CN113670323A - Method, device, equipment and medium for determining target area - Google Patents
Method, device, equipment and medium for determining target area Download PDFInfo
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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 application provides a method, a device, equipment and a medium for determining a target area, wherein a driving path of a target vehicle is obtained from map data according to the current position and the end position of the target vehicle, and a part of the path is intercepted from the driving path and is used as a guiding line. And selecting a target position on the guide line at preset intervals by taking a projection point of the current position of the target vehicle on the guide line as a starting point, acquiring the difference value of the angles of the adjacent target positions, and superposing the difference values to obtain an accumulated value. And when the accumulated value is greater than or equal to the preset angle and the distance between the corresponding first target position and the projection point is greater than the shortest threshold when the accumulated value reaches the preset angle, determining a target area according to the projection point, the first target position and the minimum road width at the two sides of the guiding line, and taking the target area as a reference starting area for the target vehicle to enter the lane line. The target vehicle can run on the structured road with the lane line only by reaching the target area, and does not need to accurately reach a certain position of the lane line, so that the running efficiency is improved.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a method, an apparatus, a device, and a medium for determining a target area.
Background
When the unmanned distribution vehicle starts on the unstructured road, the unstructured road generally refers to a road with a low structuralization degree, such as an urban non-main road, a rural street and the like, and the road has no lane lines and clear road boundaries, and is difficult to distinguish between a road area and a non-road area due to the influences of shadows, water marks and the like, so that the unmanned distribution vehicle needs to be guided to a reference starting position of the lane lines, so that the unmanned distribution vehicle can normally run.
At present, after a reference starting position is selected, a route from the unmanned distribution vehicle to the reference starting position is determined according to the current position of the unmanned distribution vehicle and the reference starting position through a free space algorithm.
However, the driving route is determined through the reference starting position, the required route is extremely accurate, and the operation efficiency is reduced.
Disclosure of Invention
The application provides a method, a device, equipment and a medium for determining a target area, which are used for solving the problem of low operation efficiency.
In a first aspect, the present application provides a method for determining a target area, including:
acquiring a running path of a target vehicle from map data according to the current position and the end position of the target vehicle, and intercepting a part of the path from the running path as a guiding line;
selecting a target position on the guide line at preset intervals by taking a projection point of the current position of the target vehicle on the guide line as a starting point, acquiring a difference value of angles of adjacent target positions, and superposing the difference values to obtain an accumulated value;
and when the accumulated value is larger than or equal to a preset angle and the distance between the corresponding first target position and the projection point when the accumulated value reaches the preset angle is larger than a shortest threshold value, determining a target area according to the projection point, the first target position and the minimum road width at two sides of the guiding line, wherein the target area is used as a reference starting area for the target vehicle to enter a lane line.
Optionally, the minimum road width includes a minimum left road width and a minimum right road width;
the determining a target area according to the projection point, the first target position, and the minimum road width on both sides of the guiding line specifically includes:
adding the ordinate of the projection point and the minimum left road width to obtain a first vertex, and subtracting the ordinate of the projection point and the minimum right road width to obtain a second vertex;
adding the ordinate of the first target position and the minimum left road width to obtain a third vertex, and subtracting the ordinate of the first target position and the minimum right road width to obtain a fourth vertex;
and taking a quadrangle formed by the first vertex, the second vertex, the third vertex and the fourth vertex as the target area.
Optionally, the method further includes:
and when the accumulated value is smaller than a preset angle, determining the target area according to the projection point, a first middle point which is a preset distance from the projection point along the direction of the guiding line and the minimum road width at two sides of the guiding line.
Optionally, the minimum road width includes a minimum left road width and a minimum right road width;
determining the target area according to the projection point, a first middle point which is a preset distance from the projection point along the direction of the guiding line and the guiding line, and the minimum road width at two sides of the guiding line, specifically including:
adding the ordinate of the projection point and the minimum left road width to obtain a first vertex, and subtracting the ordinate of the projection point and the minimum right road width to obtain a second vertex;
obtaining a third vertex by the ordinate of the first middle point and the minimum left road width, and obtaining a fourth vertex by subtracting the ordinate of the first middle point and the minimum right road width;
and taking a quadrangle formed by the first vertex, the second vertex, the third vertex and the fourth vertex as the target area.
Optionally, the method further includes:
acquiring an intersection point of the target area and the guiding line, and tangent lines are made to the guiding line by the intersection point to acquire an included angle between the tangent lines and a horizontal line so as to acquire an angle value of the intersection point;
acquiring an angle deviation requirement in a driving state, wherein the angle deviation requirement comprises an included angle requirement of the target vehicle and the lane line;
and inputting the target area, the angle value and the angle deviation requirement into a free space algorithm to obtain a driving route from the target vehicle to the target area.
