CN114132325A - Vehicle driving method and device - Google Patents

Vehicle driving method and device Download PDF

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CN114132325A
CN114132325A CN202111520084.8A CN202111520084A CN114132325A CN 114132325 A CN114132325 A CN 114132325A CN 202111520084 A CN202111520084 A CN 202111520084A CN 114132325 A CN114132325 A CN 114132325A
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boundary
target
points
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CN114132325B (en
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郑杰
张亮亮
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Jingdong Kunpeng Jiangsu Technology Co Ltd
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Jingdong Kunpeng Jiangsu 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

The invention provides a driving method and a device of a vehicle, wherein the method comprises the following steps: acquiring a center line on a road where a vehicle runs and a boundary line closest to the vehicle on the road; acquiring a plurality of central points on a central line, and determining a boundary point corresponding to each central point on the boundary line, wherein the central point is perpendicular to the central line of a connecting line of the boundary point corresponding to the central point; when the shape of the central line is not matched with that of the boundary line, generating a running reference line parallel to the boundary line according to the actual length of each connecting line, the boundary point and the central point, wherein the running reference line is positioned between the boundary line and the central line; and controlling the vehicle to run along the running reference line. According to the method, when the center line is not matched with the boundary line, the driving reference line between the center line and the boundary line is generated, and the driving reference line is parallel to the boundary line, so that the vehicle can drive along the driving reference line, the condition of lane change of the vehicle cannot occur, and the traffic accident caused by the vehicle is avoided.

Description

Vehicle driving method and device
Technical Field
The invention relates to an unmanned driving technology, in particular to a driving method and a driving device of a vehicle.
Background
Unmanned driving of vehicles has further progressed as breakthrough advances in autonomous vehicle technology and other related technologies.
During the driving process of the unmanned vehicle, the unmanned vehicle needs to drive by depending on a local driving reference line.
Currently, unmanned vehicles travel along the centerline of a roadway, i.e., the vehicle is traveling in the middle of the roadway. The central line on the road is drawn, if the central line is drawn inaccurately, the shape difference between the shape of the central line and the shape of the boundary line is large, so that the lane change condition occurs when the vehicle runs along the central line, and the traffic accident is caused.
Disclosure of Invention
The invention provides a vehicle driving method and a vehicle driving device, which are used for solving the problem that traffic accidents are caused in unmanned vehicles due to inaccurate lane center line drawing.
In one aspect, the present invention provides a method of traveling a vehicle, including:
acquiring a center line on a road where a vehicle runs and a boundary line closest to the vehicle on the road;
acquiring a plurality of central points on the central line, and determining a boundary point corresponding to each central point on the boundary line, wherein a connecting line of the central point and the boundary point corresponding to the central point is perpendicular to the central line;
when the shape of the central line is not matched with that of the boundary line, generating a driving reference line parallel to the boundary line according to the actual length of each connecting line and each target point, wherein the target point comprises at least one of a central point and a boundary point, and the driving reference line is positioned between the boundary line and the central line;
and controlling the vehicle to run along the running reference line.
In one embodiment, the target points are boundary points, and the step of generating a driving reference line parallel to the boundary line according to the actual length of each connecting line and each target point includes:
determining a target length corresponding to each connecting line according to the actual length of each connecting line, and determining a minimum length in each target length, wherein the target length corresponding to the connecting line is smaller than the actual length of the connecting line;
moving each boundary point towards a first direction corresponding to the boundary point by the minimum length to obtain a first reference point corresponding to each boundary point, wherein the first direction corresponding to the boundary point is a direction in which a connecting line where the boundary point is located points to the central line;
and generating a running reference line parallel to the boundary line according to each first reference point.
In an embodiment, the target points include the boundary points and the center point, and the step of generating a driving reference line parallel to the boundary line according to the actual length of each of the connection lines and each of the target points includes:
determining a target length corresponding to each connecting line according to the actual length of each connecting line, and determining a minimum length in each target length, wherein the target length corresponding to the connecting line is smaller than the actual length of the connecting line;
determining the vertical coordinate of a second reference point corresponding to each boundary point according to the minimum length, and determining the horizontal coordinate of the second reference point corresponding to each boundary point according to the position of each boundary point on the boundary line to obtain the first coordinate of each second reference point in a Freuler coordinate system;
determining two first target center points which are nearest to each second reference point in each center point;
determining a second coordinate of each second reference point in a Cartesian coordinate system according to the first coordinates of the second reference points and the coordinates of the two first target center points in a Fleller coordinate system;
and generating a running reference line parallel to the boundary line according to the second coordinate of each second reference point.
In an embodiment, the target point is a center point, and the step of generating a driving reference line parallel to the boundary line according to the actual length of each connecting line and each target point includes:
determining a target length corresponding to each connecting line according to the actual length of each connecting line, wherein the target length corresponding to each connecting line is smaller than the actual length of each connecting line;
moving each central point to a second direction corresponding to the central point by a target length corresponding to the central point to obtain a third reference point corresponding to each central point, wherein the second direction corresponding to the central point is a direction in which a connecting line in which the central point is located points to the boundary line, and the target length corresponding to the central point is a target length corresponding to the connecting line in which the central point is located;
and generating a running reference line parallel to the boundary line according to each third reference point.
In an embodiment, the target points include a center point and boundary points, and the step of generating a driving reference line parallel to the boundary line according to the actual length of each connecting line and each target point includes:
determining a target length corresponding to each connecting line according to the actual length of each connecting line, wherein the target length corresponding to each connecting line is smaller than the actual length of each connecting line;
determining a longitudinal coordinate of a fourth reference point corresponding to each central point according to the target length corresponding to each central point, and determining an abscissa of the fourth reference point corresponding to each central point according to the position of each central point on the central line to obtain a third coordinate of each fourth reference point in a Fowler coordinate system, wherein the target length corresponding to the central point is the target length corresponding to a connecting line where the central point is located;
determining two second target center points which are nearest to each fourth reference point in the center points;
determining fourth coordinates of each fourth reference point in a Cartesian coordinate system according to the third coordinates of the fourth reference points and the coordinates of the two second target center points in a Fleller coordinate system;
and generating a running reference line parallel to the boundary line according to the fourth coordinate of each fourth reference point.
In one embodiment, the step of generating a driving reference line parallel to the boundary line according to the actual length of each of the connection lines and each of the target points when the shape of the center line does not match the shape of the boundary line includes:
when the shape of the central line is not matched with that of the boundary line, determining whether the boundary line is a smooth line;
and when the boundary line is a smooth line, generating a driving reference line parallel to the boundary line according to the actual length of each connecting line and each target point.
In an embodiment, after the step of determining whether the boundary line is a smooth line, the method further includes:
and when the boundary line is not a smooth line, generating a driving reference line parallel to the central line according to the actual length of each connecting line and each target point.
In an embodiment, the target point is a center point, and the step of generating a driving reference line parallel to the center line according to the actual length of each connecting line and each target point includes:
determining a target length corresponding to each connecting line according to the actual length of each connecting line, and determining a minimum length in each target length, wherein the target length corresponding to the connecting line is smaller than the actual length of the connecting line;
moving each central point to the minimum length in a second direction corresponding to the central line to obtain a fifth reference point corresponding to each central point, wherein the second direction corresponding to the central line is a direction in which a connecting line where the central line is located points to the boundary line;
and generating a driving reference line parallel to the central line according to each fifth reference point.
In an embodiment, the target point is a center point, and the step of generating a driving reference line parallel to the center line according to the actual length of each connecting line and each target point includes:
determining a target length corresponding to each connecting line according to the actual length of each connecting line, and determining a minimum length in each target length, wherein the target length corresponding to the connecting line is smaller than the actual length of the connecting line;
determining the longitudinal coordinate of a sixth reference point corresponding to each central point according to the minimum length, and determining the horizontal coordinate of the sixth reference point corresponding to each central point according to the position of each central point on the central line to obtain a fifth coordinate of each sixth reference point in a Fowler coordinate system;
determining two third target center points closest to each of the sixth reference points among the center points;
determining a sixth coordinate of each sixth reference point in a Cartesian coordinate system according to the fifth coordinate of the sixth reference point and the coordinates of the two second target center points in the Fleller coordinate system;
and generating a running reference line parallel to the center line according to the sixth coordinate of each sixth reference point.
In an embodiment, the target points are boundary points, and the step of generating a driving reference line parallel to the center line according to the actual length of each connecting line and each target point includes:
determining a target length corresponding to each connecting line according to the actual length of each connecting line, wherein the target length corresponding to each connecting line is smaller than the actual length of each connecting line;
moving each boundary point to a first direction corresponding to the boundary point by a target length corresponding to the boundary point to obtain a seventh reference point corresponding to each boundary point, wherein the first direction corresponding to the boundary point is a direction in which a connecting line in which the boundary point is located points to the central line, and the target length corresponding to the boundary point is a target length corresponding to the connecting line in which the boundary point is located;
and generating a driving reference line parallel to the central line according to each seventh reference point.
In one embodiment, the target points include boundary points and center points, and the step of generating a driving reference line parallel to the center line based on the actual length of each of the connection lines and each of the target points includes:
determining a target length corresponding to each connecting line according to the actual length of each connecting line, wherein the target length corresponding to each connecting line is smaller than the actual length of each connecting line;
determining a vertical coordinate of an eighth reference point corresponding to each boundary point according to the target length corresponding to each boundary point, and determining a horizontal coordinate of the eighth reference point corresponding to each boundary point according to the position of each boundary point on the boundary line to obtain a seventh coordinate of each eighth reference point in a fleur coordinate system, wherein the target length corresponding to each boundary point is the target length corresponding to a connecting line where the boundary point is located;
determining two fourth target boundary points closest to each of the eighth reference points in each of the center points;
determining an eighth coordinate of each eighth reference point in a Cartesian coordinate system according to a seventh coordinate of the eighth reference point and coordinates of the two fourth target boundary points in a Fleller coordinate system;
and generating a running reference line parallel to the center line according to the eighth coordinate of each eighth reference point.
