CN113799798B - Method and device for determining running track of vehicle, electronic equipment and memory - Google Patents

Method and device for determining running track of vehicle, electronic equipment and memory Download PDF

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CN113799798B
CN113799798B CN202110997308.8A CN202110997308A CN113799798B CN 113799798 B CN113799798 B CN 113799798B CN 202110997308 A CN202110997308 A CN 202110997308A CN 113799798 B CN113799798 B CN 113799798B
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target
lane
value
sampling
longitudinal
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CN113799798A (en
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陈鹏旭
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Beijing Baidu Netcom Science and Technology Co Ltd
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Beijing Baidu Netcom Science and Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration

Abstract

The disclosure provides a method and a device for determining a running track of a vehicle, electronic equipment and a memory, and relates to the field of computers, in particular to the field of automatic driving. The specific implementation scheme is as follows: determining at least one target variable of a target vehicle on a target lane, wherein the target lane is a lane to which the target vehicle is expected to change from a current lane; collecting sampling values of at least one target variable; determining at least one travel track function of the target vehicle based on the at least one sampling value; acquiring a target value of at least one running track function, wherein the target value is used for representing the running stability of a target vehicle under the control of the running track function; and obtaining a lane change track based on the obtained target value of the at least one running track function, wherein the lane change track is used for changing the target vehicle from the current lane to the target lane.

Description

Method and device for determining running track of vehicle, electronic equipment and memory
Technical Field
The present disclosure relates to the field of computers, and more particularly, to a method and apparatus for determining a driving track of a vehicle, an electronic device, and a memory in the field of autopilot.
Background
Currently, in an automatic driving scenario, when determining a lane change track of a vehicle, a search method, such as an a-algorithm, a manual potential field method, and the like, is generally used.
However, in the above method, the search step size is difficult to determine, which makes the lane change trajectory determination less efficient in a complex and wide-ranging planning environment.
Disclosure of Invention
The disclosure provides a method and a device for determining a running track of a vehicle, electronic equipment and a memory.
According to an aspect of the present disclosure, there is provided a method of determining a travel track of a vehicle, including: determining at least one target variable of a target vehicle on a target lane, wherein the target lane is a lane to which the target vehicle is expected to change from a current lane; collecting sampling values of at least one target variable; determining at least one travel track function of the target vehicle based on the at least one sampling value; acquiring a target value of at least one running track function, wherein the target value is used for representing the running stability of a target vehicle under the control of the running track function; and obtaining a lane change track based on the obtained target value of the at least one running track function, wherein the lane change track is used for changing the target vehicle from the current lane to the target lane.
According to another aspect of the present disclosure, there is also provided a determination apparatus of a travel track of a vehicle, including: a first determining unit for determining at least one target variable of a target vehicle traveling on a target lane, wherein the target lane is a lane to which the target vehicle is expected to change from a current lane; the acquisition unit is used for acquiring sampling values of at least one target variable; a second determining unit for determining at least one travel track function of the target vehicle based on the at least one sampling value; a first acquisition unit configured to acquire a target value of at least one travel track function, where the target value is used to characterize a degree of smoothness of a target vehicle traveling under control of the travel track function; and a second acquisition unit configured to obtain a lane change track based on the acquired target value of the at least one travel track function, where the lane change track is used to change the target vehicle from the current lane to the target lane.
According to another aspect of the present disclosure, an electronic device is also provided. The electronic device includes: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the apparatus for determining a travel track of a vehicle according to an embodiment of the present disclosure.
According to another aspect of the present disclosure, there is also provided a non-transitory computer-readable storage medium storing computer instructions. The computer instructions are for causing a computer to execute the apparatus for determining a travel track of an embodiment of the present disclosure.
According to another aspect of the present disclosure, a computer program product is also provided. The computer program product may comprise a computer program which, when executed by a processor, implements the means for determining a travel trajectory of an embodiment of the disclosure.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
fig. 1 is a flowchart of a method of determining a travel track of a vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic illustration of a lane change of a target vehicle according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of a determination apparatus of a travel locus of a vehicle according to an embodiment of the present disclosure;
fig. 4 is a schematic block diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The embodiment of the disclosure provides a method for determining a driving track of a vehicle.
Fig. 1 is a flowchart of a method of determining a travel track of a vehicle according to an embodiment of the present disclosure. As shown in fig. 1, the method may include the steps of:
step S102, determining at least one target variable of the target vehicle traveling on the target lane.
In the technical solution provided in step 102 of the present disclosure, the target lane is a lane to which the target vehicle is expected to change from the current lane.
In this embodiment, the target vehicle may be an autonomous vehicle (vehicle end) in an autonomous scene. In the process of changing the lane from the current lane to the target lane, the target vehicle needs to plan a reasonable lane changing track. The embodiment may determine at least one target variable of the target vehicle traveling on the target lane to map the lane-change trajectory.
Alternatively, the target lane has a final position of the target vehicle, which is a point on the target lane, the final speed may be a speed along the target lane, and the final acceleration is set to 0. Alternatively, the at least one target variable of the embodiment is a sampling variable, and may be set based on the end position and the end speed, for example, the at least one target variable may be a longitudinal distance variable, a longitudinal speed variable, and a lane change time variable, where the longitudinal distance variable may be an end longitudinal distance variable, may be represented by s_end (or s), the longitudinal speed variable may be an end longitudinal speed variable, may be represented by v_end (or v), and the lane change time variable may be a lane change total time variable, may be represented by t_total (or t).
Step S104, sampling values of at least one target variable are acquired.
In the solution provided in the above step 104 of the present disclosure, after determining at least one target variable of the target vehicle when driving on the target lane, a sampling value of the at least one target variable may be acquired.
In this embodiment, the sampling value of the at least one target variable may be a sampling speed of the longitudinal speed variable, a sampling time of the lane change time variable, and a longitudinal distance of the longitudinal distance variable, for example, the sampling speed of the longitudinal speed variable may be 10m/s,20m/s,30m/s, the sampling time of the lane change time variable may be 2s,4s,6s,8s, and the longitudinal distance of the longitudinal distance variable may be 20 meters, 40 meters, 60 meters, 80 meters, 100 meters, without being particularly limited thereto.