Optionally, the method further includes:
generating a travel instruction to cause the target vehicle to travel into the target area according to the travel route.
Optionally, the method further includes:
and after the target vehicle runs into the target area, judging whether an included angle between the target vehicle and the guiding line meets a condition of switching out a starting state, if so, generating a command of entering the running state so as to enable the target vehicle to enter the running state.
Optionally, the obtaining the difference between the angles of the adjacent positions specifically includes:
respectively making tangent lines on the guiding lines according to the target positions to obtain included angles between the tangent lines and a horizontal line so as to obtain angles of the target positions;
the difference in the angles of adjacent target positions is calculated.
Optionally, the minimum left road width includes a shortest distance between the guiding line and a fixed marker on the left side of the guiding line, and the minimum right road width includes a shortest distance between the guiding line and a fixed marker on the right side of the guiding line.
In a second aspect, the present application provides an apparatus for determining a target area, including:
the acquisition module is used for acquiring a running path of the target vehicle from map data according to the current position and the end point position of the target vehicle and intercepting part of the path from the running path as a guiding line;
the control module is used for selecting a target position on the guide line at preset intervals by taking a projection point of the current position of the target vehicle on the guide line as a starting point, acquiring the difference value of angles of adjacent target positions, and superposing the difference values to obtain an accumulated value;
and the determining module is used for determining a target area according to the projection point, the first target position and the minimum road width at two sides of the guiding line when the accumulated value is larger than or equal to a preset angle and the distance between the corresponding first target position and the projection point when the accumulated value reaches the preset angle is larger than a shortest threshold, and the target area is used as a reference starting area for the target vehicle to enter a lane line.
In a third aspect, the present application provides an electronic device, comprising: a memory and a processor;
the memory is used for storing instructions; the processor is configured to call instructions in the memory to perform the method of determining the target area in the first aspect and any one of the possible designs of the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium, in which computer instructions are stored, and when the computer instructions are executed by at least one processor of an electronic device, the electronic device performs the method for determining a target area in any one of the possible designs of the first aspect and the first aspect.
In a fifth aspect, the present application provides a computer program product comprising computer instructions that, when executed by at least one processor of an electronic device, cause the electronic device to perform the method for determining a target area in any one of the possible designs of the first aspect and the first aspect.
According to the method for determining the target area, the driving path of the target vehicle is obtained from the map data according to the current position and the end position of the target vehicle, and a part of the path is cut out from the driving path and is used as a guiding line. And then, selecting a target position on the guide line at preset intervals by taking a projection point of the current position of the target vehicle on the guide line as a starting point, acquiring the difference value of the angles of the adjacent target positions, and superposing the difference values to obtain an accumulated value. And when the accumulated value is greater than or equal to the preset angle and the distance between the corresponding first target position and the projection point is greater than the shortest threshold when the accumulated value reaches the preset angle, determining a target area according to the projection point, the first target position and the minimum road width at the two sides of the guiding line, and taking the target area as a reference starting area for the target vehicle to enter the lane line. After the target area is obtained, the target vehicle can run on the structured road with the lane line only by reaching the target area without accurately reaching a certain position of the lane line, and the running efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of a scene of a method for determining a target area according to an embodiment of the present application;
fig. 2 is a flowchart of a method for determining a target area according to an embodiment of the present application;
fig. 3 is a flowchart of a method for determining a target area according to another embodiment of the present application;
fig. 4 is a flowchart of a method for determining a target area according to another embodiment of the present application;
fig. 5 is a flowchart of a method for determining a target area according to another embodiment of the present application;
fig. 6 is a schematic structural diagram of a target area determination apparatus according to an embodiment of the present application;
fig. 7 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present application.
Detailed Description
To make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the drawings in the present application, and it is obvious that the described embodiments are some, but not all embodiments of the present application. 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 application.
Generally, actual roads can be generally classified into structured roads and unstructured roads. The structured road generally refers to highways, urban arterial roads and other well-structured roads, and the roads have clear lane lines, the background environment of the roads is single, and the geometric characteristics of the roads are obvious. The unstructured roads generally refer to roads with low structuralization degrees, such as city non-main roads, rural streets and the like, the roads have no lane lines and clear road boundaries, and the influence of shadows, water marks and the like is received, so that the road areas and the non-road areas are difficult to distinguish, and the unstructured roads are gates of residential areas, office buildings, shopping malls and the like.
When the unmanned distribution vehicle starts on the unstructured road, since the unstructured road has no lane line, the existing method guides the unmanned distribution vehicle to a reference starting position of the lane line, so that the unmanned distribution vehicle normally runs. However, guiding the unmanned delivery vehicle to a specific location requires extremely precise routing, reducing operating efficiency.
