CN114013441A - Storage method for front vehicle path of automatic steering system of automobile - Google Patents
Storage method for front vehicle path of automatic steering system of automobile Download PDFInfo
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- CN114013441A CN114013441A CN202111502492.0A CN202111502492A CN114013441A CN 114013441 A CN114013441 A CN 114013441A CN 202111502492 A CN202111502492 A CN 202111502492A CN 114013441 A CN114013441 A CN 114013441A
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000009466 transformation Effects 0.000 claims abstract description 11
- 239000013598 vector Substances 0.000 claims description 10
- 238000010586 diagram Methods 0.000 description 2
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 description 1
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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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
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a storage method for a front vehicle path of an automatic steering system of an automobile, which comprises the following steps: s1, acquiring the current position coordinates of the target vehicle under the coordinate system of the vehicle by using a camera arranged on the front windshield of the vehicle and a radar in front of the vehicle; s2, storing the position coordinates of the target vehicle in the track structure of the same target vehicle; s3, storing the coordinates x of the same target vehicleA yA]According to the change [ x ] of the vehicle position0 y0θ]Performing coordinate transformation to obtain a coordinate variable of the target vehicle relative to the vehicle; putting the track points after the coordinate transformation into the original track again to update the track set of the target vehicle; s4, setting a corresponding flag according to whether the track of the front vehicle is updated; track points are updated, a corresponding track structure body flag is set to be 1, and a track structure body flag of the track points which are not updated is set to be 0; if all target vehicles are not traversed, returning to the step S2; s5,And clearing the corresponding track structure body with the clear flag equal to 0 according to the flag.
Description
Technical Field
The invention relates to the field of automobile driving assistance ADAS, in particular to an automatic steering technology of an intelligent driving automobile.
Background
In the L2 level automobile driving assistance automatic steering function, the TJA traffic congestion assistance is to follow a lane line under a normal lane line condition, and a trajectory that the host vehicle needs to travel cannot be obtained through the lane line under a condition that no lane line or lane line is invisible. However, if the vehicle ahead is stable and the vehicle can still run along the track of the vehicle ahead, it is important to obtain the position of the vehicle ahead and store the running track of the vehicle ahead.
Disclosure of Invention
In view of the foregoing defects in the prior art, an object of the present invention is to provide a method for storing a leading vehicle path of an automatic steering system of an automobile, which can automatically track and store the position and trajectory of a target vehicle around the leading vehicle.
In order to achieve the above object, the present invention provides a method for storing a front lane of an automatic steering system of an automobile, comprising the steps of:
s1, acquiring the current position coordinates of the target vehicle under the coordinate system of the vehicle by using a camera arranged on the front windshield of the vehicle and a radar in front of the vehicle;
s2, storing the position coordinates of the target vehicle in the track structure of the same target vehicle;
s3, storing the coordinates x of the same target vehicleA yA]According to the change [ x ] of the vehicle position0 y0 θ]Performing coordinate transformation to obtain a coordinate variable of the target vehicle relative to the vehicle; putting the track points after the coordinate transformation into the original track again to update the track set of the target vehicle;
s4, setting a corresponding flag according to whether the track of the front vehicle is updated; track points are updated, a corresponding track structure body flag is set to be 1, and a track structure body flag of the track points which are not updated is set to be 0; if all target vehicles are not traversed, returning to the step S2;
s5, emptying the corresponding track structure body according to the flag mark, and emptying the structure body with the flag being 0;
and emptying the track structural body of the vehicle which has stored the track but is not detected currently according to the flag mark.
In S1, the target vehicles include a left target vehicle near the host vehicle, a right target vehicle near the host vehicle, a nearest vehicle in front of the host vehicle, and a second near vehicle in front of the host vehicle, and the vehicle in front of the host vehicle is inserted from the left and right sides.
In S2, the target vehicle track structure includes a vertical coordinate vector x [ i ], a horizontal coordinate vector y [ i ], a track valid point n, and a target ID, and stores 4 entry target tracks.