According to the embodiment, the value range of the lane change time variable can be set according to actual requirements, for example, the sampling time range of the lane change time variable is required to be time t 1-t 2, the sampling time range starts from t 1-t 2, and the lane change of the target vehicle is reduced along with the progress of lane change. For example, if the target vehicle lane change has been operated for a dt time, the sampling time range of the lane change time variable may be t1-dt to t2-dt.
The embodiment may determine the sampling range of the end longitudinal speed variable from the sampling range of the lane change time variable, the current speed at which the target vehicle is traveling, and the maximum acceleration maximum deceleration of the target vehicle, wherein the maximum acceleration is a physical acceleration greater than 0 and the maximum deceleration is a physical acceleration less than 0. Alternatively, the sampled minimum speed of the longitudinal speed variable of this embodiment may be the speed to which the target vehicle is able to decrease from the current speed of the target vehicle during the maximum sampling time, and the sampled maximum speed of the longitudinal speed variable may be the speed to which the target vehicle is able to increase from the current speed of the target vehicle during the maximum sampling time.
The embodiment can calculate the longitudinal distance sampling range of the longitudinal distance variable according to the sampling speed of the longitudinal speed variable and the sampling time of the lane change time variable.
Step S106, determining at least one travel track function of the target vehicle based on the at least one sampling value.
In the solution provided in step 106 of the present disclosure, after collecting the sampling value of the at least one target variable, at least one running track function of the target vehicle may be determined based on the at least one sampling value.
In this embodiment, the track parameterization may be performed using a polynomial to represent the travel track function, e.g., the polynomial may be a fifth order polynomial, and may be expressed as f (x) =ax 5 +Bx 4 +Cx 3 +Dx 2 +Ex+F, where A-F is a coefficient to be determined, x may be used to represent time, and F (x) may be used to represent a travel track function of the target vehicle.
The embodiment may determine the coordinates in the direction perpendicular to the lane line as the abscissa of the travel track based on the target coordinate system, which may be the lane line coordinate system, may be represented by l, and the coordinates in the direction of the lane line as the ordinate of the travel track may be represented by s. For the sampled values of the at least one variable, at least one travel path function of the target vehicle may be calculated, which may include at least a lateral travel path function and a longitudinal travel path function. Wherein the transverse running track function, i.e. the track transverse expression, is related to the longitudinal distance variable, and the longitudinal running track function, i.e. the track longitudinal expression, is related to the longitudinal speed variable and the lane change time variable. For example, based on different sampling values of longitudinal distance variable s_end, can be calculated to obtain a transverse travel track function l(s) =a 1 s 5 +B 1 s 4 +C 1 s 3 +D 1 s 2 +E 1 s+F1, and for different longitudinal speed variables v_end and lane change time variable t_total obtained by sampling, a longitudinal running track function s (t) =A can be calculated 2 t 5 +B 2 t 4 +C 2 t 3 +D 2 t 2 +E 2 t+F2。
Step S108, obtaining a target value of at least one running track function.
In the solution provided in the above step 108 of the present disclosure, after determining at least one running track function of the target vehicle based on at least one sampling value, a target value of the at least one running track function may be obtained, where the target value is used to characterize a smoothness of running of the target vehicle under control of the running track function.
In this embodiment, the target value of the at least one travel track function may be a weight, which may be a path cost value (cost) for characterizing the smoothness of travel of the target vehicle under control of the travel track function, such as an integral of the speed, acceleration, jerk, etc. of the target vehicle over the path. Optionally, in order to ensure the stability of the driving of the target vehicle, the acceleration and jerk should be as low as 0, but in order to complete some lane changing tasks, the acceleration and jerk may not be as low as 0.
Step S110, obtaining a lane change track based on the obtained target value of at least one running track function.
In the technical solution provided in the above step 110 of the present disclosure, after the target value of at least one running track function is obtained, the lane-changing track is obtained based on the obtained target value of at least one running track function. Wherein the lane change track is used for changing the lane of the target vehicle from the current lane to the target lane
In this embodiment, the transverse travel track function and the longitudinal travel track function may be fused based on the target value of the transverse travel track function and the target value of the longitudinal travel track function, and the lane-changing track of the target vehicle in the world coordinate system may be calculated by coordinate conversion.
After the lane-change trajectory is obtained, the target vehicle may be controlled to change lanes along the lane-change trajectory onto the target lane.
Determining at least one target variable of the target vehicle on the target lane through the steps S102 to S110, wherein the target lane is a lane to which the target vehicle is expected to switch from the current lane; collecting sampling values of at least one target variable; determining at least one travel track function of the target vehicle based on the at least one sampling value; acquiring a target value of at least one running track function, wherein the target value is used for representing the running stability of a target vehicle under the control of the running track function; and obtaining a lane change track based on the obtained target value of the at least one running track function, wherein the lane change track is used for changing the target vehicle from the current lane to the target lane. That is, the present disclosure obtains at least one track running track function by determining at least one target variable of the target vehicle on the target lane, and performs fusion processing on the track running track function by using a target value of the at least one track running track function, thereby achieving the purpose of determining a lane change track of the target vehicle, solving the technical problem that an automatic driving vehicle cannot plan a reasonable lane change track in a lane change process, and achieving the technical effect of planning a reasonable lane change track in the lane change process of the automatic driving vehicle.
The above-described method of this embodiment is further described below.
As an optional embodiment, step S108, obtaining a target value of at least one travel track function includes: acquiring a first target value of a transverse running track function and a second target value of a longitudinal running track function, wherein the first target value is used for representing the running stability of a target vehicle under the control of the transverse running track function, and the second target value is used for representing the running stability of the target vehicle under the control of the longitudinal running track function; step S110, obtaining a lane-changing track based on the obtained target value of the at least one running track function, including: and carrying out fusion processing on the transverse running track function and the longitudinal running track function based on the first target value and the second target value to obtain the lane change track.
In this embodiment, when the target value of the at least one travel track function is obtained, a first target value of the transverse travel track function is obtained, which may be used to characterize the smoothness of the travel of the target vehicle under the control of the transverse travel track function, for example, for the calculated l(s) =a 1 s 5 +B 1 s 4 +C 1 s 3 +D 1 s 2 +E 1 Weight of s+f1; the embodiment may also obtain a second target value of the longitudinal travel path function, which may be used to characterize the smoothness of the travel of the target vehicle under control of the longitudinal travel path function, e.g., for the calculated s (t) =a 2 t 5 +B 2 t 4 +C 2 t 3 +D 2 t 2 +E 2 Weight of t+F2. Therefore, when the lane change track is obtained based on the obtained target value of at least one running track function, the lane change track can be obtained by carrying out fusion processing on the transverse running track function and the longitudinal running track function based on the first target value and the second target value. Alternatively, a first target value of the series of lateral travel track functions and a second target value of the longitudinal travel track functions may be calculated, respectively, and the lane-change track may be determined based on the first target value and the second target value.