In view of the above problems, the present application provides a method for determining a target area, which first obtains a travel route of a target vehicle from map data according to a current position and an end position of the target vehicle, and cuts out a part of the travel route as a guiding line from the travel route. And then, selecting a target position on the guide line at preset intervals by taking a projection point of the current position of the target vehicle on the guide line as a starting point, acquiring the difference value of the angles of the adjacent target positions, and superposing the difference values to obtain an accumulated value. And when the accumulated value is larger than or equal to the preset angle and the distance between the corresponding first target position and the projection point when the accumulated value reaches the preset angle is larger than the shortest threshold, determining a target area according to the projection point, the first target position and the minimum road width at the two sides of the guiding line, and taking the target area as a reference starting area for the target vehicle to enter the lane line. The target area is used as a starting area before the target vehicle enters a normal driving state, namely the target vehicle can drive on a structured road with a lane line only by reaching the target area without accurately reaching a certain position of the lane line, and the operation efficiency is improved.
The technical solution of the present application will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 1 is a scene schematic diagram illustrating a method for determining a target area according to an embodiment of the present application. The server 101 acquires the current position and the end position of the target vehicle 102, acquires the travel path of the target vehicle 102 from the map data according to the current position and the end position of the target vehicle 102, and cuts out a part of the travel path as the guidance line 103. Then, the server 101 selects a target position on the guidance line 103 at preset intervals with a projection point of the current position of the target vehicle 102 on the guidance line 103 as a starting point, obtains a difference value of angles of adjacent target positions, and superimposes each difference value to obtain an accumulated value. When the accumulated value is greater than or equal to the preset angle and the distance between the corresponding first target position and the projection point when the accumulated value reaches the preset angle is greater than the shortest threshold, the server 101 determines the target area 104 according to the projection point, the first target position and the minimum road width on both sides of the guiding line 103. Subsequently, the server 101 acquires the angle deviation requirement that the target vehicle 102 is in the traveling state and the angle value of the intersection of the target area 104 and the guiding line 103, and inputs the angle deviation requirement, the angle value, and the target area 104 into the free space algorithm to obtain the traveling path of the target vehicle 102 traveling into the target area 104. After obtaining a travel path for the target vehicle 102 to travel into the target area 104, the server 101 may generate a travel instruction and transmit the travel instruction to the target vehicle 102. Upon receiving the travel command, the target vehicle 102 enters the target area 104 according to the travel route in the travel command.
Fig. 2 shows a flowchart of a method for determining a target area according to an embodiment of the present application. The method of the embodiment may include the steps of:
s101, acquiring a running path of the target vehicle from the map data according to the current position and the end position of the target vehicle, and intercepting a part of the path from the running path to serve as a guiding line.
The current position of the target vehicle refers to a position where the target vehicle is currently located, such as a cell doorway. The destination location refers to a destination of the target vehicle, such as an express delivery station. The present position and the end point position of the target vehicle are input in an electronic map, which is a map digitally stored and referred using computer technology, and which can be used to find various places, various positions, and to find a travel route and the like from the start point. The travel route from the current position to the end position can be obtained by inputting the current position and the end position of the target vehicle in the electronic map. And intercepting part of the path from the driving path as a guiding line, wherein the intercepted part of the path can be a section of structured road which is closer to the current position of the target vehicle, so that the time for the target vehicle to drive to the guiding line is saved. For example, the current position of the target vehicle is point a, the end position is point B, and point C and point D are selected in the travel path, it is understood that point C and point D are points between point a and point B, and the travel road between point C and point D is a road having a lane line, and the travel route between point C and point D is taken as a guidance line.
S102, selecting a target position on the guide line at preset intervals by taking a projection point of the current position of the target vehicle on the guide line as a starting point, acquiring the difference value of the angle of the target position, and superposing the difference values to obtain an accumulated value.
And (3) making a vertical line from the current position of the target vehicle to the guiding line, if the vertical line intersects with the guiding line at one point, taking the intersection point of the vertical line and the guiding line as a projection point, and if the vertical line intersects with the reverse extension line of the guiding line at one point, taking the intersection point of the vertical line and the reverse extension line of the guiding line as a projection point. And then, selecting the target position on the guide line by taking the projection point as a starting point and at preset intervals, wherein the distance between the target position farthest from the starting point and the projection point is not more than the preset distance, so that the problem that the curvature is very large due to the fact that the distance of the selected target position is too short or the time is consumed due to the fact that the distance of the selected target position is too long is avoided. For example, the projected point is point a, point b, point c, point d, and the like are selected on the guideline at a preset interval, the interval between point a and point b is a preset interval, the interval between point b and point c is a preset interval, the interval between point c and point d is a preset interval, the preset interval is 0.4m, and the distance between point a and point d is not more than 15 m.