In one embodiment, the step of determining whether the boundary line is a smooth line includes:
determining a target connecting line in each connecting line, wherein two adjacent target connecting lines do not intersect;
determining an azimuth angle corresponding to each target boundary point, and determining an angle difference between two adjacent azimuth angles, wherein the target boundary points are boundary points on a target connecting line;
and when at least one angle difference is larger than a preset threshold value, determining that the boundary line is not a smooth line.
In an embodiment, the step of determining a target connection line among the connection lines includes:
determining two adjacent and disjoint connecting lines;
and determining the connecting line with the largest generation sequence as a target connecting line in two adjacent and non-intersecting connecting lines, wherein the larger the generation sequence of the connecting lines is, the larger the distance between a center point on the connecting line and a vehicle is.
In an embodiment, the step of determining the target length corresponding to each of the connection lines according to the actual length of each of the connection lines includes:
acquiring a reference parameter, wherein the reference parameter comprises at least one of a target distance and the vehicle width of the vehicle, and the target distance is the distance between the vehicle and the boundary line in the driving process of the vehicle;
and determining the target length of each connecting line according to the reference parameters and the actual length of each connecting line, wherein the target length of each connecting line is smaller than the actual length of each connecting line.
In one embodiment, the step of obtaining a plurality of center points on the center line comprises:
acquiring a projection point of the vehicle on the center line, and determining the running length of the vehicle;
determining a target center line on the center line, wherein the length of the target center line is the driving length, and the end point of the target center line comprises the projection point;
and taking the projection points as a starting point, and sampling points on the target central line at intervals of preset length to obtain each central point.
In another aspect, the present invention provides a running reference line generating device for a vehicle, including:
the system comprises an acquisition module, a judgment module and a display module, wherein the acquisition module is used for acquiring a center line on a road where a vehicle runs and a boundary line which is closest to the vehicle on the road;
the determining module is used for acquiring a plurality of central points on the central line and determining a boundary point corresponding to each central point on the boundary line, wherein a connecting line of the central point and the boundary point corresponding to the central point is perpendicular to the central line;
a generating module, configured to generate a driving reference line parallel to the boundary line according to an actual length of each of the connection lines and each of target points when the shape of the center line does not match the shape of the boundary line, where the target points include at least one of a center point and a boundary point, and the driving reference line is located between the boundary line and the center line;
and the control module is used for controlling the vehicle to run along the running reference line.
In another aspect, the present invention provides a running apparatus of a vehicle, including: a memory and a processor;
the memory stores computer-executable instructions;
the processor executes the computer-executable instructions stored by the memory, causing the processor to execute the method of traveling of a vehicle as described above.
In another aspect, the present invention provides a computer-readable storage medium having stored therein computer-executable instructions for implementing the method of traveling of a vehicle as described above when the computer-executable instructions are executed by a processor.
The invention provides a vehicle driving method and a vehicle driving device, which are used for acquiring a center line of a road on which a vehicle is driven and a boundary line closest to the vehicle on the road, acquiring a plurality of center points on the center line, determining a boundary point corresponding to each center point on the boundary, wherein a connecting line of the center point and the boundary point corresponding to the center point is perpendicular to the center line, and generating a driving reference line parallel to the boundary line according to the actual length of each connecting line, the boundary point and the center point when the center line is not matched with the boundary line, so that the vehicle drives along the driving reference line. According to the method and the device, when the center line is not matched with the boundary line, the driving reference line between the center line and the boundary line is generated and is parallel to the boundary line, so that the vehicle can drive along the driving reference line, the condition that the vehicle changes lanes cannot occur, and traffic accidents caused by the vehicle are avoided.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a system architecture diagram of a method of driving a vehicle according to the present invention;
FIG. 2 is a flowchart illustrating a first embodiment of a running method of a vehicle according to the present invention;
fig. 3 is a detailed flowchart of step S300 in the second embodiment of the running method of the vehicle of the invention;
FIG. 4 is a schematic view of a road according to an embodiment of the present invention;
FIG. 5 is a detailed flowchart of step S300 in the fourth embodiment of the running method of the vehicle of the invention;
FIG. 6 is a functional block diagram of a running gear of the vehicle according to the present invention;
fig. 7 is a hardware configuration diagram of a running device of a vehicle according to the present invention.
With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The invention provides a vehicle driving method which can be realized by a system architecture diagram shown in figure 1. As shown in fig. 1, the vehicle 100 travels on a road 200, and the vehicle 100 travels between a center line 210 and a boundary line 220 of the road 200. The vehicle 100 is an unmanned vehicle, and a vehicle travel device (the vehicle travel device may be the vehicle 100 or another terminal having an image processing capability) directly acquires a map of the road 200, identifies the center line 210 and the boundary line 220 of the road 200 from the map, and generates a travel reference line 230 between the center line 210 and the boundary line 220, so that the vehicle 100 can travel along the travel reference line 230.
The following describes the technical solutions of the present invention and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
Referring to fig. 2, fig. 2 is a first embodiment of a running method of a vehicle of the present invention, the running method of the vehicle including the steps of:
step S100 is to acquire a center line on a road on which the vehicle is traveling and a boundary line on the road closest to the vehicle.
In the present embodiment, the execution subject is a running device of a vehicle. The vehicle driving device may be a vehicle, or may be a terminal having an image processing function and a data exchange function. The vehicle refers to an unmanned vehicle. For convenience of description, the following will be referred to as a running device of a vehicle.
The apparatus acquires a map of a road on which a vehicle is currently traveling. Specifically, the vehicle positions the current position through the positioning module and sends the current position to the server, and the server determines a map of a road on which the vehicle is currently running based on the current position and sends the map to the device.
The device identifies the center line and the boundary line closest to the vehicle in the map, wherein the boundary line closest to the vehicle is the boundary line on the right side of the vehicle. Note that, the boundary lines appearing hereinafter each refer to the boundary line closest to the vehicle.
Step S200, a plurality of central points are obtained on the central line, and the boundary point corresponding to each central point on the boundary line is determined, wherein the central point is perpendicular to the central line of the connecting line of the boundary point corresponding to the central point.
The device acquires a plurality of central points on a central line, wherein the central points can be acquired randomly or at intervals of a set length on the central line. The device takes each central point as a vertical foot and makes a vertical line with the central line. The intersection point of the vertical line and the boundary line is the boundary point of the center point on the vertical line on the boundary line. It will be appreciated that the connecting line between the centre point and the boundary point corresponding to the centre point is perpendicular to the centre line.
And step S300, when the shape of the central line is not matched with that of the boundary line, generating a driving reference line parallel to the boundary line according to the actual length of each connecting line and each target point, wherein the target point comprises at least one of a central point and a boundary point, and the driving reference line is positioned between the boundary line and the central line.
In an actual scene, a road does not have a center line, that is, the device cannot identify the center line from the road, so that the center line is drawn on the road on the map. The center line of the road may be drawn inaccurately, for example, if the road is an intersection, and the center line is difficult to be drawn accurately, the shape of the center line may be largely different from that of the boundary line, and the large difference between the shape of the center line and that of the boundary line is defined as the shape of the center line not matching the shape of the boundary line. If the shapes of the two are not matched, the drawing of the central line can be determined to be inaccurate, and the device generates a driving reference line parallel to the boundary line, so that traffic accidents caused by the fact that the vehicle drives along the drawn inaccurate central line are eliminated.
When the connecting line corresponding to each central point is determined, and the shape of the central line does not match the shape of the boundary line, the device may calculate the actual length of each connecting line. Specifically, each point on the map has a corresponding coordinate, that is, the device may obtain the coordinate of each center point and the coordinate of each boundary point based on the map, so that the actual length of the connection line may be calculated based on the coordinates of the boundary points and the center point.
The apparatus may generate the running reference line parallel to the center line or the boundary line through each actual length and each target point. The target point is the center point, the boundary point, or both. The device can move each central point towards the boundary line by the same actual length to obtain a reference point corresponding to each central point, and then a driving reference line parallel to the central line is generated through each reference point. Or the device may move each boundary point toward the center line by the same actual length to obtain a reference point corresponding to each boundary point, and then generate a driving reference line parallel to the boundary line through each reference point.
And step S400, controlling the vehicle to run along the running reference line.
After the running reference line is generated, the vehicle can verify that the running reference line runs.
In the technical scheme provided by this embodiment, a center line of a road on which a vehicle is running and a boundary line closest to the vehicle on the road are obtained, a plurality of center points are obtained on the center line, a boundary point corresponding to each center point on the boundary is determined, and a connecting line of the center point and the boundary point corresponding to the center point is perpendicular to the center line. According to the method and the device, when the center line is not matched with the boundary line, the driving reference line between the center line and the boundary line is generated and is parallel to the boundary line, so that the vehicle can drive along the driving reference line, the condition that the vehicle changes lanes cannot occur, and traffic accidents caused by the vehicle are avoided.
Referring to fig. 3, fig. 3 shows a second embodiment of the method for traveling a vehicle according to the present invention, wherein step S300 includes:
step S310, determining a target length corresponding to each connecting line according to the actual length of each connecting line, and determining a minimum length in each target length, wherein the target length corresponding to the connecting line is smaller than the actual length of the connecting line.