As an alternative embodiment, the fusing processing is performed on the transverse running track function and the longitudinal running track function based on the first target value and the second target value to obtain a lane-changing track, which includes: a lane-change trajectory is generated based on a lateral travel trajectory function associated with a sample value corresponding to the first target value and a longitudinal travel trajectory function associated with a sample value corresponding to the second target value.
In this embodiment, when the fusion processing of the lateral travel track function and the longitudinal travel track function based on the first target value and the second target value is implemented to obtain the lane-change track, the sampling value corresponding to the first target value may be the sampling value of the longitudinal distance variable in the lateral travel track function corresponding to the minimum target value in the series of lateral travel track functions, the sampling value corresponding to the second target value may be the sampling value of the longitudinal speed variable in the longitudinal travel track function corresponding to the minimum target value in the series of longitudinal travel track functions and the sampling value of the lane-change time variable, and the lane-change track may be generated based on the lateral travel track function associated with the sampling value corresponding to the first target value and the longitudinal travel track function associated with the sampling value corresponding to the second target value, that is, the lane-change track may be uniquely determined by the sampling value of the longitudinal distance variable, the sampling value corresponding to the longitudinal speed variable, and the sampling value corresponding to the lane-change time variable, and the corresponding lateral travel track function and the longitudinal travel track function.
As an alternative embodiment, the at least one target variable includes a longitudinal distance variable for the target vehicle to travel onto the target lane, wherein obtaining the first target value of the lateral travel track function includes: acquiring a plurality of first sampling values of the longitudinal distance variable; determining a plurality of transverse travel track functions based on the plurality of first sample values; a plurality of first target values corresponding to the plurality of lateral travel track functions are determined.
In this embodiment, when obtaining the first target value of the transverse running track function, the longitudinal distance variable may be sampled to obtain a plurality of first sampling values, for example, the longitudinal distance variable s_end is sampled to obtain a plurality of first sampling values 20 meters, 40 meters, 60 meters, 80 meters, and 100 meters, and the corresponding transverse running track function may be obtained by calculating the different first sampling values, so as to obtain a plurality of transverse running track functions, for example, l(s) 1, l(s) 2, l(s) 3 …, where each transverse running track function has a corresponding first target value, for example, a cost value, so that a plurality of first target values corresponding to the plurality of transverse running track functions, that is, a series of weights of l(s) are calculated.
As an alternative embodiment, the at least one target variable includes a longitudinal speed variable and a lane change time variable of the target vehicle traveling onto the target lane, wherein obtaining the second target value of the longitudinal travel track function includes: acquiring a plurality of second sampling values of a longitudinal speed variable and a plurality of corresponding third sampling values of a lane change time variable under a first target sampling value, wherein the first target sampling value is a first sampling value corresponding to a minimum first target value in a plurality of first target values; determining a plurality of longitudinal travel track functions based on the plurality of second sample values and the corresponding plurality of third sample values; a plurality of second target values corresponding to the plurality of longitudinal travel track functions are determined.
The embodiment can select the smallest first target value from the plurality of first target values, and then determine the transverse travel track function corresponding to the smallest first target value, for example, the relationship between l(s) and s can be uniquely determined, so that the transverse travel track function l(s) corresponding to the smallest first target value can be determined 2 The first sample value is determined as a first target sample value, for example, the first target sample value is s=40 meters. Under the first target sampling value, a plurality of second sampling values of the longitudinal speed variable and a plurality of third sampling values of the corresponding lane change time variable can be obtained, the first target sampling value can be fixed, the longitudinal speed variable is sampled to obtain a plurality of second sampling values, for example, the second sampling values v_end can be 10m/s,20m/s and 30m/s, the lane change time variable t_total is sampled to obtain a plurality of third sampling values, for example, the third sampling values can be 2s,4s,6s and 8s.
After obtaining the second and third sample values, a longitudinal trajectory function may be calculated for the different sample values, thereby obtaining a plurality of longitudinal trajectory functions, i.e. the longitudinal trajectory function is determined by the first target sample value, the different sample values, and the third sample value, and may be a series of first longitudinal distances s (t) 1 ，s(t) 2 ，s(t) 3 …, and further determining a plurality of second target values corresponding to the plurality of longitudinal travel track functions, the second target values being capable ofTo be the cost value.
As an alternative embodiment, the method further comprises: determining a second target sampling value and a third target sampling value, wherein the second target sampling value is a second sampling value corresponding to a minimum second target value in a plurality of second target values, and the third target sampling value is a third sampling value corresponding to the minimum second target value; the method for obtaining the lane change track comprises the following steps of performing fusion processing on a transverse running track function and a longitudinal running track function based on a first target value and a second target value, and comprising the following steps: and determining the lane change track based on the longitudinal running track function corresponding to the second target sampling value and the third target sampling value together and the transverse running track function corresponding to the first target sampling value.
In this embodiment, a minimum second target value may be selected from the plurality of second target values, and then a longitudinal travel track function corresponding to the minimum second target value, for example, s (t), may be determined 2 Thus, the longitudinal travel locus function s (t) corresponding to the minimum second target value can be determined 2 The second sampling value is determined to be a second target sampling value, for example, the second target sampling value may be v=10m/s, the third sampling value is determined to be a third target sampling value, for example, the third target sampling value may be t=4s, so that when the fusion processing of the transverse running track function and the longitudinal running track function based on the first target value and the second target value is implemented to obtain the lane change track, the lane change track may be determined based on the longitudinal running track function commonly corresponding to the second target sampling value and the third target sampling value, and the transverse running track function corresponding to the first target sampling value, and the transverse and longitudinal track of the lane change track may be uniquely determined by the transverse running track function corresponding to the first target sampling value, and the common longitudinal running track function of the second target sampling value and the third target sampling value. For example, the longitudinal travel track function s (t) is based on the second and third target sampling values 2 And a transverse travel track function l(s) corresponding to the first target sampling value 2 Determining track-changing trajectories, i.e. track-changing trajectoriesThe transverse and longitudinal tracks can be uniquely determined as a group of l(s) 2 Sum s (t) 2 Optionally, the embodiment fuses the obtained l(s) and s (t), and calculates the lane-changing track under the world coordinate system through coordinate transformation.
