 is a flowchart of a vehicle turning radius calculation.
FIG. 3 shows a flow chart for obtaining a fitted lane line.
Fig. 4 is a flow chart of lane line verification.
Detailed Description
The invention is further described with reference to the accompanying drawings in which:
the lane line checking method based on the turning radius of the vehicle provided by the invention is shown as the general block diagram of the lane line checking method in figure 1:
firstly, sensor information and vehicle state information are obtained from a perception interface. Where the sensor information includes, but is not limited to, object information, lane line information, positioning information, and the like. The vehicle information includes, but is not limited to, a vehicle yaw acceleration, a vehicle steering wheel angle, and a vehicle speed scalar.
And secondly, calculating the turning radius, and calculating the turning radius of the vehicle in real time according to the yaw velocity of the vehicle, the steering wheel angle and the vehicle speed scalar.
And thirdly, according to the effective length of the lane line, taking a fitting point at the interval of 5 meters at the turning radius, and fitting the obtained points into a cubic curve, namely fitting the lane line.
And fourthly, calculating the difference between the fitted lane line and the lane line.
And fifthly, correcting the lane line.
As shown in fig. 2, the present embodiment provides a flow of calculating the turning radius of the host vehicle:
first, the yaw rate, speed and steering wheel angle information of the vehicle are acquired.
And secondly, setting a low-speed threshold and a high-speed threshold of the vehicle speed, and when the vehicle speed is greater than the high-speed threshold, calculating a vehicle turning radius R1 by using the vehicle yaw rate and the vehicle speed, namely, the turning radius R1 is omega/v.
Thirdly, when the speed of the vehicle is between the low speed threshold and the high speed threshold, calculating a turning radius R3 by using a steering wheel corner, namely the turning radius is R3 ═ AixDistance/(SteeringAngle/C), wherein AixDistance is the wheelbase of the vehicle, and C is a mechanical constant of a steering mechanism of the vehicle and represents the conversion relationship between the steering wheel corner and a steering wheel corner; after R1 and R3 are obtained, R1 and R3 are weighted and averaged in relation to speed to obtain the vehicle turning radius R2, that is, light (V-minV)/(maxV-minV), light is a weight factor, maxV is a high speed threshold, minV is a low speed threshold, and V is the current vehicle speed, and then R2 is calculated by using the formula R2 (R1 light + R3 (1-light).
And fourthly, when the speed of the vehicle is lower than the low-speed threshold value, directly using three steps to calculate the obtained turning radius R3.
As shown in fig. 3, the embodiment further provides a fitting point obtaining process of the present invention:
according to the turning radius and the effective length of the left lane line and the right lane line, points are taken on the arc of the turning radius of the vehicle, and the aggregation formed by the points is fitted into a 3-order equation, so that the fitted lane line is obtained, and the method specifically comprises the following steps:
firstly, according to the length contrast of the left lane line and the right lane line, taking the maximum value as the 'end point' for obtaining the fitting point.
Secondly, selecting the turning radius selected in the flow of the figure 2 as the current turning radius of the vehicle, namely forming a predicted track of the vehicle;
and thirdly, taking a point every 5 meters from the longitudinal distance of 0 meter to the 'end point', and fitting a set of the points into a vehicle track prediction cubic curve.
As shown in fig. 4, this embodiment is a flow of lane line verification, and the method calculates a difference between a fitted lane line and a lane line to obtain a verification basis, and further reasonably corrects the lane line. A1\ A2\ A3 is a lane line coefficient sensed and output by a sensor, and a1\ a2\ A3 is a fitted lane line coefficient calculated by using the information of the vehicle (including the vehicle speed, the yaw angular velocity and the steering wheel angle). The method comprises the following specific steps:
firstly, taking the difference values of A1 and a1, A2 and a2, A3 and A3 respectively, and then taking the absolute values of the difference values to obtain D1\ D2\ D3.
And secondly, comparing D1\ D2\ D3 with an empirical threshold, and if D1\ D2\ D3 is larger than the empirical threshold, taking the average value of the corresponding two of A1 and a1, A2 and a2, and A3 and A3.
The following embodiments are lane line checking systems based on vehicle turning radius, and are used to implement the method flows described in the above embodiments, and the system includes the following functional modules:
and the information acquisition module is used for acquiring sensor information and the vehicle information from the sensing interface, wherein the sensor information comprises target information, lane line information and positioning information, and the vehicle information comprises yaw acceleration of the vehicle, steering wheel angle of the vehicle and vehicle speed of the vehicle.