In this embodiment, the apparatus determines the target length of each connecting line from the actual length of each connecting line. The target length may be smaller than or equal to the actual length of the connection line corresponding to the target length, that is, the target length corresponding to each connection line is obtained by subtracting a preset value from the actual length of each connection line. The target length refers to a distance between a boundary point or a center point of a connecting line of the target length and a lane line of travel.
In addition, the device can correct the actual length of each connecting line through the reference parameters to obtain the target length of each connecting line. Specifically, the device acquires a reference parameter, wherein the reference parameter comprises at least one of a target distance and a vehicle width of the vehicle, and the target distance is a distance between the vehicle and a boundary line in the driving process of the vehicle; the device determines the target length of each connecting line according to the reference parameters and the actual length of each connecting line. For example, taking the reference parameters as the vehicle width and the target distance as an example, the target length L = S-W/2-D of the connecting line, where S is the actual length of the connecting line, W is the vehicle width, and D is the target distance.
The device first obtains each target length and determines the minimum length in the target lengths, wherein the minimum length L =
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N is the number of the connecting lines,
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is serial number of
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The actual length of the connecting line, W is the vehicle width, and D is the distance between the required vehicle and the boundary line during the running of the vehicle.
Step S320, moving each boundary point to a first direction corresponding to the boundary point by a minimum length to obtain a first reference point corresponding to each boundary point, where the first direction corresponding to the boundary point is a direction in which a connecting line where the boundary point is located points to a center line.
In the present embodiment, the target point is a boundary point. Each connecting line has a first direction and a second direction, the first direction is a direction in which the connecting line points to the center line, and the second direction is a direction in which the connecting line points to the boundary line. The device moves each boundary point towards the first direction corresponding to the boundary point by the minimum distance, so that the first reference point corresponding to each boundary point is obtained.
In step S330, a running reference line parallel to the boundary line is generated from each of the first reference points.
The device can generate the running reference line parallel to the boundary line by connecting the first reference lines.
In the technical scheme provided by this embodiment, the device determines the target length corresponding to each connecting line according to the actual length of each connecting line, determines the minimum length in each target length, and then moves each boundary point towards the first direction corresponding to the boundary point by the minimum length to obtain the first reference point corresponding to each boundary point, so as to accurately generate the driving reference line parallel to the boundary line according to each first reference point.
In one embodiment, step S300 further includes:
determining a target length corresponding to each connecting line according to the actual length of each connecting line, and determining a minimum length in each target length, wherein the target length corresponding to each connecting line is smaller than the actual length of each connecting line;
determining the vertical coordinate of a second reference point corresponding to each boundary point according to the minimum length, and determining the horizontal coordinate of the second reference point corresponding to each boundary point according to the position of each boundary point on the boundary line to obtain the first coordinate of each second reference point in a Fowler coordinate system;
determining two first target central points which are nearest to each second reference point in the central points;
determining a second coordinate of each second reference point in a Cartesian coordinate system according to the first coordinates of the second reference points and the coordinates of the two first target center points in the Fleller coordinate system;
and generating a running reference line parallel to the boundary line according to the second coordinates of the second reference points.
When the unmanned vehicle runs, a Freund Frenet coordinate system is introduced. The Frenet coordinate system is introduced to better describe the road behavior. The Frenet coordinate system takes a road center line as an S axis and takes a vertical S axis as an L axis towards the left. The generation of the driving reference line depends on a cartesian coordinate system. The apparatus may generate the travel reference line parallel to the boundary line by coordinates of the target point in two coordinate systems and the target length. In this embodiment, the target point includes a boundary point and a center point.
Assuming a reference point on a reference line of travel in a Cartesian coordinate systemp（x p ，y p ) The reference point always finds the distance in the road boundary linepTwo nearest boundary pointss（x s ，y s ) Ande（x e ，y e ) Let s be (in) in the Frenet coordinate systems s ， 0) E coordinates in Frenet coordinate system of: (s e ，0) Point under cartesian coordinatep（x p ，y p ) Coordinates under the Frenet coordinate System (s p ，l p ) The relationship of (1) is:
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the running reference line parallel to the boundary line can be generated based on the above formula. The specific process is as follows:
1. a minimum length is determined among the respective target lengths. The minimum length determination process refers to the above description, and is not described herein again.
2. And determining the vertical coordinate of the second reference point corresponding to each boundary point according to the minimum length, and determining the horizontal coordinate of the second reference point corresponding to each boundary point according to the position of each boundary point on the boundary line to obtain the first coordinate of each second reference point in a Fowler coordinate system.
Referring to FIG. 4, the boundary points include
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The device obtains a set in a Cartesian coordinate system
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On the ordinate of a cartesian coordinate system. Assuming that the boundary points have corresponding second reference points, namely the points on the driving reference line to be generated, the boundary points
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Ordinate of the corresponding second reference point in the Florer coordinate system
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=
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+
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+
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+……+
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，
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The length on the S-axis in the fletch-intrinsic coordinate system,
Figure 142047DEST_PATH_IMAGE013
representing boundary points
Figure 683887DEST_PATH_IMAGE012
And boundary point
Figure 917422DEST_PATH_IMAGE016
The length between the two parts, and so on,
Figure 544712DEST_PATH_IMAGE017
representing boundary points
Figure 787475DEST_PATH_IMAGE018
And boundary point
Figure 183821DEST_PATH_IMAGE009
The length of (d) between. The position of the boundary point can determine the coordinate of the boundary point in the Fowler coordinate system, so that the length between the adjacent boundary points is determined based on the coordinate of each boundary point, and further, the horizontal coordinate of the second reference point in the Fowler coordinate system is determined based on each length.
The device further determines the ordinate of the second reference point corresponding to each boundary point according to the minimum length. I.e. the ordinate of each second reference point
Figure 850907DEST_PATH_IMAGE019
=
Figure 699915DEST_PATH_IMAGE020
. The device can obtain the first coordinate of each second reference point in a Fowler coordinate system through the horizontal and vertical coordinates of each second reference point.
3. Among the respective center points, two first target center points closest to each second reference point are determined.
Based on the coordinate transformation formula of the cartesian coordinate system and the fleuler coordinate system, the apparatus needs to find the nearest center point of each second reference point among the respective center points, where the nearest center point of the second reference point is defined as the first target center point.
4. And determining the second coordinates of each second reference point in a Cartesian coordinate system according to the first coordinates of the second reference points and the coordinates of the two first target center points in the Fleller coordinate system.
The first coordinates of the second reference point are determined, the coordinates of two first target center points closest to the second reference point in a Fleller coordinate system can be directly obtained, and the device can perform coordinate transformation on the second reference point based on the formula, so that the second coordinates of the second reference point in a Cartesian coordinate system are obtained.
5. And generating a running reference line parallel to the boundary line according to the second coordinates of the second reference points.
After the device obtains the second coordinates of each second reference point, the assumed second reference points can be determined in the map, and then all the determined second reference points are connected to generate a driving reference line parallel to the boundary line.
In one embodiment, step S300 further includes:
determining a target length corresponding to each connecting line according to the actual length of each connecting line, wherein the target length corresponding to each connecting line is smaller than the actual length of each connecting line;
moving the target length corresponding to the central point towards a second direction corresponding to the central point to obtain a third reference point corresponding to each central point, wherein the second direction corresponding to the central point is a direction in which a connecting line in which the central point is located points to the boundary line, and the target length corresponding to the central point is the target length corresponding to the connecting line in which the central point is located;
and generating a running reference line parallel to the boundary line according to each third reference point.
In the present embodiment, the target point is a center point, and the running reference line in which the boundary lines are parallel is generated by movement of the center point. The generation of the driving reference line specifically refers to the following steps:
1. and moving the target length corresponding to the central point towards a second direction corresponding to the central point to obtain a third reference point corresponding to each central point, wherein the second direction corresponding to the central point is a direction in which a connecting line in which the central point is located points to the boundary line, and the target length corresponding to the central point is the target length corresponding to the connecting line in which the central point is located.
The device firstly obtains each target length L i =
Figure 746368DEST_PATH_IMAGE021
，
Figure 262800DEST_PATH_IMAGE022
Is serial number of
Figure 103717DEST_PATH_IMAGE003
The actual length of the connecting line, W is the vehicle width, and D is the distance between the required vehicle and the boundary line during the running of the vehicle. And the device moves each central point towards a second direction corresponding to the central point by the target length corresponding to the central point, so as to obtain a moved point, wherein the moved point is a third reference point corresponding to the central point. The second direction corresponding to the central point is the direction in which the connecting line where the central point is located points to the boundary line, and the target length corresponding to the central point is the target length corresponding to the connecting line where the central point is located.
2. And generating a running reference line parallel to the boundary line according to each third reference point.
After each third reference point is generated, the third reference points can be connected, so that a driving reference line is generated. Assuming that the moving distance of each central point is the actual length of the connecting line where the central point is located, each central point is located on the boundary line after moving, and the target length L is i =
Figure 440020DEST_PATH_IMAGE021
Compared with the actual distance of each central point, the length of each central point moving target is less
Figure 24585DEST_PATH_IMAGE023
So that the distance between the third reference point and the boundary line obtained by moving the center point by the target distance is
Figure 395524DEST_PATH_IMAGE023
Therefore, the running reference lines generated by the respective third reference points are parallel to the boundary line.