The optimal values of the final sampling results corresponding to the lane change track in this embodiment are the first target sampling value, the second target sampling value and the third target sampling value, which are used to represent that the whole lane change time is the third target sampling value, in the time of the third target sampling value, the target vehicle travels forward by the first target sampling value, and the lane change reaches the target lane when the third target sampling value is the third target sampling value, and the longitudinal speed is the second target sampling value. Therefore, for any time t from 0 to the third target sample value, the longitudinal distance (longitudinal displacement) of t at this time can be obtained from the corresponding transverse travel track function of the first target sample value, and the longitudinal distance is substituted into the corresponding longitudinal travel track function common to the second target sample value and the third target sample value, thereby obtaining the transverse distance (displacement) at this time.
For example, the embodiment samples the longitudinal distance variable s to obtain sampling values of 20m, 40 m, 60 m, 80 m, 100 m, and calculates the corresponding transverse running track function i(s) for the sampled different sampling values s, for example, a series of i(s) can be obtained 1 ，l(s) 2 ，l(s) 3 … from which a transverse trajectory function with the smallest cost value, e.g. l(s), can be selected 2 The l(s) 2 The relationship with s can be uniquely determined, e.g., s=40 meters, i.e., s=40 meters, the cost is the smallest, and l(s) can be uniquely determined 2 . Fixing s=40 meters, and then continuing to sample the longitudinal speed variable and the lane change time variable t, for example, sampling the longitudinal speed variable speed v_end to obtain sampling values of 10m/s,20m/s and 30m/s, and sampling the lane change time variable t_total to obtain sampling values of 2s,4s,6s and 8s. For the sampled different sampled values v_end and t_total, a corresponding longitudinal travel track function s (t) can be calculated, for example, a series of s (t) 1, s (t) 2, s (t) 3, … are obtained, and the minimum value of the cost is selected, for exampleS (t) 2 The corresponding track time variable has a sample value of t=4s and the longitudinal speed variable has a sample value of v=10m/s, so that the final sample result of this embodiment is s=40 meters, t=4s, v=10m/s.
In this embodiment, l(s) =a 1 s 5 +B 1 s 4 +C 1 s 3 +D 1 s 2 +E 1 s+F 1 ，s(t)＝A 2 t 5 +B 2 t 4 +C 2 t 3 +D 2 t 2 +E 2 t+F 2 And the coefficients a-F have been found by the above steps. For the above sampling results, the obtained optimal values s=40m, t=4s, v=10m/s, which means that the entire lane change time is 4 seconds, in which 4 seconds the vehicle has traveled 40 meters forward, and at the time of 4 seconds the target vehicle lane change reaches the target lane, the longitudinal speed is 10m/s. Therefore, for an arbitrary time t of 0 to 4 seconds, the longitudinal distance s at this time can be obtained from s (t) corresponding to s=40m, and the transverse distance l at this time can be obtained by bringing the longitudinal distance s into l(s) corresponding to t=4s, v=10m/s.
According to the embodiment, a safe and reasonable lane change path can be planned through the method, the time consumption is low, the overall lane change performance is good, the obtained first target value of the transverse running track function and the obtained second target value of the longitudinal running track function are not necessarily the minimum target value, if the running track is subjected to obstacle passing inspection, the planning result can be free, and the other lane change track determining method of the embodiment is described below to avoid the occurrence of the situation.
As an alternative embodiment, the at least one target variable includes a longitudinal distance variable, a longitudinal speed variable, and a lane change time variable for the target vehicle to travel onto the target lane, wherein the fusing process is performed on the transverse travel track function and the longitudinal travel track function based on the first target value and the second target value to obtain the lane change track, and the method includes: acquiring a plurality of first sampling values of a longitudinal distance variable, a plurality of second sampling values of a longitudinal speed variable and a plurality of corresponding third sampling values of a channel time variable; combining and arranging a plurality of first sampling values, a plurality of second sampling values and a plurality of third sampling values to obtain a plurality of combinations, wherein each combination comprises a first sampling value, a second sampling value and a third sampling value; the lane-change trajectory is determined based on a first target value of the transverse travel trajectory function corresponding to a first sampling value in each combination, and a second target value of the longitudinal travel trajectory function commonly corresponding to a second sampling value and a third sampling value.
In this embodiment, a plurality of first sampling values of the longitudinal distance variable, a plurality of second sampling values of the longitudinal speed variable, and a plurality of third sampling values of the corresponding lane change time variable are obtained, for example, the plurality of first sampling values of the longitudinal distance variable s may be 20 meters, 40 meters, 60 meters, 80 meters, 100 meters, the plurality of second sampling values of the longitudinal speed variable v may be 10m/s,20m/s,30m/s, and the plurality of third sampling values of the corresponding lane change time variable t may be 2s,4s,6s,8s. The embodiment performs permutation and combination on the above data, that is, the embodiment calculates a longitudinal running track function corresponding to each first sampling value, and calculates, for each first sampling value, a transverse running track function that is shared by each second sampling value and a corresponding third sampling value, where, for example, s=40m, t=4s, v=10m/s may obtain a set of l(s) and s (t), s=60deg.m, t=6s, and v=20m/s may also obtain a set of l(s) and s (t). The embodiment may determine a first target value of the lateral travel track function corresponding to a first sampling value in each combination, a second target value of the longitudinal travel track function corresponding to a second sampling value and a third sampling value in common, and determine the lane-change track based on the first target value and the second target value.
As an alternative embodiment, determining the lane-change trajectory based on the first target value of the transverse travel trajectory function corresponding to the first sampling value in each combination, and the second target value of the longitudinal travel trajectory function commonly corresponding to the second sampling value and the third sampling value includes: in each combination, a first target value of a transverse running track function corresponding to a first sampling value is obtained, and a sum of a second sampling value and a second target value of a longitudinal running track function corresponding to a third sampling value is obtained to obtain a plurality of sums; and determining the lane change track based on the transverse running track function and the longitudinal running track function corresponding to the minimum sum of the plurality of sums.