Then, the angles of the target positions are obtained, the target positions can comprise projection points, the angles refer to the fact that the target positions are tangent lines to the guiding lines, the included angles between the tangent lines and the horizontal lines are the angles of the target positions, the difference values of the angles of the adjacent target positions are calculated according to the angles of the target positions, and the difference values are superposed to obtain the accumulated value.
For example, a point a is used for making a tangent line of the index line, and an included angle between the tangent line of the point a and a horizontal line is obtained to be theta 1, namely the angle of the point a is theta 1; making a tangent line of the point b on the finger line, and acquiring an included angle theta 2 between the tangent line of the point b and a horizontal line, namely the angle theta 2 of the point b; making a tangent line of the point c on the finger line, and acquiring that the angle between the tangent line of the point c and the horizontal line is theta 3, namely the included angle of the point c is theta 3; and (3) making a tangent line of the finger line by using the point d, and obtaining an included angle theta 4 between the tangent line of the point d and a horizontal line, namely the angle theta 4 of the point d. Then, calculating the difference value of the angles of the point a and the point b as theta 1-theta 2, and recording as delta 1; the difference value of the angles of the point b and the point c is theta 2-theta 3 and is marked as delta 2; the difference between the angles at points c and d is θ 3- θ 4, and is recorded as Δ 3. The accumulated value S is obtained by superimposing Δ 1, Δ 2, and Δ 3.
S103, when the accumulated value is larger than or equal to the preset angle and the distance between the corresponding first target position and the projection point when the accumulated value reaches the preset angle is larger than the shortest threshold value, determining a target area according to the projection point, the first target position and the minimum road width on the two sides of the guiding line.
When the accumulated value is larger than the preset angle, the corresponding first target position is selected when the accumulated value is equal to the preset angle. And after the first target position is selected, judging whether the distance between the first target position and the projection point is greater than a shortest threshold value, when the distance between the first target position and the projection point is greater than the shortest threshold value, determining a target area according to the projection point, the first target position and the minimum road width on two sides of the guiding line, and taking the target area as a reference starting area for the target vehicle to enter the lane line.
When the distance between the first target position and the projection point is smaller than the shortest threshold, the first target position can be used as a starting point, the target position is selected for the second time on the guide line at a preset interval, the distance between the target position farthest from the starting point and the starting point in the second selected target position is also required to be smaller than the preset distance, then whether the accumulated value of the difference values of the angles of the adjacent target positions in the second selected target position is larger than the preset angle or not is judged, if the accumulated value is larger than the preset angle, the corresponding second target position is selected when the accumulated value is equal to the preset angle, and whether the distance between the second target position and the first target position is larger than the shortest threshold or not is judged. If the distance between the second target position and the first target position is larger than the shortest threshold value, determining a target area by the first target position, the second target position and the minimum road width at two sides of the guiding line; if the distance between the second target position and the first target position is smaller than the shortest threshold, continuing to select the target positions on the guide line at preset intervals by taking the second target position as a starting point, after repeated reselection, still not meeting the condition that the accumulated value is larger than the preset angle and the distance between the corresponding target position and the starting point when the accumulated value is equal to the preset angle is larger than the shortest threshold, taking the projection point as the starting point, selecting a section of distance on the guide line as a first target point, and then determining a target area according to the projection point, the first target point and the minimum road width at two sides of the guide line.
For example, the target position includes a projected point, the target position includes a point a, a point b, a point c, and a point d, the point a is the projected point, the accumulated value is obtained by adding up a difference Δ 1 between angles of the point a and the point b, a difference Δ 2 between angles of the point b and the point c, and a difference Δ 3 between angles of the point c and the point d, and if the accumulated value of Δ 1, Δ 2, and Δ 3 is greater than a preset angle and the accumulated value of Δ 1 and Δ 2 is equal to the preset angle, the point c is taken as the first target position. If the cumulative value of the target positions cannot be equal to the preset angle, the target position corresponding to the cumulative value closest to the preset angle is selected as the first target position, for example, if the cumulative values of Δ 1 and Δ 2 are closest to the preset angle, point c is selected as the first target position. And after the point c is selected as a first target position, judging whether the distance between the point c and the point a is greater than a shortest threshold value, and if the distance between the point c and the point a is greater than the shortest threshold value, determining a target area according to the point a, the point c and the minimum road width on two sides of the guiding line. The preset angle may be, for example, 0.1, and the shortest threshold may be, for example, 0.5 m.