And the calculation module is used for calculating the turning radius of the vehicle according to the yaw acceleration of the vehicle, the steering wheel angle of the vehicle and the vehicle speed of the vehicle.
And the fitting module is used for combining the turning radius and the lane line information, taking points on the arc of the turning radius, and fitting the aggregation formed by the points into a cubic equation to obtain a fitted lane line.
And the correction module is used for calculating the difference between the fitted lane line and the lane line to obtain a check basis, and further reasonably correcting the lane line.
Another embodiment further provides a vehicle equipped with the lane line verification system based on the turning radius of the vehicle as described in the previous embodiment, by which the steps of the lane line verification method based on the turning radius of the vehicle as described above are performed.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
Claims (9)
1. A lane line checking method based on vehicle turning radius is characterized by comprising the following steps:
step 1: acquiring sensor information and vehicle information from a sensing interface, wherein the sensor information comprises target information, lane line information and positioning information, and the vehicle information comprises yaw acceleration, steering wheel angle and vehicle speed of the vehicle;
step 2: calculating the turning radius of the vehicle according to the yaw acceleration of the vehicle, the steering angle of the steering wheel of the vehicle and the vehicle speed of the vehicle;
and step 3: combining the turning radius and the lane line information, taking points on the arc of the turning radius, and fitting the aggregation formed by the points into a cubic equation to obtain a fitted lane line;
and 4, step 4: and calculating the difference between the fitted lane line and the lane line to obtain a check basis, and further reasonably correcting the lane line.
2. The vehicle turning radius-based lane line checking method according to claim 1, wherein the step 2 comprises: comparing the speed of the vehicle with a low speed threshold and a high speed threshold of the speed of the vehicle, and when the speed of the vehicle is greater than the high speed threshold, calculating a turning radius R1 of the vehicle by using the yaw rate and the speed of the vehicle, namely the turning radius R1 is omega/v; when the speed of the vehicle is between a low speed threshold and a high speed threshold, calculating a turning radius R3 by using a steering wheel corner, namely the turning radius is R3-AixDistance/(SteeringAngle/C), wherein AixDistance is the wheelbase of the vehicle, and C is the mechanical constant of a steering mechanism of the vehicle; then carrying out weighted average associated with speed on R1 and R3 to obtain a vehicle turning radius R2, wherein R2 is R1 light + R3 (1-light), light is a weight factor, light is (V-minV)/(maxV-minV), maxV is a high-speed threshold, minV is a low-speed threshold, and V is the current vehicle speed; when the vehicle speed is lower than the low speed threshold, R3 is used directly.
3. The method for verifying the lane line based on the turning radius of the vehicle according to claim 1, wherein the step 3 specifically comprises: according to the length contrast of the left lane line and the right lane line, taking the maximum value as a termination point for obtaining the fitting point; forming a vehicle predicted track by taking the turning radius calculated in the step (2) as the current turning radius of the vehicle; and taking a point every x meters from the longitudinal distance of 0 meter to the end point, and fitting a set of the points into a vehicle track prediction cubic curve, wherein x is determined according to the length of the lane line to be fitted, and finally ensuring that at least 3 points are contained in the set of the points.
4. The method for verifying the lane line based on the turning radius of the vehicle according to claim 1, wherein the step 4 specifically comprises: taking A1, A2 and A3 as lane line coefficients of sensor sensing output, taking a1, a2 and A3 as fitted lane line coefficients obtained by calculation by utilizing the vehicle information, respectively taking the difference values of A1 and a1, A2 and a2 and A3 and A3, and then taking the absolute values of the difference values to obtain D1, D2 and D3; comparing D1, D2 and D3 with empirical threshold, if D1, D2 and D3 are larger than empirical threshold, taking average value of A1 and a1, A2 and a2 and A3 and A3.
5. A lane line verification system based on a vehicle turning radius, comprising:
the information acquisition module is used for acquiring sensor information and vehicle information from the sensing interface, wherein the sensor information comprises target information, lane line information and positioning information, and the vehicle information comprises yaw acceleration of the vehicle, steering wheel turning angle of the vehicle and vehicle speed of the vehicle;
the calculation module is used for calculating the turning radius of the vehicle according to the yaw acceleration of the vehicle, the steering wheel angle of the vehicle and the vehicle speed of the vehicle;
the fitting module is used for combining the turning radius and the lane line information, taking points on the arc of the turning radius, and fitting the aggregation formed by the points into a cubic equation to obtain a fitted lane line;
and the correction module calculates the difference between the fitted lane line and the lane line to obtain a check basis, and further reasonably corrects the lane line.