In this embodiment, a first target value of the transverse running track function corresponding to a first sampling value is obtained in each combination, a second target value of the longitudinal running track function corresponding to a second sampling value and a third sampling value are obtained together, and a sum between the first target value and the second target value is obtained, so that a plurality of combinations correspond to a plurality of sums, a minimum sum is determined in the plurality of sums, and a lane change track is determined based on a group of transverse running track functions and longitudinal running track functions corresponding to the minimum sum, for example, the combination of the minimum sum corresponds to s=60 m, t=6s, v=20m/s, and a lane change track determined by s(s) determined by s=6s, v=20m/s is the final track of the running of the target vehicle.
For example, the data are arranged and combined when the longitudinal distance variable s is 20m, 40m, 60m, 80 m, 100 m, the longitudinal speed variable is 10m/s,20m/s,30m/s, and the lane change time variable is 2s,4s,6s,8 s. That is, in this embodiment, the relation of s (t) is calculated not only when s is 40m, but also when s is 20m, 60m, 80 m, or 100 m. For example, s=40m, t=4s, v=10m/s can obtain a set of i(s) and s (t), s=60deg.m, t=6s, and v=20m/s can also obtain a set of i(s) and s (t). The two cost values of each obtained group are added, and the corresponding l(s) and s (t) of the group with the smallest sum of the cost values are selected, for example, the l(s) and s (t) corresponding to s=60 m, t=6s and v=20m/s are determined as the final lane change track.
For example, the above l(s) =a 1 s 5 +B 1 s 4 +C 1 s 3 +D 1 s 2 +E 1 s+F 1 ，s(t)＝A 2 t 5 +B 2 t 4 +C 2 t 3 +D 2 t 2 +E 2 t+F 2 And coefficients A-F have alreadyThe above procedure was used to determine the results. For the above sampling results, the obtained optimal values s=60 m, t=6s, v=20m/s, which means that the entire lane change time is 6 seconds, during which 6 seconds the vehicle has traveled 60 meters forward, and at the time of 6 seconds the target vehicle lane change reaches the target lane, the longitudinal speed is 20m/s. Therefore, for an arbitrary time t of 0 to 6 seconds, the longitudinal distance s at that time can be obtained from s (t) corresponding to s=60 m, and the transverse distance l at that time can be obtained by bringing the longitudinal distance s into l(s) corresponding to t=6s, v=20m/s. For example, the lateral distance between the current lane and the target lane is 3.5 meters (about the lane width, a known quantity), s=35m is calculated from s (t=3) when t=3s, and l=2m is calculated from l (s=35), which means that the target vehicle travels 35 meters in the longitudinal direction and 2 meters in the lateral direction when the lane change time passes 3 seconds, and the target vehicle needs to continue to travel toward the target lane for the remaining 3 seconds until the target lane at 3.5 meters can be reached at the 6 th second in order to complete the lane change.
In the lane changing process of the target vehicle, the safe and reasonable lane changing path can be planned through the method, the vehicle can be changed to the target lane, the stability and the safety of the lane changing are ensured, meanwhile, the calculation time of the lane changing track is controllable, meanwhile, the algorithm time consumption is less, and the overall lane changing performance is good.
The above-described method of this embodiment is further illustrated below.
Fig. 2 is a schematic illustration of a lane change of a target vehicle according to an embodiment of the present disclosure. As shown in fig. 2, the target vehicle is on the current lane a, needs to change from the current lane a to the target lane b, and the end position of the target vehicle on the target lane may be x, y, z. Wherein the end position is a certain point on the target lane b, the end speed is a certain speed along the target lane b, and the end acceleration is set to 0. Thus, the sampling variables are set to the tip longitudinal distance s_end, the tip longitudinal speed v_end, and the total lane change time t_total.
In this embodiment, the value range of the sampling variable is set, and the total time range of the lane change may be set according to the actual requirement, for example, the total time requirement of the lane change is t 1-t 2, the sampling range starts from t 1-t 2, the sampling range is reduced with the progress of the lane change, for example, if the lane change has been performed for dt time, the total time range of the lane change is changed to t 1-dt-t 2-dt.
This embodiment can determine the range of sampling speeds from the lane change time range, the current speed, and the maximum acceleration and maximum deceleration of the vehicle. The sampling minimum speed may be a speed to which the current speed can be reduced within a maximum sampling time at which the current speed can be increased, and the sampling maximum speed may be a speed to which the target vehicle can be accelerated at a maximum acceleration. And finally, calculating the longitudinal distance sampling range according to the sampling speed range and the total lane change time range.
In this embodiment, the lateral and longitudinal travel of the target vehicle is each trajectory parameterized using a fifth order polynomial. The fifth degree polynomial may be expressed as f (x) =ax 5 +Bx 4 +Cx 3 +Dx 2 +Ex+F, where A-F are coefficients that need to be determined. Under the condition of being based on a lane line coordinate system, the horizontal coordinate (vertical lane line direction) of the running track of the target vehicle is l, the vertical coordinate (lane line direction) is s, and the track transverse expression l(s) can be calculated for different sampled s_end; for the different s_end, v_end and t_total obtained by sampling, a track longitudinal expression s (t) can be calculated.
In this embodiment, the weights of a series of l(s) and s (t) may be calculated respectively, and when selecting, l(s) with the smallest weight may be selected from the series of l(s) obtained by calculation, and then s_end corresponding to l(s) is used as a fixed value for sampling s (only sampling v_end and t_total), and then s (t) with the smallest weight is selected.
Alternatively, this embodiment samples s, a series of l(s) can be obtained 1 ，l(s) 2 ，l(s) 3 … from which the smallest one of the costs can be selected, e.g. l(s) 2 Then l(s) 2 And s can be uniquely determined. According to l(s) 2 The corresponding samples s (40) may be continued to sample v_end and t_total, resulting in a series of s (t) 1 ，s(t) 2 ，s(t) 3 … from which the cost is selected to be the smallest, e.g., s (t) 2 The transverse and longitudinal trajectories of the target vehicle can be uniquely determined as l(s) as described above 2 Sum s (t) 2 。
For example, in this embodiment, s is sampled first, s is 20 meters, 40 meters, 60 meters, 80 meters, 100 meters, and when s is 40 meters, the cost is the smallest, and the corresponding l(s) can be uniquely determined. The fixed s is 40m, and the longitudinal v and t are sampled, for example, the speed is 10m/s, the speed is 20m/s, the speed is 30m/s, and the time is 2s,4s,6s and 8s. At s=40 meters, the longitudinal sampling value with the smallest cost obtained by sampling calculation is t=4s, and v=10m/s corresponds to s (t). The final sampling result is thus s=40m, t=4s, v=10m/s.