The minimum road width may include a minimum left road width including a shortest distance of the leader line from the fixed markers to the left of the leader line and a minimum right road width including a shortest distance of the leader line from the fixed markers to the right of the leader line. The left side of the leader line may be understood as the left side of the extending direction of the leader line, the right side of the leader line may be understood as the right side of the extending direction of the leader line, and the extending direction of the leader line may be understood as the direction from the current position to the end position of the target vehicle. The fixed marker refers to an obstacle which cannot be crossed, such as a separation belt, a guardrail, a green belt, a flower bed, a curb and the like.
The method includes the steps of determining a target area according to a projection point, a first target position and minimum road widths on two sides of a guiding line, specifically, adding a vertical coordinate of the projection point and the minimum left road width to obtain a first vertex, subtracting the vertical coordinate of the projection point and the minimum right road width to obtain a second vertex, adding the vertical coordinate of the first target position and the minimum left road width to obtain a third vertex, subtracting the vertical coordinate of the first target position and the minimum right road width to obtain a fourth vertex, and taking a quadrangle formed by the first vertex, the second vertex, the third vertex and the fourth vertex as the target area. In a specific application, if an obstacle exists in the target area, the obstacle can be understood as a position where parking is impossible, and the target vehicle can be parked in a non-obstacle area in the current area and keep a certain safety distance from the obstacle.
For example, if the coordinate point of the projection point is set as the origin (0, 0), the coordinate point of the first target position is (5, 1), the minimum left road width is 2m, and the minimum right road width is 1m, the coordinates of the first vertex are (0, 2), the coordinates of the second vertex are (0, -1), the coordinates of the third vertex are (5, 3), and the coordinates of the fourth vertex are (5, 0), a quadrangle surrounded by the coordinate points (0, 2), (0, -1), (5, 3), and (5, 0) is set as the target region.
According to the method for determining the target area, when the accumulated value of the angle difference between adjacent target positions on the guiding line is larger than or equal to the preset angle and the distance between the corresponding first target position and the corresponding projection point when the accumulated value reaches the preset angle is larger than the shortest threshold, the target area is determined according to the projection point, the first target position and the minimum road width on the two sides of the guiding line. After the target area is obtained, the target vehicle can run on the structured road with the lane line only by reaching the target area without accurately reaching a certain position of the lane line, and the running efficiency is improved.
Fig. 3 is a flowchart illustrating a method for determining a target area according to an embodiment of the present application. The method of the embodiment may include the steps of:
s201, acquiring a running path of the target vehicle from the map data according to the current position and the end position of the target vehicle, and intercepting a part of the path from the running path to be used as a guiding line.
S202, selecting a target position on the guide line at preset intervals by taking a projection point of the current position of the target vehicle on the guide line as a starting point, acquiring the difference value of the angle of the target position, and superposing the difference values to obtain an accumulated value.
And S203, when the accumulated value is larger than or equal to the preset angle and the distance between the corresponding first target position and the projection point when the accumulated value reaches the preset angle is larger than the shortest threshold, determining a target area according to the projection point, the first target position and the minimum road width at two sides of the guiding line.
Step S201 is similar to the implementation manner of S101, step S202 is similar to the implementation manner of S102, and step S203 is similar to the implementation manner of S103, which is not described herein again.
And S204, when the accumulated value is smaller than the preset angle, determining a target area according to the projection point, a first middle point which is away from the projection point along the direction of the guiding line by a preset distance, and the minimum road width at two sides of the guiding line.
It can be understood that the accumulated value is smaller than the preset angle, which means that the curvature of the guiding line is smaller, the guiding line is more straight, at this time, the projection point can be used as the starting point, the preset distance is selected along the direction of the guiding line, and the point on the guiding line corresponding to the preset distance is recorded as the first middle point. The preset distance may be twice the length of the target vehicle so that the target vehicle may completely travel into the target area. And then determining a target area according to the projection point, the first middle point and the minimum road width at two sides of the guiding line.
The minimum road width includes a minimum left road width and a minimum right road width, and the target region may be determined according to the minimum left road width and the minimum right road width of the projection point, the first intermediate point, and the guiding line. Specifically, the ordinate of the projection point and the minimum left road width are added to obtain a first vertex, the ordinate of the projection point and the minimum right road width are subtracted to obtain a second vertex, the ordinate of the first intermediate point and the minimum left road width are added to obtain a third vertex, the ordinate of the first intermediate point and the minimum right road width are subtracted to obtain a fourth vertex, and then a quadrangle formed by the first vertex, the second vertex, the third vertex and the fourth vertex is used as a target area.