In one embodiment, step S300 further includes:
determining a target length corresponding to each connecting line according to the actual length of each connecting line, wherein the target length corresponding to each connecting line is smaller than the actual length of each connecting line;
determining the ordinate of the fourth reference point corresponding to each central point according to the target length corresponding to each central point, and determining the abscissa of the fourth reference point corresponding to each central point according to the position of each central point on the central line to obtain the third coordinate of each fourth reference point in a Fowler coordinate system, wherein the target length corresponding to the central point is the target length corresponding to the connecting line where the central point is located;
determining two second target central points which are nearest to each fourth reference point in the central points;
determining the fourth coordinate of each fourth reference point in a Cartesian coordinate system according to the third coordinate of the fourth reference point and the coordinates of the two second target center points in the Fleller coordinate system;
and generating a running reference line parallel to the boundary line according to the fourth coordinates of the respective fourth reference points.
In this embodiment, the target point includes a boundary point and a center point, and the driving reference line parallel to the boundary point is generated by coordinates of the center point:
1. determining the ordinate of the fourth reference point corresponding to each central point according to the target length corresponding to each central point (the obtaining of the target length is described above and is not repeated here), and determining the abscissa of the fourth reference point corresponding to each central point according to the position of each central point on the central line to obtain the third coordinate of each fourth reference point in the fleur coordinate system, wherein the target length corresponding to the central point is the target length corresponding to the connecting line where the central point is located;
referring to FIG. 4, the center point includes
Figure 407342DEST_PATH_IMAGE024
The device obtains a set in the Diercar coordinate system
Figure 230942DEST_PATH_IMAGE025
，
Figure 353619DEST_PATH_IMAGE026
In (1)
Figure 844643DEST_PATH_IMAGE027
Is a central point
Figure 27362DEST_PATH_IMAGE028
On the abscissa of the cartesian coordinate system,
Figure 72679DEST_PATH_IMAGE026
in (1)
Figure 999047DEST_PATH_IMAGE029
Is a central point
Figure 344577DEST_PATH_IMAGE028
On the ordinate of a cartesian coordinate system. Assuming that the center point has a corresponding fourth reference point, which is a point on the driving reference line to be generated, the center point is
Figure 432619DEST_PATH_IMAGE028
Ordinate of the corresponding fourth reference point in the Florer coordinate system
Figure 233740DEST_PATH_IMAGE011
=
Figure 963799DEST_PATH_IMAGE030
+
Figure 898257DEST_PATH_IMAGE031
+
Figure 422779DEST_PATH_IMAGE032
+……+
Figure 708267DEST_PATH_IMAGE033
，
Figure 976437DEST_PATH_IMAGE030
Representing a center point
Figure 30981DEST_PATH_IMAGE030
The length on the S-axis in the fletch-intrinsic coordinate system,
Figure 726405DEST_PATH_IMAGE031
representing a center point
Figure 499188DEST_PATH_IMAGE030
And a center point
Figure 305470DEST_PATH_IMAGE034
The length between the two parts, and so on,
Figure 214521DEST_PATH_IMAGE033
representing a center point
Figure 346425DEST_PATH_IMAGE035
And a center point
Figure 75346DEST_PATH_IMAGE028
The length of (d) between. The position of the central point can determine the coordinates of the central point in a Fowler coordinate system, so that the length between the adjacent central points is determined based on the coordinates of each central point, and the horizontal coordinate of the fourth reference point in the Fowler coordinate system is further determined based on each length. It should be noted that if the center points are spaced on the center line
Figure 950898DEST_PATH_IMAGE036
Sampling to obtain the vertical coordinate of the fourth reference point in the Fuller coordinate system
Figure 714455DEST_PATH_IMAGE011
=
Figure 17260DEST_PATH_IMAGE030
+i
Figure 499057DEST_PATH_IMAGE036
。
The device further determines the ordinate of the fourth reference point corresponding to each central point according to the target length corresponding to each central point. I.e. the ordinate of each second reference point
Figure 647142DEST_PATH_IMAGE019
=
Figure 530784DEST_PATH_IMAGE037
. The device can obtain the third coordinate of each fourth reference point in the Freuler coordinate system through the horizontal and vertical coordinates of each fourth reference point. The target length corresponding to the central point is the target length corresponding to the connecting line where the central point is located.
2. Determining two second target central points which are nearest to each fourth reference point in the central points;
based on the coordinate transformation formula of the cartesian coordinate system and the fleuler coordinate system, the apparatus needs to find the nearest center point of each fourth reference point among the respective center points, where the center point nearest to the fourth reference point is defined as the second target center point.
3. And determining the fourth coordinate of each fourth reference point in a Cartesian coordinate system according to the third coordinate of the fourth reference point and the coordinates of the two second target center points in the Fleller coordinate system.
The third coordinate of the fourth reference point is determined, the coordinates of the two second target center points closest to the fourth reference point in the coordinate system in the Fleller area can be directly obtained, and the device can perform coordinate transformation on the fourth reference point based on a coordinate transformation formula, so that the fourth coordinate of the fourth reference point in the Cartesian coordinate system is obtained.
And 4, generating a running reference line parallel to the boundary line according to the fourth coordinates of the fourth reference points.
After the device obtains the fourth coordinates of each fourth reference point, the assumed fourth reference points can be determined in the map, and then all the determined fourth reference points are connected to generate a driving reference line parallel to the boundary line.
Referring to fig. 5, fig. 5 shows a third embodiment of a method of the invention in the form of a vehicle, based on the first or second embodiment, the step S300 comprising:
in step S340, when the shape of the center line does not match the shape of the boundary line, it is determined whether the boundary line is a smooth line.
In this embodiment, if the center line does not match the boundary line, it is also necessary to consider whether the boundary line is a smooth curve.
Specifically, the boundary line may include a discrete boundary point, where the discrete boundary point refers to a boundary point having an excessively large distance from two adjacent boundary points of the boundary point, that is, distances between the boundary point and the adjacent boundary points of the boundary point are both greater than a preset distance, and the boundary point is the discrete boundary point. If the boundary line has discrete boundary points, the boundary is not a smooth line first. If the device generates the driving reference line parallel to the boundary line, due to the existence of the discrete boundary point, the corresponding discrete reference point is also arranged on the driving reference line, and when the vehicle drives from the reference point to the discrete reference point, the vehicle can translate a larger distance leftwards or rightwards, so that the probability of traffic accidents is overlarge.
When the shape of the center line does not match the shape of the boundary line, it is determined whether the boundary line is a smooth line. In particular, the device may move the centre line relative to the borderline such that the centre line coincides with at least a part of the point of the borderline. The device carries out relative movement on the center line and the boundary line for multiple times, determines the number of points of the center line which are overlapped with the boundary line after each movement, obtains the maximum number in each number, divides the maximum number by the total number of the points of the center line to obtain a ratio, and can determine that the shape of the center line is not matched with the shape of the boundary line if the ratio is smaller than a preset ratio. The predetermined ratio can be any number of combinations, for example, the predetermined ratio is 0.9.
And step S350, when the boundary line is a smooth line, generating a running reference line parallel to the boundary line according to the actual length of each connecting line and each target point.
And step S360, when the boundary line is not a smooth line, generating a driving reference line parallel to the central line according to the actual length of each connecting line and each target point.
The unsmooth relative to the boundary line causes the vehicle to suddenly change the lane, and the vehicle gradually changes the lane under the condition that the center line is not matched with the boundary line, so that the probability of the traffic accident caused by the vehicle due to the unsmooth boundary line is greater than the probability of the traffic accident caused by the vehicle due to the fact that the center line is not matched with the boundary line. It is thus necessary to give priority to whether the boundary line is a smooth curve. On the other hand, when the boundary line is a smooth line, a running reference line parallel to the boundary line is generated; and if the boundary line is not a smooth curve, generating a driving reference line parallel to the central line according to the actual length of each connecting line and each target point.
The boundary line may include a discrete center point, where the discrete center point refers to a center point that is too far away from two adjacent center points, that is, the distance between the center point and the adjacent center point is greater than a preset distance, and the center point is the discrete center point. If the boundary line has a discrete center point, the boundary line is not a smooth line. If the device generates the driving reference line parallel to the boundary line, due to the existence of the discrete center point, the corresponding discrete reference point is also arranged on the driving reference line, and when the vehicle drives from the reference point to the discrete reference point, the vehicle can translate a larger distance leftwards or rightwards, so that the probability of traffic accidents is overlarge. In this regard, the device generates a reference line of travel parallel to the centerline.
In contrast, when the boundary line is a smooth line, the device generates a travel reference line parallel to the center line from each target length and each target point.
Specifically, when the unmanned vehicle is running, a frener Frenet coordinate system is introduced. The Frenet coordinate system is introduced to better describe the road behavior. The Frenet coordinate system takes a road center line as an S axis and takes a vertical S axis as an L axis towards the left. The generation of the driving reference line depends on a cartesian coordinate system. The apparatus may generate the travel reference line parallel to the boundary line by coordinates of the target point in two coordinate systems and the target length.
In addition, the device may directly move the target point, that is, may generate the travel reference line parallel to the boundary line.
Based on the two generation methods of the driving reference line, the target point includes a center point, or the target point includes a center point and a center point, four generation methods of the driving reference line can be obtained by combination, and each generation method is described in detail below.
A. The target point is a central point, and the driving reference line parallel to the boundary line is generated by the movement of the central point:
1. the minimum length is determined among the respective target lengths (the determination of the target lengths is described above and will not be described here).