As a preferred technical solution of the present invention, in S3, the trajectory point coordinate transformation formula is:
x＝cosθ*(xA-x0)+sinθ*(yA-y0)
y＝cosθ*(yA-y0)-sinθ*(xA-x0)
where θ is the change in the travel direction angle of the vehicle in the trajectory storage period. [ x ] of1 y1]Is the coordinate position of the leading vehicle relative to the vehicle detected by the sensor. [ x ] of0 y0]Is the change in the travel position of the vehicle in the track storage period. And putting the points after coordinate transformation into the original track again.
As a preferred technical solution of the present invention, S2 further includes adding the coordinates of the target vehicle to the vector of the trajectory structure if the current detected target vehicle is the target vehicle that has already stored the trajectory; and if the currently detected target vehicle is a new target vehicle, putting the coordinates of the target vehicle into an empty track structure body.
The invention has the beneficial effects that:
the invention stores two target vehicles on the left and right sides of the vehicle, two target vehicles closest to the front and a track which is inserted from the left and right sides to the vehicle in front of the vehicle and runs, which are detected by a sensor, a camera, a radar and the like, for the steering and tracking of the vehicle. Meanwhile, the vehicle is used as the origin of a coordinate system, and the change of the coordinate point of the target vehicle is used as a track point, so that the track of the target vehicle is obtained, and a parameter which is pre-judged in advance is provided for follow-up auxiliary driving.
Drawings
FIG. 1 is a target vehicle coordinate diagram of a vehicle coordinate system;
FIG. 2 is a target vehicle trajectory diagram;
fig. 3 is a target vehicle track storage flowchart.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
A storage method for a front vehicle path of an automatic steering system of an automobile comprises the following steps:
and S1, acquiring the current position coordinates of the target vehicle by using a camera arranged on the front windshield of the vehicle and a radar in front of the vehicle. The coordinate system takes the vehicle as the origin.
The target vehicles include a left target vehicle near the vehicle, a right target vehicle near the vehicle, a nearest vehicle in front of the vehicle, and a second near vehicle in front of the vehicle, and the vehicle in front of the vehicle is inserted from the left and right sides. The position of the target vehicle relative to the coordinate system of the vehicle is shown in figure 1.
And S2, storing the position coordinates of the target vehicles in the same target vehicle track structure body.
The target vehicle track structure comprises a longitudinal coordinate vector x [30], a transverse coordinate vector y [30], a track effective point number n and a target ID. A total of 4 entry target tracks are stored. The target vehicle track map is shown in fig. 2.
And if the current detection target vehicle is the target vehicle with the track already stored, adding the coordinates of the target vehicle into the vector of the track structure body.
And if the currently detected target vehicle is a new target vehicle, putting the coordinates of the target vehicle into an empty track structure body.
In operation, ID numbers are respectively distributed to different target vehicles, coordinates of the target vehicles detected each time are used as track effective points, and X, Y vectors of the track effective points each time are stored.
S3, storing all coordinate points [ x ] of the same target vehicle1 y1]According to the change [ x ] of the vehicle position0 y0θ]And (5) carrying out coordinate transformation.
And the coordinate transformation of the track points is as follows:
x＝cosθ*(x1-x0)+sinθ*(y1-y0)
y＝cosθ*(y1-y0)-sinθ*(x1-x0)
where θ is the change in the travel direction angle of the vehicle in the trajectory storage period. [ x ] of1 y1]Is the coordinate position of the front vehicle relative to the vehicle detected by the sensor。[x0 y0]Is the change in the travel position of the vehicle in the track storage period. And putting the points after coordinate transformation into the original track again.
And S4, setting a corresponding flag according to whether the track of the front vehicle is updated or not.
Track points are updated, a corresponding track structure body flag is set to be 1, and a track structure body flag of the track points which are not updated is set to be 0.
If all target vehicles have not been traversed, go back to step S2. The flow chart is shown in figure 3.
And S5, emptying the corresponding track structure body according to the flag mark.
And emptying the track structural body of the vehicle which has stored the track but is not detected currently according to the flag mark.