However, the cost of the trajectory function obtained by the above method is not necessarily the minimum cost, and if the obstacle passing inspection is performed on the trajectory, the planning result may not be solved, but is less time-consuming, and another method for determining the lane-change trajectory of this embodiment will be described below.
In this embodiment, the l(s) and s (t) obtained by sampling s_end, v_end, and t_total may be combined, the total weight is calculated, and the l(s) and s (t) corresponding to the minimum total weight are selected.
Optionally, the embodiment samples s, which is 20 meters, 40 meters, 60 meters, 80 meters, 100 meters, and samples speed is 10m/s,20m/s,30m/s, and samples time is 2s,4s,6s,8s, and the data are arranged and combined. That is, in this embodiment, not only the relation of s (t) is calculated when s is 40m, but also the relation of s (t) when s is 20m, 60m, 80 m, or 100 m. For example, s=40m, t=4s, v=10m/s can obtain a set of i(s) and s (t), s=60deg.m, t=6s, and v=20m/s can also obtain a set of i(s) and s (t). And adding the two costs corresponding to each obtained group, selecting the group with the smallest cost, wherein s=60deg.m, t=6s, and v=20m/s corresponds to l(s) and s (t), namely the final track.
In this embodiment, the obtained l(s) and s (t) can be fused, and the trajectory in the world coordinate system can be calculated by coordinate transformation.
Examples of the examplesIn terms of the above, l(s) =a 1 s 5 +B 1 s 4 +C 1 s 3 +D 1 s 2 +E 1 s+F 1 ，s(t)＝A 2 t 5 +B 2 t 4 +C 2 t 3 +D 2 t 2 +E 2 t+F 2 And the coefficients a-F have been found by the above steps. For the above sampling results, the obtained optimal values s=60 m, t=6s, v=20m/s, which means that the entire lane change time is 6 seconds, the target vehicle has traveled 60 meters forward during the 6 seconds, and the target vehicle lane change reaches the target lane at the 6 th second, and the longitudinal speed is 20m/s. Therefore, for an arbitrary time t within 0 to 6 seconds, the longitudinal displacement s at that time can be obtained from s (t), and then s is brought into l(s), and the lateral displacement l at that time can be obtained. For example, the lateral distance between the current lane and the target lane is 3.5 meters (about the lane width, a known quantity), s=35m can be calculated from s (t) when t=3s, and l=2m can be calculated from l(s), which means that the vehicle travels 35 meters in the longitudinal direction and 2 meters in the lateral direction after the lane change time passes 3 seconds. In order for the target vehicle to complete lane changing, it is necessary to continue moving to the target lane for the remaining 3 seconds until it reaches 3.5 meters at 6 seconds, which is the target lane.
The method for changing the lane of the target vehicle to the target lane is a lane changing core algorithm, and can plan a safe and reasonable lane changing path when the vehicle needs to change the lane, and meanwhile, the algorithm is less in time consumption and good in overall lane changing performance.
It should be noted that, the method of the embodiment may be applied to a driving lever lane change and an autonomous lane change in automatic driving and auxiliary driving.
The embodiment of the disclosure provides a determination device for a running track of a vehicle. The apparatus for determining a travel locus of a vehicle of this embodiment may be used to execute the method for determining a travel locus of a vehicle of the embodiment of the present disclosure.
Fig. 3 is a schematic diagram of a determination apparatus of a travel locus of a vehicle according to an embodiment of the present disclosure. As shown in fig. 3, the determination device 30 of the travel track of the vehicle may include: a first determination unit 31, an acquisition unit 32, a second determination unit 33, a first acquisition unit 34, and a second acquisition unit 35.
The first determining unit 31 is configured to determine at least one target variable of the target vehicle traveling on a target lane, where the target lane is a lane to which the target vehicle is expected to change from a current lane.
An acquisition unit 32 for acquiring sample values of at least one target variable.
The second determining unit 33 is configured to determine at least one travel track function of the target vehicle based on the at least one sampling value.
A first acquisition unit 34 for acquiring a target value of at least one travel track function, wherein the target value is used for representing the smoothness of travel of the target vehicle under the control of the travel track function.
The second obtaining unit 35 is configured to obtain a lane change track based on the obtained target value of the at least one running track function, where the lane change track is used to change the target vehicle from the current lane to the target lane.
Optionally, the travel track function includes at least a lateral travel track function and a longitudinal travel track function.
Optionally, the first acquisition unit 34 includes: the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a first target value of a transverse running track function and a second target value of a longitudinal running track function, the first target value is used for representing the running stability of a target vehicle under the control of the transverse running track function, and the second target value is used for representing the running stability of the target vehicle under the control of the longitudinal running track function; the second acquisition unit 35 includes: and the fusion module is used for carrying out fusion processing on the transverse running track function and the longitudinal running track function based on the first target value and the second target value to obtain a lane change track.
Optionally, the fusion module includes: and the generation sub-module is used for generating a lane change track based on the transverse running track function associated with the sampling value corresponding to the first target value and the longitudinal running track function associated with the sampling value corresponding to the second target value.
Optionally, the at least one target variable includes a longitudinal distance variable for the target vehicle to travel onto the target lane, wherein the obtaining module includes: the first acquisition submodule is used for acquiring a plurality of first sampling values of the longitudinal distance variable; a first determination submodule for determining a plurality of transverse running track functions based on a plurality of first sampling values; and the second determining submodule is used for determining a plurality of first target values corresponding to the plurality of transverse running track functions.
Optionally, the at least one target variable includes a longitudinal speed variable and a lane change time variable of the target vehicle traveling onto the target lane, wherein the obtaining module includes: the second acquisition sub-module is used for acquiring a plurality of second sampling values of the longitudinal speed variable and a plurality of corresponding third sampling values of the lane change time variable under a first target sampling value, wherein the first target sampling value is a first sampling value corresponding to a minimum first target value in a plurality of first target values; a third determining sub-module for determining a plurality of longitudinal travel track functions based on the plurality of second sample values and a corresponding plurality of third sample values; and the fourth determination submodule is used for determining a plurality of second target values corresponding to the longitudinal running track functions.