The device first obtains each target length and determines the minimum length in the target lengths, wherein the minimum length L =
Figure 1561DEST_PATH_IMAGE020
N is the number of the connecting lines,
Figure 705075DEST_PATH_IMAGE002
is serial number of
Figure 922430DEST_PATH_IMAGE003
The actual length of the connecting line, W is the vehicle width, and D is the distance between the required vehicle and the boundary line during the running of the vehicle.
2. And moving each central point to a second direction corresponding to the central point by a minimum length to obtain a fifth reference point corresponding to each central point, wherein the second direction corresponding to the central point is the direction in which the connecting line where the central point is located points to the boundary line.
Each connecting line has a first direction and a second direction, the first direction is a direction in which the connecting line points to the center line, and the second direction is a direction in which the connecting line points to the boundary line. The device moves each central point towards the second direction corresponding to the central point by the minimum length, so as to obtain a fifth reference point corresponding to each central point.
3. And generating a driving reference line parallel to the central line according to each fifth reference point.
And the device connects the fifth reference lines to generate the driving reference line parallel to the central line.
B. The target point is a center point, and a driving reference line parallel to the boundary line is generated by coordinates of the center point:
1. the minimum length is determined among the respective target lengths (the determination of the target lengths is described above and will not be described here). The minimum length determination process refers to the above description, and is not described herein again.
2. And determining the ordinate of the sixth reference point corresponding to each central point according to the minimum length, and determining the abscissa of the sixth reference point corresponding to each central point according to the position of each central point on the central line to obtain the fifth coordinate of each sixth reference point in a Fowler coordinate system.
Referring to FIG. 4, the center point includes
Figure 660579DEST_PATH_IMAGE024
The device obtains a set in a Cartesian coordinate system
Figure 39607DEST_PATH_IMAGE025
，
Figure 495997DEST_PATH_IMAGE026
In (1)
Figure 251463DEST_PATH_IMAGE027
Is a central point
Figure 109698DEST_PATH_IMAGE028
On the abscissa of the cartesian coordinate system,
Figure 394048DEST_PATH_IMAGE026
in (1)
Figure 337734DEST_PATH_IMAGE029
Is a central point
Figure 896891DEST_PATH_IMAGE028
On the ordinate of a cartesian coordinate system. Assuming that the center point has a corresponding sixth reference point, which is a point on the driving reference line to be generated, the center point is
Figure 344053DEST_PATH_IMAGE028
Ordinate of the corresponding sixth reference point in the flerrer coordinate system
Figure 596043DEST_PATH_IMAGE011
=
Figure 761445DEST_PATH_IMAGE030
+
Figure 858714DEST_PATH_IMAGE031
+
Figure 691540DEST_PATH_IMAGE032
+……+
Figure 848852DEST_PATH_IMAGE033
，
Figure 504480DEST_PATH_IMAGE030
Representing a center point
Figure 405440DEST_PATH_IMAGE030
The length on the S-axis in the fletch-intrinsic coordinate system,
Figure 92773DEST_PATH_IMAGE031
representing a center point
Figure 420987DEST_PATH_IMAGE030
And a center point
Figure 560981DEST_PATH_IMAGE034
The length between the two parts, and so on,
Figure 52DEST_PATH_IMAGE033
representing a center point
Figure 541892DEST_PATH_IMAGE035
And a center point
Figure 306586DEST_PATH_IMAGE028
The length of (d) between. The coordinates of the central point in the fleler coordinate system can be determined according to the position of the central point, so that the length between the adjacent central points is determined according to the coordinates of the central points, and the horizontal coordinate of the sixth reference point in the fleler coordinate system is further determined according to the lengths. It should be noted that if the center points are spaced on the center line
Figure 668297DEST_PATH_IMAGE036
Sampling to obtain the vertical coordinate of the sixth reference point in the Fuller coordinate system
Figure 176639DEST_PATH_IMAGE011
=
Figure 572985DEST_PATH_IMAGE030
+i
Figure 977422DEST_PATH_IMAGE036
。
The apparatus is further configured to determine an ordinate of a fourth reference point corresponding to each center point based on the minimum length. I.e. the ordinate of each second reference point
Figure 357587DEST_PATH_IMAGE019
=
Figure 138462DEST_PATH_IMAGE038
. The apparatus may obtain a fifth coordinate of each sixth reference point in the fletch's coordinate system from the abscissa and the ordinate of each sixth reference point.
3. Among the respective center points, two third target center points closest to each sixth reference point are determined.
Based on the above formula, the apparatus needs to find the closest center point of each sixth reference point among the respective center points, where the closest center point of the sixth reference point is defined as the third target center point.
4. And determining the sixth coordinate of each sixth reference point in a Cartesian coordinate system according to the fifth coordinate of the sixth reference point and the coordinates of the two second target center points in the Fleller coordinate system.
The fifth coordinate of the sixth reference point is determined, the coordinates of the two third target center points closest to the sixth reference point in the fray coordinate system can be directly obtained, and the device can perform coordinate transformation on the sixth reference point based on the coordinate transformation formula, so that the sixth coordinate of the sixth reference point in the cartesian coordinate system is obtained.
5. And generating a running reference line parallel to the center line according to the sixth coordinates of the sixth reference points.
After the device obtains the sixth coordinates of the sixth reference points, the assumed sixth reference points can be determined in the map, and then the determined sixth reference points are connected to generate a driving reference line parallel to the central line.
C. The target point is a boundary point, and a travel reference line parallel to the boundary point is generated by movement of the boundary point:
1. moving the target length corresponding to the boundary point towards the first direction corresponding to the boundary point (the determination method of the target length refers to the above description, and is not repeated here), and obtaining a seventh reference point corresponding to each boundary point, where the first direction corresponding to the boundary point is a direction in which the connecting line where the boundary point is located points to the center line, and the target length corresponding to the boundary point is the target length corresponding to the connecting line where the boundary point is located.
The device firstly obtains each target length L i =
Figure 654894DEST_PATH_IMAGE021
，
Figure 230231DEST_PATH_IMAGE022
Is serial number of
Figure 94764DEST_PATH_IMAGE003
Actual length of connecting wireW is the vehicle width, and D is the distance between the vehicle and the boundary line required during the travel of the vehicle. The device moves each boundary point towards the first direction corresponding to the boundary point by the target length corresponding to the boundary point, so as to obtain a moved point, wherein the moved point is the seventh reference point corresponding to the boundary point. The first direction corresponding to the boundary point is the direction of the connecting line where the boundary point is located pointing to the center line, and the target length corresponding to the boundary point is the target length corresponding to the connecting line where the boundary point is located.
2. And generating a running reference line parallel to the center line according to the seventh reference points.
After the seventh reference points are generated, the seventh reference points may be connected to generate a driving reference line. Assuming that the moving distance of each boundary point is the actual length of the connecting line where the boundary point is located, each boundary point is located on the central line after moving, and the target length L is i =
Figure 679329DEST_PATH_IMAGE021
Compared with the actual distance of each boundary point, the moving target length of each boundary point is less
Figure 50267DEST_PATH_IMAGE023
So that the distance between the seventh reference point and the center line obtained by moving the boundary point by the target distance is
Figure 62086DEST_PATH_IMAGE023
Therefore, the running reference lines generated by the respective seventh reference points are parallel to the center line.
D. The target point comprises a boundary point and a center point, and the driving reference line parallel to the boundary point is generated through the coordinates of the boundary point:
1. determining a vertical coordinate of an eighth reference point corresponding to each boundary point according to the target length corresponding to each boundary point (the determination method of the target length refers to the above description, and is not repeated herein), and determining a horizontal coordinate of the eighth reference point corresponding to each boundary point according to the position of each boundary point on the boundary line to obtain a seventh coordinate of each eighth reference point in a fleur coordinate system, wherein the target length corresponding to the boundary point is the target length corresponding to the connecting line where the boundary point is located;
referring to FIG. 4, the boundary points include
Figure 151264DEST_PATH_IMAGE005
The device obtains a set in the Diercar coordinate system
Figure 273941DEST_PATH_IMAGE006
，
Figure 499386DEST_PATH_IMAGE007
In (1)
Figure 947685DEST_PATH_IMAGE008
As boundary points
Figure 258581DEST_PATH_IMAGE009
On the abscissa of the cartesian coordinate system,
Figure 184948DEST_PATH_IMAGE007
in (1)
Figure 530479DEST_PATH_IMAGE010
As boundary points
Figure 884100DEST_PATH_IMAGE009
On the ordinate of a cartesian coordinate system. Assuming that the boundary point has a corresponding eighth reference point, which is a point on the driving reference line to be generated, the boundary point
Figure 682292DEST_PATH_IMAGE009
Ordinate of the corresponding eighth reference point in the Florer coordinate system
Figure 146771DEST_PATH_IMAGE011
=
Figure 612387DEST_PATH_IMAGE012
+
Figure 871330DEST_PATH_IMAGE013
+
Figure 425327DEST_PATH_IMAGE014
+……+
Figure 693497DEST_PATH_IMAGE015
Indicates boundary points
Figure 748041DEST_PATH_IMAGE012
The length on the S-axis in the fletch-intrinsic coordinate system,
Figure 709044DEST_PATH_IMAGE013
representing boundary points
Figure 481828DEST_PATH_IMAGE012
And boundary point
Figure 288110DEST_PATH_IMAGE016
The length between the two parts, and so on,
Figure 462739DEST_PATH_IMAGE017
representing boundary points
Figure 329064DEST_PATH_IMAGE018
And boundary point
Figure 589144DEST_PATH_IMAGE009
The length of (d) between. The coordinates of the boundary points in the fleler coordinate system can be determined according to the positions of the boundary points, so that the length between the adjacent boundary points is determined according to the coordinates of the boundary points, and the horizontal coordinate of the eighth reference point in the fleler coordinate system is further determined according to the lengths.