For example, if the coordinate point of the projection point is taken as the origin (0, 0), the coordinate point of the first target position is (5, 0), the minimum left road width is 2m, and the minimum right road width is 1m, the coordinates of the first vertex are (0, 2), the coordinates of the second vertex are (0, -1), the coordinates of the third vertex are (5, 2), and the coordinates of the fourth vertex are (5, -1), a quadrangle surrounded by the coordinate points (0, 2), (0, -1), (5, 2), and (5, -1) is taken as the target region.
According to the method for determining the target area, when the accumulated value of the angle difference between adjacent target positions on the guide line is smaller than the preset angle, the preset distance is selected along the direction of the guide line by taking the projection point as the starting point, the point corresponding to the preset distance is the first intermediate point, the target area is determined according to the projection point, the first intermediate point and the minimum road width on the two sides of the guide line, the step of selecting the target area can be simplified, and the selection efficiency is improved.
Fig. 4 shows a flowchart of a method for determining a target area according to an embodiment of the present application. The method of the embodiment may include the steps of:
s301, acquiring a running path of the target vehicle from the map data according to the current position and the end position of the target vehicle, and intercepting a part of the path from the running path to serve as a guiding line.
S302, selecting a target position on the guide line at preset intervals by taking a projection point of the current position of the target vehicle on the guide line as a starting point, acquiring the difference value of the angle of the target position, and superposing the difference values to obtain an accumulated value.
And S303, when the accumulated value is larger than or equal to the preset angle and the distance between the corresponding first target position and the projection point when the accumulated value reaches the preset angle is larger than the shortest threshold, determining a target area according to the projection point, the first target position and the minimum road width at two sides of the guiding line.
S304, acquiring an intersection point of the target area and the guiding line, making a tangent line to the guiding line by the intersection point, and acquiring an included angle between the tangent line and a horizontal line to acquire an angle value of the intersection point.
Since the target area is determined from the projected point on the guiding line, the first target position, and the minimum road width on both sides of the guiding line, the intersection of the first target position and the guiding line is actually the projected point and the first target position. And acquiring a tangent of the projection point on the guiding line, wherein an included angle between the tangent and the horizontal line is an angle value of the projection point, and acquiring a tangent of the first target position on the guiding line, and an included angle between the tangent and the horizontal line is an angle value of the first target position.
S305, obtaining an angle deviation requirement of a driving state, wherein the angle deviation requirement comprises an included angle requirement of a target vehicle and a lane line.
The angle deviation requirement in the driving state includes an angle requirement between the target vehicle and the lane line, for example, the angle between the target vehicle and the lane line cannot exceed 0.4 of the preset angle in the driving state.
S306, inputting the target area, the angle value and the angle deviation requirement into a free space algorithm to obtain a running route from the target vehicle to the target area.
And inputting the target area, the angle value of the projection point, the angle value of the first target position and the angle deviation requirement in the driving state into a free space algorithm, and outputting a driving route from the target vehicle to the target area by the free space algorithm.
And S307, generating a running instruction so that the target vehicle enters the target area according to the running route.
The driving instruction comprises a driving route of the target vehicle to the target area, and the target vehicle enters the target area according to the driving route in the driving instruction.
After the target vehicle enters the target area, whether an included angle between the target vehicle and the guiding line meets the condition of the cut-out starting state or not can be judged, and when the included angle meets the condition of the cut-out starting state, a command for entering the running state is generated, so that the target vehicle enters the running state. For example, if the angle between the target vehicle and the guidance line is zero, and the direction of the target vehicle is the same as that of the guidance line, a command for switching the target vehicle from a starting state to a running state may be generated, and the target vehicle may be brought into the running state according to the command.
According to the method for determining the target area, the angle value of the intersection point of the target area and the guiding line and the angle deviation requirement in the driving state are input into a free space algorithm, and the driving route from the target vehicle to the target area is obtained. Compared with the prior art, the method has the advantages that the operation of driving to the specified target area is simpler and more convenient, and the running efficiency of the target vehicle is improved.
Fig. 5 is a flowchart illustrating a method for determining a target area according to an embodiment of the present application. The method of the embodiment may include the steps of:
s401, acquiring a running path of the target vehicle from the map data according to the current position and the end position of the target vehicle, and intercepting a part of the path from the running path to be used as a guiding line.
S402, selecting a target position on the guide line at preset intervals by taking a projection point of the current position of the target vehicle on the guide line as a starting point, obtaining the angle difference of the target position, and superposing the difference values to obtain an accumulated value.
And S403, when the accumulated value is larger than or equal to the preset angle and the distance between the corresponding first target position and the projection point when the accumulated value reaches the preset angle is larger than the shortest threshold, determining a target area according to the projection point, the first target position and the minimum road width on two sides of the guiding line.