Optionally, the apparatus comprises: the third determining unit is configured to determine a second target sampling value and a third target sampling value, where the second target sampling value is a second sampling value corresponding to a minimum second target value in the plurality of second target values, and the third target sampling value is a third sampling value corresponding to the minimum second target value; the fusion module comprises: and the fifth determining submodule is used for determining the lane change track based on the longitudinal running track function corresponding to the second target sampling value and the third target sampling value together and the transverse running track function corresponding to the first target sampling value.
Optionally, the at least one target variable includes a longitudinal distance variable, a longitudinal speed variable, and a lane change time variable for the target vehicle to travel onto the target lane, wherein the fusion module includes: the third acquisition submodule is used for acquiring a plurality of first sampling values of the longitudinal distance variable, a plurality of second sampling values of the longitudinal speed variable and a plurality of third sampling values of the corresponding channel time variable; the combination sub-module is used for combining and arranging a plurality of first sampling values, a plurality of second sampling values and a plurality of third sampling values to obtain a plurality of combinations, wherein each combination comprises a first sampling value, a second sampling value and a third sampling value; and a sixth determining sub-module, configured to determine the lane-changing track based on a first target value of the transverse running track function corresponding to a first sampling value in each combination, and a second target value of the longitudinal running track function corresponding to a second sampling value and a third sampling value in common.
Optionally, the sixth determining submodule is configured to determine the lane-change trajectory based on a first target value of the transverse running trajectory function corresponding to one first sampling value in each combination, and a second target value of the longitudinal running trajectory function corresponding to one second sampling value and one third sampling value in common, by: in each combination, a first target value of a transverse running track function corresponding to a first sampling value is obtained, and a sum of a second sampling value and a second target value of a longitudinal running track function corresponding to a third sampling value is obtained to obtain a plurality of sums; and determining the lane change track based on the transverse running track function and the longitudinal running track function corresponding to the minimum sum of the plurality of sums.
In the device for determining the driving track of the vehicle, at least one track driving track function is obtained by determining at least one target variable of the target vehicle on the target lane, and the track driving track function is fused by the target value of the at least one track driving track function, so that the aim of determining the track changing track of the target vehicle is fulfilled, the technical problem that a reasonable track changing track cannot be planned in the track changing process of the automatic driving vehicle is solved, and the technical effect that the reasonable track changing track is planned in the track changing process of the automatic driving vehicle is achieved.
It should be noted that the above units and modules may be implemented by software or hardware, and for the latter, may be implemented by, but not limited to: the modules are all located in the same processor; alternatively, the above modules may be located in different processors in any combination.
In the technical scheme of the disclosure, the acquisition, storage, application and the like of the related user personal information all conform to the regulations of related laws and regulations, and the public sequence is not violated.
According to an embodiment of the disclosure, the disclosure further provides an electronic device. The electronic device may include: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of determining a travel track of a vehicle in accordance with an embodiment of the present disclosure.
Optionally, the electronic device may further include a transmission device and an input/output device, where the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in the present disclosure, the above processor may be configured to perform the following steps by a computer program:
s1, determining at least one target variable of a target vehicle on a target lane, wherein the target lane is a lane to which the target vehicle is expected to change from a current lane;
s2, collecting sampling values of at least one target variable;
s3, determining at least one running track function of the target vehicle based on the at least one sampling value; acquiring a target value of at least one running track function, wherein the target value is used for representing the running stability of a target vehicle under the control of the running track function;
and S4, obtaining a lane change track based on the obtained target value of the at least one running track function, wherein the lane change track is used for changing the target vehicle from the current lane to the target lane.
Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments and optional implementations, and this embodiment is not described herein.
According to an embodiment of the present disclosure, the present disclosure also provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform a method of determining a travel track of a vehicle of an embodiment of the present disclosure.
Alternatively, in the present embodiment, the above-described nonvolatile storage medium may be configured to store a computer program for performing the steps of:
s1, determining at least one target variable of a target vehicle on a target lane, wherein the target lane is a lane to which the target vehicle is expected to change from a current lane;
s2, collecting sampling values of at least one target variable;
s3, determining at least one running track function of the target vehicle based on the at least one sampling value; acquiring a target value of at least one running track function, wherein the target value is used for representing the running stability of a target vehicle under the control of the running track function;
and S4, obtaining a lane change track based on the obtained target value of the at least one running track function, wherein the lane change track is used for changing the target vehicle from the current lane to the target lane.
Alternatively, in the present embodiment, the non-transitory computer readable storage medium described above may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
According to an embodiment of the present disclosure, the present disclosure also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements a method of determining a travel track of a vehicle of an embodiment of the disclosure.
The program code of the embodiment for implementing the method of determining a travel track of a vehicle of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
According to an embodiment of the present disclosure, the present disclosure also provides an autonomous vehicle. The autonomous vehicle may include the determination apparatus of the travel locus of the vehicle of the embodiment of the present disclosure or the electronic device of the embodiment of the present disclosure.
Fig. 4 is a schematic block diagram of an electronic device 400 according to an embodiment of the disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 4, the apparatus 400 includes a computing unit 401 that can perform various suitable actions and processes according to a computer program stored in a Read Only Memory (ROM) 402 or a computer program loaded from a storage unit 408 into a Random Access Memory (RAM) 403. In RAM 403, various programs and data required for the operation of device 400 may also be stored. The computing unit 401, ROM 402, and RAM 403 are connected to each other by a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.
Various components in device 400 are connected to I/O interface 405, including: an input unit 406 such as a keyboard, a mouse, etc.; an output unit 407 such as various types of displays, speakers, and the like; a storage unit 408, such as a magnetic disk, optical disk, etc.; and a communication unit 409 such as a network card, modem, wireless communication transceiver, etc. The communication unit 409 allows the device 400 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The computing unit 401 may be a variety of general purpose and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 401 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The calculation unit 401 executes the respective methods and processes described above, for example, a determination method of a travel locus of a vehicle. For example, in some embodiments, the method of determining the travel track of a vehicle may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 408. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 400 via the ROM 402 and/or the communication unit 409. When the computer program is loaded into the RAM 403 and executed by the computing unit 401, one or more steps of the above-described method of determining a travel locus of a vehicle may be performed. Alternatively, in other embodiments, the computing unit 401 may be configured to perform the method of determining the travel track of the vehicle in any other suitable way (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.