6. The vehicle turning radius-based lane line verification system of claim 5, wherein said calculation module is configured to: comparing the speed of the vehicle with a low speed threshold and a high speed threshold of the speed of the vehicle, and when the speed of the vehicle is greater than the high speed threshold, calculating a turning radius R1 of the vehicle by using the yaw rate and the speed of the vehicle, namely the turning radius R1 is omega/v; when the speed of the vehicle is between a low speed threshold and a high speed threshold, calculating a turning radius R3 by using a steering wheel corner, namely the turning radius is R3-AixDistance/(SteeringAngle/C), wherein AixDistance is the wheelbase of the vehicle, and C is the mechanical constant of a steering mechanism of the vehicle; then carrying out weighted average associated with speed on R1 and R3 to obtain a vehicle turning radius R2, wherein R2 is R1 light + R3 (1-light), light is a weight factor, light is (V-minV)/(maxV-minV), maxV is a high-speed threshold, minV is a low-speed threshold, and V is the current vehicle speed; when the vehicle speed is lower than the low speed threshold, R3 is used directly.
7. The vehicle turning radius based lane line verification system of claim 5, wherein said fitting module is further configured to: according to the length contrast of the left lane line and the right lane line, taking the maximum value as a termination point for obtaining the fitting point; forming a vehicle predicted track by taking the turning radius calculated in the step (2) as the current turning radius of the vehicle; and taking a point every x meters from the longitudinal distance of 0 meter to the termination point, and fitting a set of the points into a vehicle track prediction cubic curve.
8. The vehicle turning radius based lane line verification system of claim 5, wherein the correction module is to: taking A1, A2 and A3 as lane line coefficients of sensor sensing output, taking a1, a2 and A3 as fitted lane line coefficients obtained by calculation by utilizing the vehicle information, respectively taking the difference values of A1 and a1, A2 and a2 and A3 and A3, and then taking the absolute values of the difference values to obtain D1, D2 and D3; comparing D1, D2 and D3 with empirical threshold, if D1, D2 and D3 are larger than empirical threshold, taking average value of A1 and a1, A2 and a2 and A3 and A3.
9. A vehicle equipped with the vehicle turning radius-based lane marking verification system of claims 5-8, by which the steps of the vehicle turning radius-based lane marking verification method of claims 1-5 are performed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110873920.4A CN113587940A (en) | 2021-07-30 | 2021-07-30 | Lane line checking method and system based on vehicle turning radius and vehicle |
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| CN202110873920.4A CN113587940A (en) | 2021-07-30 | 2021-07-30 | Lane line checking method and system based on vehicle turning radius and vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114347994A (en) * | 2022-03-17 | 2022-04-15 | 北京宏景智驾科技有限公司 | Lane line position estimation method and apparatus, electronic device, and storage medium |
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| CN109724615A (en) * | 2019-02-28 | 2019-05-07 | 北京经纬恒润科技有限公司 | A kind of method of calibration and system of Lane detection result |
| CN111487971A (en) * | 2020-04-23 | 2020-08-04 | 重庆长安汽车股份有限公司 | Automatic driving transverse control method and system for vehicle |
| CN112706785A (en) * | 2021-01-29 | 2021-04-27 | 重庆长安汽车股份有限公司 | Method and device for selecting cognitive target of driving environment of automatic driving vehicle and storage medium |
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- 2021-07-30 CN CN202110873920.4A patent/CN113587940A/en not_active Withdrawn
Patent Citations (4)
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| CN109455153A (en) * | 2018-11-08 | 2019-03-12 | 安徽江淮汽车集团股份有限公司 | The control method of blind monitoring system |
| CN109724615A (en) * | 2019-02-28 | 2019-05-07 | 北京经纬恒润科技有限公司 | A kind of method of calibration and system of Lane detection result |
| CN111487971A (en) * | 2020-04-23 | 2020-08-04 | 重庆长安汽车股份有限公司 | Automatic driving transverse control method and system for vehicle |
| CN112706785A (en) * | 2021-01-29 | 2021-04-27 | 重庆长安汽车股份有限公司 | Method and device for selecting cognitive target of driving environment of automatic driving vehicle and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114347994A (en) * | 2022-03-17 | 2022-04-15 | 北京宏景智驾科技有限公司 | Lane line position estimation method and apparatus, electronic device, and storage medium |
| CN114347994B (en) * | 2022-03-17 | 2022-07-15 | 北京宏景智驾科技有限公司 | Lane line position estimation method and apparatus, electronic device, and storage medium |
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Application publication date: 20211102 |