The device further determines the ordinate of the eighth reference point corresponding to each boundary point at the target length corresponding to each boundary point. I.e. the ordinate of each eighth reference point
Figure 199117DEST_PATH_IMAGE019
=
Figure 228253DEST_PATH_IMAGE039
. The device can obtain the seventh coordinate of each eighth reference point in the flerrer coordinate system through the horizontal and vertical coordinates of each eighth reference point. The target length corresponding to the boundary point is the target length corresponding to the connecting line where the boundary point is located.
2. Determining two fourth target boundary points which are nearest to each eighth reference point in each central point;
based on the coordinate transformation formula of the cartesian coordinate system and the fleuler coordinate system, the apparatus needs to find the nearest center point of each eighth reference point among the respective center points, where the nearest center point of the eighth reference point is defined as the fourth target center point.
3. And determining the eighth coordinate of each eighth reference point in the Cartesian coordinate system according to the seventh coordinate of the eighth reference point and the coordinates of the two fourth target boundary points in the Floren coordinate system.
The seventh coordinate of the eighth reference point is determined, the coordinates of the two fourth target center points closest to the eighth reference point in the flerrer coordinate system can be directly obtained, and the device can perform coordinate transformation on the eighth reference point based on a coordinate transformation formula, so that the eighth coordinate of the eighth reference point in the cartesian coordinate system is obtained.
And 4, generating a running reference line parallel to the central line according to the eighth coordinates of the eighth reference points.
After the device obtains the fourth coordinates of the eighth reference points, the assumed eighth reference points can be determined in the map, and then the determined eighth reference points are connected to generate a driving reference line parallel to the central line.
In the technical scheme provided by the embodiment, when the boundary line is not a smooth line, the device generates the driving reference line parallel to the central line through each target length and each target point, so that the adaptability of the vehicle to the scene is improved.
In one embodiment, the step of determining whether the boundary line is a smooth line comprises:
determining a target connecting line in each connecting line, wherein two adjacent target connecting lines do not intersect;
determining an azimuth angle corresponding to each target boundary point, and determining an angle difference between two adjacent azimuth angles, wherein the target boundary points are boundary points on a target connecting line;
when at least one of the angle differences is greater than a preset threshold, it is determined that the boundary line is not a smooth line.
Whether the boundary line is smooth depends on whether there are discrete boundary points on the boundary line. While the azimuth angle of the discrete boundary point in the coordinate system is different from the azimuth angle of the adjacent boundary point.
The road has an intersection, so that the boundary line of the intersection is a curve, and the azimuth angle difference between adjacent boundary points on the curve is large. Therefore, when determining whether the boundary line is a smooth curve, it is necessary to reject the curve on the boundary line. The connecting lines of adjacent borderlines on the curve intersect, e.g. three connecting lines in the curve segment of the borderline in fig. 4 intersect. The device can determine target connecting lines in each connecting line, and two adjacent target connecting lines do not intersect, so that boundary points on intersecting curves are removed. Furthermore, the apparatus may determine the target connection line by two connection lines that are adjacent and non-intersecting. Specifically, the device determines two adjacent and non-intersecting connecting lines, and determines the connecting line with the largest generation sequence as the target connecting line among the two adjacent and non-intersecting connecting lines, wherein the larger the generation sequence of the connecting lines is, the larger the distance between the center point on the connecting line and the vehicle is. Referring to fig. 5, when the vehicle is at point r0, line segments r are sequentially generated0c0、r1c1、r2c2、… rncn. The following are exemplified:
(1) referring to FIG. 4, the device traverses the set
Figure 531058DEST_PATH_IMAGE040
Each central point of
Figure 12855DEST_PATH_IMAGE028
To do so by
Figure 426519DEST_PATH_IMAGE028
The horizontal and vertical coordinates are vertical feet, perpendicular to the central line, and perpendicular to the right and intersected with the boundary line, and the intersection set is
Figure 310161DEST_PATH_IMAGE006
Elements in the intersection point set are boundary points;
(2) according to point sets
Figure 783868DEST_PATH_IMAGE040
And
Figure 773469DEST_PATH_IMAGE006
the corresponding relation of (2) sequentially constructing the connection section
Figure 725244DEST_PATH_IMAGE041
;
(3) First line segment
Figure 728972DEST_PATH_IMAGE042
（r0c0) Logging collections
Figure 373580DEST_PATH_IMAGE043
Is extracted from the set S
Figure 829969DEST_PATH_IMAGE044
And detecting
Figure 585436DEST_PATH_IMAGE044
Whether or not to cooperate with
Figure 178091DEST_PATH_IMAGE045
Are not intersected, then
Figure 993600DEST_PATH_IMAGE044
Logging collections
Figure 937286DEST_PATH_IMAGE043
(ii) a The device then extracts from the set S
Figure 762022DEST_PATH_IMAGE046
And detecting
Figure 474763DEST_PATH_IMAGE046
Whether or not to cooperate with
Figure 930015DEST_PATH_IMAGE047
，
Figure 360997DEST_PATH_IMAGE048
Are not intersected, then
Figure 458266DEST_PATH_IMAGE046
Logging collections
Figure 25513DEST_PATH_IMAGE043
Sequentially traversing the collection sets in this manner
Figure 917246DEST_PATH_IMAGE041
Set of
Figure 838453DEST_PATH_IMAGE043
All the connecting lines in (1) are target connecting lines.
The device determines the azimuth angle corresponding to each target boundary point, and the target boundary points are boundary points of the target connecting line on the boundary line. The azimuth angle corresponding to the target boundary point is an included angle between a connecting line of the target boundary point and the origin of the coordinate system and the abscissa of the coordinate system. If the boundary line is a smooth line, the difference between the azimuth angles of two adjacent boundary points is small. Target boundary points
Figure 739413DEST_PATH_IMAGE049
The azimuth angle of (c):
Figure 161167DEST_PATH_IMAGE050
after determining the azimuth angle of each target boundary point, the device determines the angle difference between two adjacent azimuth angles. When at least one angle difference is larger than a preset threshold value
Figure 489380DEST_PATH_IMAGE051
It can be determined that the boundary line is not a smooth line.
If all the angle differences are smaller than or equal to the preset threshold value, the boundary line is a smooth line.
In one embodiment, the step of obtaining a plurality of center points on the centerline comprises:
acquiring a projection point of the vehicle on a center line, and determining the running length of the vehicle;
determining a target center line on the center line, wherein the length of the target center line is a driving length, and the end point of the target center line comprises a projection point;
and taking the projection points as a starting point, and sampling points on the target central line at intervals of preset length to obtain each central point.
Referring to FIG. 4, the projection of the vehicle on the routing is
Figure 629375DEST_PATH_IMAGE052
The local path planning distance length is
Figure 334025DEST_PATH_IMAGE053
And L is the running length of the vehicle. Based on intervals
Figure 875865DEST_PATH_IMAGE054
Obtain the center line of the target
Figure 109400DEST_PATH_IMAGE036
(preset length) as interval, sampling a series of central points on routing
Figure 736691DEST_PATH_IMAGE040
Wherein
Figure 979453DEST_PATH_IMAGE027
And
Figure 375800DEST_PATH_IMAGE029
are respectively as
Figure 780236DEST_PATH_IMAGE028
Abscissa and ordinate in cartesian coordinate system.
The present invention also provides a vehicle travel device 600, and referring to fig. 6, the vehicle travel device 600 includes:
the acquisition module 601 is used for acquiring a center line on a road where a vehicle runs and a boundary line closest to the vehicle on the road;
a determining module 602, configured to obtain multiple center points on a center line, and determine a boundary point corresponding to each center point on the boundary line, where the center point and a connecting line of the boundary point corresponding to the center point are perpendicular to the center line;
a generating module 603, configured to generate a driving reference line parallel to the boundary line according to the actual length of each connection line and each target point when the shape of the center line does not match the shape of the boundary line, where the target point includes at least one of a center point and a boundary point, and the driving reference line is located between the boundary line and the center line;
and a control module 604 for controlling the vehicle to travel along the travel reference line.
In one embodiment, the running device 600 of a vehicle includes:
a determining module 602, configured to determine a target length corresponding to each connection line according to the actual length of each connection line, and determine a minimum length among the target lengths, where the target length corresponding to the connection line is smaller than the actual length of the connection line;
the moving module is used for moving each boundary point to a first direction corresponding to the boundary point by a minimum length to obtain a first reference point corresponding to each boundary point, wherein the first direction corresponding to the boundary point is a direction in which a connecting line where the boundary point is located points to a central line;
a generating module 603 configured to generate a driving reference line parallel to the boundary line according to each first reference point.
In one embodiment, the running device 600 of a vehicle includes:
a determining module 602, configured to determine a target length corresponding to each connection line according to the actual length of each connection line, and determine a minimum length among the target lengths, where the target length corresponding to the connection line is smaller than the actual length of the connection line;
a determining module 602, configured to determine, according to the minimum length, a vertical coordinate of a second reference point corresponding to each boundary point, and determine, according to the position of each boundary point on the boundary line, an abscissa of the second reference point corresponding to each boundary point, to obtain a first coordinate of each second reference point in a fleuler coordinate system;
a determining module 602, configured to determine two closest first target center points of each second reference point from the center points;
the determining module 602 is configured to determine second coordinates of each second reference point in a cartesian coordinate system according to the first coordinates of the second reference points and the coordinates of the two first target center points in the fletch coordinate system;
a generating module 603, configured to generate a driving reference line parallel to the boundary line according to the second coordinates of the respective second reference points.