The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel or sequentially or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.

Claims (14)

1. A method of determining a travel locus of a vehicle, comprising:
determining at least one target variable of a target vehicle driving on a target lane, wherein the target lane is a lane to which the target vehicle is expected to change from a current lane, and the at least one target variable comprises at least one of the following variables of the target vehicle driving on the target lane: a longitudinal distance variable, a longitudinal speed variable, and a lane change time variable;
Collecting sampling values of at least one target variable;
determining at least one travel track function of the target vehicle based on at least one of the sampled values;
acquiring a target value of at least one running track function, wherein the target value is used for representing the running stability of the target vehicle under the control of the running track function;
and obtaining a lane change track based on the obtained target value of at least one running track function, wherein the lane change track is used for changing the target vehicle from the current lane to the target lane.
2. The method of claim 1, the travel path function comprising at least a lateral travel path function and a longitudinal travel path function.
3. The method of claim 2, wherein,
obtaining a target value of at least one running track function, comprising: acquiring a first target value of the transverse running track function and a second target value of the longitudinal running track function, wherein the first target value is used for representing the stability of the target vehicle running under the control of the transverse running track function, and the second target value is used for representing the stability of the target vehicle running under the control of the longitudinal running track function;
Obtaining a lane-changing track based on the obtained target value of at least one running track function, including: and carrying out fusion processing on the transverse running track function and the longitudinal running track function based on the first target value and the second target value to obtain a lane change track.
4. A method according to claim 3, wherein the fusing of the transverse travel track function and the longitudinal travel track function based on the first target value and the second target value to obtain a lane-change track comprises:
the lane-change trajectory is generated based on the lateral travel trajectory function associated with the sample value corresponding to the first target value and the longitudinal travel trajectory function associated with the sample value corresponding to the second target value.
5. The method of claim 4, at least one of the target variables comprising the longitudinal distance variable for the target vehicle to travel onto the target lane, wherein obtaining a first target value for the lateral travel track function comprises:
acquiring a plurality of first sampling values of the longitudinal distance variable;
determining a plurality of the lateral travel track functions based on the plurality of first sample values;
And determining a plurality of first target values corresponding to the transverse running track functions.
6. The method of claim 5, at least one of the target variables comprising the longitudinal speed variable and the lane change time variable of the target vehicle traveling onto the target lane, wherein obtaining the second target value of the longitudinal travel track function comprises:
acquiring a plurality of second sampling values of the longitudinal speed variable and a plurality of corresponding third sampling values of the lane change time variable under a first target sampling value, wherein the first target sampling value is the first sampling value corresponding to the minimum first target value in a plurality of first target values;
determining a plurality of longitudinal travel track functions based on the plurality of second sample values and the corresponding plurality of third sample values;
and determining a plurality of second target values corresponding to the longitudinal running track functions.
7. The method of claim 6, the method further comprising:
determining a second target sampling value and a third target sampling value, wherein the second target sampling value is the second sampling value corresponding to the minimum second target value in the second target values, and the third target sampling value is the third sampling value corresponding to the minimum second target value;
And performing fusion processing on the transverse running track function and the longitudinal running track function based on the first target value and the second target value to obtain a lane-changing track, wherein the fusion processing comprises the following steps: and determining the lane change track based on the longitudinal running track function corresponding to the second target sampling value and the third target sampling value together and the transverse running track function corresponding to the first target sampling value.
8. The method of claim 3, at least one of the target variables comprising the longitudinal distance variable, the longitudinal speed variable, and the lane change time variable for the target vehicle to travel onto the target lane, wherein fusing the lateral travel track function and the longitudinal travel track function based on the first target value and the second target value results in a lane change track, comprising:
acquiring a plurality of first sampling values of the longitudinal distance variable, a plurality of second sampling values of the longitudinal speed variable and a plurality of corresponding third sampling values of the lane change time variable;
combining and arranging the plurality of first sampling values, the plurality of second sampling values and the plurality of third sampling values to obtain a plurality of combinations, wherein each combination comprises one first sampling value, one second sampling value and one third sampling value;
The lane-change track is determined based on the first target value of the transverse running track function corresponding to one first sampling value in each combination, and the second target value of the longitudinal running track function corresponding to one second sampling value and one third sampling value in common.
9. The method of claim 8, the determining the lane-change trajectory based on the first target value of the lateral travel trajectory function corresponding to one of the first sample values in each of the combinations, the second target value of the longitudinal travel trajectory function commonly corresponding to one of the second sample values and one of the third sample values, comprising:
in each combination, obtaining a sum of the first target value of the transverse running track function corresponding to one first sampling value, and a second target value of the longitudinal running track function corresponding to one second sampling value and one third sampling value, so as to obtain a plurality of sums;
and determining the lane change track based on the transverse running track function and the longitudinal running track function corresponding to the minimum sum of the plurality of sums.
10. A determination apparatus of a travel locus of a vehicle, comprising:
A first determining unit configured to determine at least one target variable of a target vehicle traveling on a target lane, where the target lane is a lane to which the target vehicle is expected to change from a current lane, and at least one of the target variables includes at least one of the following variables of the target vehicle traveling on the target lane: a longitudinal distance variable, a longitudinal speed variable, and a lane change time variable;
the acquisition unit is used for acquiring at least one sampling value of the target variable;
a second determining unit configured to determine at least one travel track function of the target vehicle based on at least one of the sampling values;
a first acquisition unit configured to acquire a target value of at least one of the travel track functions, wherein the target value is used to characterize a degree of smoothness of travel of the target vehicle under control of the travel track function;
and a second acquisition unit configured to obtain a lane change track based on the acquired target value of at least one of the travel track functions, where the lane change track is used to change the target vehicle from the current lane to the target lane.
11. An electronic device, comprising:
at least one processor; and
A memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-9.
12. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-9.
13. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any of claims 1-9.
14. An autonomous vehicle comprising the determination device of the travel locus of a vehicle according to claim 10 or the electronic apparatus according to claim 11.
CN202110997308.8A 2021-08-27 2021-08-27 Method and device for determining running track of vehicle, electronic equipment and memory Active CN113799798B (en)

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