S404, when the accumulated value is smaller than the preset angle, determining a target area according to the projection point, a first middle point which is a preset distance from the projection point along the direction of the guiding line and the minimum road width at two sides of the guiding line.
Step S401 is similar to step S201 in implementation manner, step S402 is similar to step S202 in implementation manner, step S403 is similar to step S203 in implementation manner, and step S404 is similar to step S204 in implementation manner, which is not described herein again.
S405, acquiring an intersection point of the target area and the guiding line, making a tangent line to the guiding line by the intersection point, and acquiring an included angle between the tangent line and a horizontal line to acquire an angle value of the intersection point.
Since the target area is determined based on the projected point on the guiding line, the first intermediate point, and the minimum road width on both sides of the guiding line, the intersection of the target area and the guiding line is actually the projected point and the first intermediate point. And acquiring a tangent of the projection point on the guiding line, wherein an included angle between the tangent and the horizontal line is an angle value of the projection point, and acquiring a tangent of the first intermediate point on the guiding line, and an included angle between the tangent and the horizontal line is an angle value of the first intermediate point.
S406, acquiring an angle deviation requirement of the driving state, wherein the angle deviation requirement comprises an included angle requirement of the target vehicle and the lane line.
S407, inputting the target area, the angle value and the angle deviation requirement into a free space algorithm to obtain a running route from the target vehicle to the target area.
And S408, generating a running instruction so that the target vehicle enters the target area according to the running route.
Step S406 is implemented in a manner similar to that of S305, and step S407 is implemented in a manner similar to that of S306, which is not described herein again.
According to the method for determining the target area, the angle value of the intersection point of the target area and the guiding line and the angle deviation requirement in the driving state are input into a free space algorithm, and the driving route from the target vehicle to the target area is obtained. Compared with the prior art, the method has the advantages that the operation of driving to the specified target area is simpler and more convenient, and the running efficiency of the target vehicle is improved.
Fig. 6 is a schematic structural diagram of a target area determining apparatus according to an embodiment of the present application, and as shown in fig. 6, a target area determining apparatus 10 according to this embodiment is used to implement an operation corresponding to an electronic device in any one of the method embodiments described above, where the target area determining apparatus 10 according to this embodiment includes:
the acquisition module 11 is configured to acquire a driving route of the target vehicle from the map data according to the current position and the end point position of the target vehicle, and intercept a part of the driving route as a guiding line;
the control module 12 is configured to select a target position on the guideline at preset intervals with a projection point of a current position of the target vehicle on the guideline as a starting point, obtain a difference value of angles of adjacent target positions, and superimpose the difference values to obtain an accumulated value;
and the determining module 13 is configured to determine a target area according to the projection point, the first target position, and the minimum road width on two sides of the guiding line when the accumulated value is greater than or equal to the preset angle and the distance between the corresponding first target position and the projection point when the accumulated value reaches the preset angle is greater than the shortest threshold, where the target area is used as a reference starting area for the target vehicle to enter the lane line.
The device 10 for determining a target area provided in the embodiment of the present application may implement the method embodiment, and for specific implementation principles and technical effects, reference may be made to the method embodiment, which is not described herein again.
Fig. 7 shows a hardware structure diagram of an electronic device according to an embodiment of the present application. As shown in fig. 7, the electronic device 20 is configured to implement the operations corresponding to the electronic device in any of the method embodiments described above, where the electronic device 7 of this embodiment may include: memory 21, processor 22 and communication interface 23.
A memory 21 for storing computer instructions.
A processor 22 for executing computer instructions stored by the memory to implement the method for determining the target area in the above embodiments. Reference may be made in particular to the description relating to the method embodiments described above.
The electronic device provided in this embodiment may be used to execute the method for determining a target area, and the implementation manner and the technical effect are similar, which are not described herein again.
The present application also provides a computer readable storage medium, in which computer instructions are stored, and the computer instructions are executed by a processor to implement the methods provided by the above-mentioned various embodiments.
The present application also provides a computer program product comprising computer instructions stored in a computer readable storage medium. The computer instructions may be read by at least one processor of the device from a computer-readable storage medium, and execution of the computer instructions by the at least one processor causes the device to perform the methods provided by the various embodiments described above.
The embodiment of the present application further provides a chip, which includes a memory and a processor, where the memory is used to store computer instructions, and the processor is used to call and execute the computer instructions from the memory, so that a device in which the chip is installed executes the method described in the above various possible embodiments.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: it is also possible to modify the solutions described in the previous embodiments or to substitute some or all of them with equivalents. And the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (12)
1. A method for determining a target area, the method comprising:
acquiring a running path of a target vehicle from map data according to the current position and the end position of the target vehicle, and intercepting a part of the path from the running path as a guiding line;
selecting a target position on the guide line at preset intervals by taking a projection point of the current position of the target vehicle on the guide line as a starting point, acquiring a difference value of angles of adjacent target positions, and superposing the difference values to obtain an accumulated value;
and when the accumulated value is larger than or equal to a preset angle and the distance between the corresponding first target position and the projection point when the accumulated value reaches the preset angle is larger than a shortest threshold value, determining a target area according to the projection point, the first target position and the minimum road width at two sides of the guiding line, wherein the target area is used as a reference starting area for the target vehicle to enter a lane line.