In one embodiment, the running device 600 of a vehicle includes:
a determining module 602, configured to determine a target length corresponding to each connection line according to the actual length of each connection line, where the target length corresponding to the connection line is smaller than the actual length of the connection line;
the moving module is used for moving each central point towards a second direction corresponding to the central point by a target length corresponding to the central point to obtain a third reference point corresponding to each central point, wherein the second direction corresponding to the central point is a direction in which a connecting line in which the central point is located points to the boundary line, and the target length corresponding to the central point is the target length corresponding to the connecting line in which the central point is located;
a generating module 603 configured to generate a driving reference line parallel to the boundary line according to each third reference point.
In one embodiment, the running device 600 of a vehicle includes:
a determining module 602, configured to determine a target length corresponding to each connection line according to the actual length of each connection line, where the target length corresponding to the connection line is smaller than the actual length of the connection line;
the determining module 602 is configured to determine, according to the target length corresponding to each central point, a vertical coordinate of a fourth reference point corresponding to each central point, and determine, according to the position of each central point on the center line, a horizontal coordinate of the fourth reference point corresponding to each central point, to obtain a third coordinate of each fourth reference point in a fleuler coordinate system, where the target length corresponding to the central point is a target length corresponding to a connection line where the central point is located;
a determining module 602, configured to determine two second target center points closest to each fourth reference point in the center points;
the determining module 602 is configured to determine a fourth coordinate of each fourth reference point in a cartesian coordinate system according to the third coordinate of the fourth reference point and the coordinates of the two second target center points in the flerrer coordinate system;
a generating module 603, configured to generate a driving reference line parallel to the boundary line according to the fourth coordinates of the respective fourth reference points.
In one embodiment, the running device 600 of a vehicle includes:
a determining module 602, configured to determine whether the boundary line is a smooth line when the shape of the center line does not match the shape of the boundary line;
and a generating module 603, configured to generate a driving reference line parallel to the boundary line according to the actual length of each connection line and each target point when the boundary line is a smooth line.
In one embodiment, the running device 600 of a vehicle includes:
and a generating module 603, configured to generate a driving reference line parallel to the center line according to the actual length of each connection line and each target point when the boundary line is not a smooth line.
In one embodiment, the running device 600 of a vehicle includes:
a determining module 602, configured to determine a target length corresponding to each connection line according to the actual length of each connection line, and determine a minimum length among the target lengths, where the target length corresponding to the connection line is smaller than the actual length of the connection line;
the moving module is used for moving each central point to a second direction corresponding to the central line by a minimum length to obtain a fifth reference point corresponding to each central point, wherein the second direction corresponding to the central line is a direction in which a connecting line where the central line is located points to the boundary line;
and generating a driving reference line parallel to the central line according to each fifth reference point.
In one embodiment, the running device 600 of a vehicle includes:
a determining module 602, configured to determine a target length corresponding to each connection line according to the actual length of each connection line, and determine a minimum length among the target lengths, where the target length corresponding to the connection line is smaller than the actual length of the connection line;
the determining module 602 is configured to determine, according to the minimum length, a vertical coordinate of a sixth reference point corresponding to each central point, and determine, according to a position of each central point on the center line, a horizontal coordinate of the sixth reference point corresponding to each central point, to obtain a fifth coordinate of each sixth reference point in a fleuler coordinate system;
a determining module 602, configured to determine two third target center points closest to each sixth reference point among the center points;
the determining module 602 is configured to determine a sixth coordinate of each sixth reference point in a cartesian coordinate system according to the fifth coordinate of the sixth reference point and the coordinates of the two second target center points in the fletch coordinate system;
and a generating module 603, configured to generate a driving reference line parallel to the center line according to the sixth coordinates of each sixth reference point.
In one embodiment, the running device 600 of a vehicle includes:
a determining module 602, configured to determine a target length corresponding to each connection line according to the actual length of each connection line, where the target length corresponding to the connection line is smaller than the actual length of the connection line;
the moving module is used for moving each boundary point to a target length corresponding to the boundary point in a first direction corresponding to the boundary point to obtain a seventh reference point corresponding to each boundary point, wherein the first direction corresponding to the boundary point is a direction in which a connecting line in which the boundary point is located points to a center line, and the target length corresponding to the boundary point is the target length corresponding to the connecting line in which the boundary point is located;
a generating module 603, configured to generate a driving reference line parallel to the center line according to each seventh reference point.
In one embodiment, the running device 600 of a vehicle includes:
a determining module 602, configured to determine a target length corresponding to each connection line according to the actual length of each connection line, where the target length corresponding to the connection line is smaller than the actual length of the connection line;
the determining module 602 is configured to determine, according to the target length corresponding to each boundary point, a vertical coordinate of an eighth reference point corresponding to each boundary point, and determine, according to the position of each boundary point on the boundary line, an abscissa of the eighth reference point corresponding to each boundary point, to obtain a seventh coordinate of each eighth reference point in a fleur coordinate system, where the target length corresponding to the boundary point is a target length corresponding to a connection line where the boundary point is located;
a determining module 602, configured to determine two fourth target boundary points closest to each eighth reference point in the respective central points;
a determining module 602, configured to determine, according to the seventh coordinate of the eighth reference point and the coordinates of the two fourth target boundary points in the fleler coordinate system, an eighth coordinate of each eighth reference point in the cartesian coordinate system;
a generating module 603, configured to generate a driving reference line parallel to the center line according to the eighth coordinate of each eighth reference point.
In one embodiment, the running device 600 of a vehicle includes:
a determining module 602, configured to determine a target connection line in each connection line, where two adjacent target connection lines do not intersect;
a determining module 602, configured to determine an azimuth corresponding to each target boundary point, and determine an angle difference between two adjacent azimuths, where the target boundary point is a boundary point on a target connection line;
a determining module 602, configured to determine that the boundary line is not a smooth line when the at least one angle difference is greater than a preset threshold.
In one embodiment, the running device 600 of a vehicle includes:
a determining module 602, configured to determine two adjacent and disjoint connecting lines;
a determining module 602, configured to determine, as the target connecting line, a connecting line with a largest generation order among two adjacent and disjoint connecting lines, where the larger the generation order of the connecting lines is, the larger the distance between the center point on the connecting line and the vehicle is.
In one embodiment, the running device 600 of a vehicle includes:
an obtaining module 601, configured to obtain a reference parameter, where the reference parameter includes at least one of a target distance and a vehicle width of a vehicle, and the target distance is a distance between the vehicle and a boundary line in a driving process of the vehicle;
a determining module 602, configured to determine a target length of each connection line according to the reference parameter and the actual length of each connection line, where the target length of the connection line is smaller than the actual length of the connection line.
In one embodiment, the running device 600 of a vehicle includes:
the obtaining module 601 is configured to obtain a projection point of the vehicle on the center line, and determine a driving length of the vehicle;
a determining module 602, configured to determine a target centerline on a centerline, where a length of the target centerline is a driving length, and an end point of the target centerline includes a projection point;
and the sampling module is used for sampling points at preset intervals on the target central line by taking the projection points as starting points to obtain each central point.
Fig. 7 is a hardware configuration diagram of a running device of a vehicle according to an exemplary embodiment.
The running device 700 of the vehicle may include: a processor 701, such as a CPU, a memory 702, and a transceiver 703. Those skilled in the art will appreciate that the configuration shown in fig. 7 does not constitute a limitation of the running gear of the vehicle, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components. The memory 702 may be implemented by any type or combination of volatile or non-volatile storage devices, such as static random access memory (SRAN), electrically erasable programmable read-only memory (EEPRON), erasable programmable read-only memory (EPRON), programmable read-only memory (PRON), read-only memory (RON), magnetic storage, flash memory, magnetic or optical disks.
The processor 701 may call a computer program stored in the memory 702 to complete all or part of the steps of the driving method of the vehicle described above.
The transceiver 703 is used for receiving information transmitted from and transmitting information to an external device.
A non-transitory computer-readable storage medium in which instructions, when executed by a processor of a travel apparatus of a vehicle, enable a terminal to execute a travel method of the vehicle.
A computer program product comprising a computer program which, when executed by a processor of a running device of a vehicle, enables a terminal to execute the running method of the vehicle.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (18)

1. A running method of a vehicle, characterized by comprising:
acquiring a center line on a road where a vehicle runs and a boundary line closest to the vehicle on the road;
acquiring a plurality of central points on the central line, and determining a boundary point corresponding to each central point on the boundary line, wherein a connecting line of the central point and the boundary point corresponding to the central point is perpendicular to the central line;
when the shape of the central line is not matched with that of the boundary line, generating a driving reference line parallel to the boundary line according to the actual length of each connecting line and each target point, wherein the target point comprises at least one of a central point and a boundary point, and the driving reference line is positioned between the boundary line and the central line;
and controlling the vehicle to run along the running reference line.
2. The method according to claim 1, wherein the target points are boundary points, and the step of generating a travel reference line parallel to the boundary line from the actual length of each of the connection lines and each of the target points comprises:
determining a target length corresponding to each connecting line according to the actual length of each connecting line, and determining a minimum length in each target length, wherein the target length corresponding to the connecting line is smaller than the actual length of the connecting line;
moving each boundary point towards a first direction corresponding to the boundary point by the minimum length to obtain a first reference point corresponding to each boundary point, wherein the first direction corresponding to the boundary point is a direction in which a connecting line where the boundary point is located points to the central line;
and generating a running reference line parallel to the boundary line according to each first reference point.