The invention is not described in detail, but is well known to those skilled in the art.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (5)
1. A storage method for a front vehicle path of an automatic steering system of an automobile is characterized by comprising the following steps:
s1, acquiring the current position coordinates of the target vehicle under the coordinate system of the vehicle by using a camera arranged on the front windshield of the vehicle and a radar in front of the vehicle;
s2, storing the position coordinates of the target vehicle in the track structure of the same target vehicle;
s3, storing the coordinates x of the same target vehicleA yA]According to the change [ x ] of the vehicle position0 y0 θ]Performing coordinate transformation to obtain a coordinate variable of the target vehicle relative to the vehicle; putting the transformed trace points into the original trace againUpdating the trace position of the target vehicle;
s4, setting a corresponding flag according to whether the track of the front vehicle is updated; track points are updated, a corresponding track structure body flag is set to be 1, and a track structure body flag of the track points which are not updated is set to be 0; if all target vehicles are not traversed, returning to the step S2;
and S5, clearing the corresponding track structure body with the empty flag being 0 according to the flag.
2. The method according to claim 1, wherein in S1, the target vehicles include a target vehicle near the left side of the host vehicle, a target vehicle near the right side of the host vehicle, a nearest vehicle in front of the host vehicle, and a second near vehicle in front of the host vehicle, and the vehicle in front of the host vehicle is inserted from the left and right sides.
3. The storage method according to claim 1, wherein in S2, the target vehicle track structure includes a vertical coordinate vector x [ i ], a horizontal coordinate vector y [ i ], a track valid point n, and a target ID, and stores 4 target tracks.
4. The storage method according to claim 1, wherein in S3, the trajectory point coordinate transformation formula is:
x＝cosθ*(xA-x0)+sinθ*(yA-y0)
y＝cosθ*(yA-y0)-sinθ*(xA-x0)
where θ is the change in the travel direction angle of the vehicle in the track storage period, [ x ]1 y1]Is the coordinate position of the leading vehicle relative to the vehicle detected by the sensor, [ x ]0 y0]Is the change in the travel position of the vehicle in the track storage period.
5. The storage method according to claim 1, wherein S2 further includes, if the currently detected target vehicle is a target vehicle that has already stored a track, adding coordinates of the target vehicle to the vector of the track structure; and if the currently detected target vehicle is a new target vehicle, putting the coordinates of the target vehicle into an empty track structure body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111502492.0A CN114013441A (en) | 2021-12-09 | 2021-12-09 | Storage method for front vehicle path of automatic steering system of automobile |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111502492.0A CN114013441A (en) | 2021-12-09 | 2021-12-09 | Storage method for front vehicle path of automatic steering system of automobile |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107672589A (en) * | 2017-09-26 | 2018-02-09 | 苏州观瑞汽车技术有限公司 | A kind of track of vehicle real-time predicting method and device based on GPR Detection Data |
| CN111319623A (en) * | 2020-03-18 | 2020-06-23 | 东软睿驰汽车技术（上海）有限公司 | Vehicle screening method and device based on adaptive cruise control |
| CN112498367A (en) * | 2020-11-25 | 2021-03-16 | 重庆长安汽车股份有限公司 | Driving track planning method and device, automobile, controller and computer readable storage medium |
| CN112927541A (en) * | 2021-01-29 | 2021-06-08 | 重庆长安汽车股份有限公司 | Traffic flow track generation method, vehicle and transverse control method and system |
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2021
- 2021-12-09 CN CN202111502492.0A patent/CN114013441A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107672589A (en) * | 2017-09-26 | 2018-02-09 | 苏州观瑞汽车技术有限公司 | A kind of track of vehicle real-time predicting method and device based on GPR Detection Data |
| CN111319623A (en) * | 2020-03-18 | 2020-06-23 | 东软睿驰汽车技术（上海）有限公司 | Vehicle screening method and device based on adaptive cruise control |
| CN112498367A (en) * | 2020-11-25 | 2021-03-16 | 重庆长安汽车股份有限公司 | Driving track planning method and device, automobile, controller and computer readable storage medium |
| CN112927541A (en) * | 2021-01-29 | 2021-06-08 | 重庆长安汽车股份有限公司 | Traffic flow track generation method, vehicle and transverse control method and system |
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