2. The method of claim 1, wherein the minimum road width comprises a minimum left road width and a minimum right road width;
the determining a target area according to the projection point, the first target position, and the minimum road width on both sides of the guiding line specifically includes:
adding the ordinate of the projection point and the minimum left road width to obtain a first vertex, and subtracting the ordinate of the projection point and the minimum right road width to obtain a second vertex;
adding the ordinate of the first target position and the minimum left road width to obtain a third vertex, and subtracting the ordinate of the first target position and the minimum right road width to obtain a fourth vertex;
and taking a quadrangle formed by the first vertex, the second vertex, the third vertex and the fourth vertex as the target area.
3. The method of claim 1, further comprising:
and when the accumulated value is smaller than a preset angle, determining the target area according to the projection point, a first middle point which is a preset distance from the projection point along the direction of the guiding line and the minimum road width at two sides of the guiding line.
4. The method of claim 3, wherein the minimum road width comprises a minimum left road width and a minimum right road width;
determining the target area according to the projection point, a first middle point which is a preset distance from the projection point along the direction of the guiding line and the guiding line, and the minimum road width at two sides of the guiding line, specifically including:
adding the ordinate of the projection point and the minimum left road width to obtain a first vertex, and subtracting the ordinate of the projection point and the minimum right road width to obtain a second vertex;
obtaining a third vertex by the ordinate of the first middle point and the minimum left road width, and obtaining a fourth vertex by subtracting the ordinate of the first middle point and the minimum right road width;
and taking a quadrangle formed by the first vertex, the second vertex, the third vertex and the fourth vertex as the target area.
5. The method according to any one of claims 1-4, further comprising:
acquiring an intersection point of the target area and the guiding line, and tangent lines are made to the guiding line by the intersection point to acquire an included angle between the tangent lines and a horizontal line so as to acquire an angle value of the intersection point;
acquiring an angle deviation requirement in a driving state, wherein the angle deviation requirement comprises an included angle requirement of the target vehicle and the lane line;
and inputting the target area, the angle value and the angle deviation requirement into a free space algorithm to obtain a driving route from the target vehicle to the target area.
6. The method of claim 5, further comprising:
generating a travel instruction to cause the target vehicle to travel into the target area according to the travel route.
7. The method of claim 6, further comprising:
and after the target vehicle runs into the target area, judging whether an included angle between the target vehicle and the guiding line meets a condition of switching out a starting state, if so, generating a command of entering the running state so as to enable the target vehicle to enter the running state.
8. The method according to claim 1, wherein the obtaining the difference between the angles of the adjacent positions specifically comprises:
respectively making tangent lines on the guiding lines according to the target positions to obtain included angles between the tangent lines and a horizontal line so as to obtain angles of the target positions;
the difference in the angles of adjacent target positions is calculated.
9. The method of claim 2, wherein the minimum left road width comprises a shortest distance of the leader line from a fixed marker to the left of the leader line, and wherein the minimum right road width comprises a shortest distance of the leader line from a fixed marker to the right of the leader line.
10. An apparatus for determining a target area, the apparatus comprising:
the acquisition module is used for acquiring a running path of the target vehicle from map data according to the current position and the end point position of the target vehicle and intercepting part of the path from the running path as a guiding line;
the control module is used for selecting a target position on the guide line at preset intervals by taking a projection point of the current position of the target vehicle on the guide line as a starting point, acquiring the difference value of angles of adjacent target positions, and superposing the difference values to obtain an accumulated value;
and the determining module is used for determining a target area according to the projection point, the first target position and the minimum road width at two sides of the guiding line when the distance between the corresponding first target position and the projection point is greater than a shortest threshold value when the accumulated value is greater than or equal to a preset angle and the accumulated value reaches the preset angle, wherein the target area is used as a reference starting area for the target vehicle to enter a lane line.
11. An electronic device, characterized in that the device comprises: a memory, a processor;
the memory is to store computer instructions; the processor is configured to implement the method of determining a target area of any one of claims 1 to 9 in accordance with computer instructions stored in the memory.
12. A computer-readable storage medium having stored thereon computer instructions for implementing the method of determining a target area according to any one of claims 1 to 9 when executed by a processor.
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