3. The method according to claim 1, wherein the target points include the boundary points and the center point, and the step of generating a travel reference line parallel to the boundary line from the actual length of each of the connection lines and each of the target points includes:
determining a target length corresponding to each connecting line according to the actual length of each connecting line, and determining a minimum length in each target length, wherein the target length corresponding to the connecting line is smaller than the actual length of the connecting line;
determining the vertical coordinate of a second reference point corresponding to each boundary point according to the minimum length, and determining the horizontal coordinate of the second reference point corresponding to each boundary point according to the position of each boundary point on the boundary line to obtain the first coordinate of each second reference point in a Freuler coordinate system;
determining two first target center points which are nearest to each second reference point in each center point;
determining a second coordinate of each second reference point in a Cartesian coordinate system according to the first coordinates of the second reference points and the coordinates of the two first target center points in a Fleller coordinate system;
and generating a running reference line parallel to the boundary line according to the second coordinate of each second reference point.
4. The method according to claim 1, wherein the target point is a center point, and the step of generating the travel reference line parallel to the boundary line based on the actual length of each of the connection lines and each of the target points comprises:
determining a target length corresponding to each connecting line according to the actual length of each connecting line, wherein the target length corresponding to each connecting line is smaller than the actual length of each connecting line;
moving each central point to a second direction corresponding to the central point by a target length corresponding to the central point to obtain a third reference point corresponding to each central point, wherein the second direction corresponding to the central point is a direction in which a connecting line in which the central point is located points to the boundary line, and the target length corresponding to the central point is a target length corresponding to the connecting line in which the central point is located;
and generating a running reference line parallel to the boundary line according to each third reference point.
5. The method according to claim 1, wherein the target points include a center point and boundary points, and the step of generating a travel reference line parallel to the boundary line from the actual length of each of the connection lines and each of the target points includes:
determining a target length corresponding to each connecting line according to the actual length of each connecting line, wherein the target length corresponding to each connecting line is smaller than the actual length of each connecting line;
determining a longitudinal coordinate of a fourth reference point corresponding to each central point according to the target length corresponding to each central point, and determining an abscissa of the fourth reference point corresponding to each central point according to the position of each central point on the central line to obtain a third coordinate of each fourth reference point in a Fowler coordinate system, wherein the target length corresponding to the central point is the target length corresponding to a connecting line where the central point is located;
determining two second target center points which are nearest to each fourth reference point in the center points;
determining fourth coordinates of each fourth reference point in a Cartesian coordinate system according to the third coordinates of the fourth reference points and the coordinates of the two second target center points in a Fleller coordinate system;
and generating a running reference line parallel to the boundary line according to the fourth coordinate of each fourth reference point.
6. The method according to claim 1, wherein the step of generating a running reference line parallel to the boundary line from the actual length of each of the connection lines and each of the target points when the shape of the center line does not match the shape of the boundary line includes:
when the shape of the central line is not matched with that of the boundary line, determining whether the boundary line is a smooth line;
and when the boundary line is a smooth line, generating a driving reference line parallel to the boundary line according to the actual length of each connecting line and each target point.
7. The method for traveling of a vehicle according to claim 6, characterized by further comprising, after the step of determining whether the boundary line is a smooth line:
and when the boundary line is not a smooth line, generating a driving reference line parallel to the central line according to the actual length of each connecting line and each target point.
8. The method according to claim 7, wherein the target point is a center point, and the step of generating the driving reference line parallel to the center line based on the actual length of each of the connection lines and each of the target points comprises:
determining a target length corresponding to each connecting line according to the actual length of each connecting line, and determining a minimum length in each target length, wherein the target length corresponding to the connecting line is smaller than the actual length of the connecting line;
moving each central point to the minimum length in a second direction corresponding to the central line to obtain a fifth reference point corresponding to each central point, wherein the second direction corresponding to the central line is a direction in which a connecting line where the central line is located points to the boundary line;
and generating a driving reference line parallel to the central line according to each fifth reference point.
9. The method according to claim 7, wherein the target point is a center point, and the step of generating the driving reference line parallel to the center line based on the actual length of each of the connection lines and each of the target points comprises:
determining a target length corresponding to each connecting line according to the actual length of each connecting line, and determining a minimum length in each target length, wherein the target length corresponding to the connecting line is smaller than the actual length of the connecting line;
determining the longitudinal coordinate of a sixth reference point corresponding to each central point according to the minimum length, and determining the horizontal coordinate of the sixth reference point corresponding to each central point according to the position of each central point on the central line to obtain a fifth coordinate of each sixth reference point in a Fowler coordinate system;
determining two third target center points closest to each of the sixth reference points among the center points;
determining a sixth coordinate of each sixth reference point in a Cartesian coordinate system according to the fifth coordinate of the sixth reference point and the coordinates of the two second target center points in the Fleller coordinate system;
and generating a running reference line parallel to the center line according to the sixth coordinate of each sixth reference point.
10. The method according to claim 7, wherein the target points are boundary points, and the step of generating the running reference line parallel to the center line based on the actual length of each of the connection lines and each of the target points comprises:
determining a target length corresponding to each connecting line according to the actual length of each connecting line, wherein the target length corresponding to each connecting line is smaller than the actual length of each connecting line;
moving each boundary point to a first direction corresponding to the boundary point by a target length corresponding to the boundary point to obtain a seventh reference point corresponding to each boundary point, wherein the first direction corresponding to the boundary point is a direction in which a connecting line in which the boundary point is located points to the central line, and the target length corresponding to the boundary point is a target length corresponding to the connecting line in which the boundary point is located;
and generating a driving reference line parallel to the central line according to each seventh reference point.
11. The running method of a vehicle according to claim 7, wherein the target points include boundary points and center points, and the step of generating a running reference line parallel to the center line from the actual lengths of the respective connection lines and the respective target points includes:
determining a target length corresponding to each connecting line according to the actual length of each connecting line, wherein the target length corresponding to each connecting line is smaller than the actual length of each connecting line;
determining a vertical coordinate of an eighth reference point corresponding to each boundary point according to the target length corresponding to each boundary point, and determining a horizontal coordinate of the eighth reference point corresponding to each boundary point according to the position of each boundary point on the boundary line to obtain a seventh coordinate of each eighth reference point in a fleur coordinate system, wherein the target length corresponding to each boundary point is the target length corresponding to a connecting line where the boundary point is located;
determining two fourth target boundary points closest to each of the eighth reference points in each of the center points;
determining an eighth coordinate of each eighth reference point in a Cartesian coordinate system according to a seventh coordinate of the eighth reference point and coordinates of the two fourth target boundary points in a Fleller coordinate system;
and generating a running reference line parallel to the center line according to the eighth coordinate of each eighth reference point.
12. The running method of a vehicle according to claim 6, wherein the step of determining whether the boundary line is a smooth line includes:
determining a target connecting line in each connecting line, wherein two adjacent target connecting lines do not intersect;
determining an azimuth angle corresponding to each target boundary point, and determining an angle difference between two adjacent azimuth angles, wherein the target boundary points are boundary points on a target connecting line;
and when at least one angle difference is larger than a preset threshold value, determining that the boundary line is not a smooth line.
13. The method according to claim 12, wherein the step of determining a target connection line among the connection lines includes:
determining two adjacent and disjoint connecting lines;
and determining the connecting line with the largest generation sequence as a target connecting line in two adjacent and non-intersecting connecting lines, wherein the larger the generation sequence of the connecting lines is, the larger the distance between a center point on the connecting line and a vehicle is.
14. The method according to any one of claims 2 to 5 or 8 to 11, wherein the step of determining the target length corresponding to each of the connection lines based on the actual length of each of the connection lines includes:
acquiring a reference parameter, wherein the reference parameter comprises at least one of a target distance and the vehicle width of the vehicle, and the target distance is the distance between the vehicle and the boundary line in the driving process of the vehicle;
and determining the target length of each connecting line according to the reference parameters and the actual length of each connecting line, wherein the target length of each connecting line is smaller than the actual length of each connecting line.
15. The running method of a vehicle according to any one of claims 1 to 13, wherein the step of acquiring a plurality of center points on the center line includes:
acquiring a projection point of the vehicle on the center line, and determining the running length of the vehicle;
determining a target center line on the center line, wherein the length of the target center line is the driving length, and the end point of the target center line comprises the projection point;
and taking the projection points as a starting point, and sampling points on the target central line at intervals of preset length to obtain each central point.
16. A running reference line generation device for a vehicle, comprising:
the system comprises an acquisition module, a judgment module and a display module, wherein the acquisition module is used for acquiring a center line on a road where a vehicle runs and a boundary line which is closest to the vehicle on the road;
the determining module is used for acquiring a plurality of central points on the central line and determining a boundary point corresponding to each central point on the boundary line, wherein a connecting line of the central point and the boundary point corresponding to the central point is perpendicular to the central line;
a generating module, configured to generate a driving reference line parallel to the boundary line according to an actual length of each of the connection lines and each of target points when the shape of the center line does not match the shape of the boundary line, where the target points include at least one of a center point and a boundary point, and the driving reference line is located between the boundary line and the center line;
and the control module is used for controlling the vehicle to run along the running reference line.
17. A running apparatus of a vehicle, characterized by comprising: a memory and a processor;
the memory stores computer-executable instructions;
the processor executes the computer-executable instructions stored in the memory, so that the processor performs the running method of the vehicle according to any one of claims 1 to 15.
18. A computer-readable storage medium, characterized in that a computer-executable instruction is stored therein, which when executed by a processor, is for implementing a running method of a vehicle according to any one of claims 1 to 15.
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