CN114132325B - Method and device for driving vehicle - Google Patents

Method and device for driving vehicle Download PDF

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Publication number
CN114132325B
CN114132325B CN202111520084.8A CN202111520084A CN114132325B CN 114132325 B CN114132325 B CN 114132325B CN 202111520084 A CN202111520084 A CN 202111520084A CN 114132325 B CN114132325 B CN 114132325B
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line
point
boundary
target
center
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CN114132325A (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 vehicle driving method and a device, wherein the method comprises the following steps: acquiring a central line on a road on which a vehicle runs and a boundary line on the road closest to the vehicle; acquiring a plurality of center points on a center line, and determining boundary points corresponding to the center points on a boundary line, wherein the center points are perpendicular to the central line of the connecting line of the boundary points corresponding to the center points; when the shape of the central line is not matched with the shape of the boundary line, a running reference line parallel to the boundary line is generated according to the actual length of each connecting line, the boundary point and the central point, and the running reference line is positioned between the boundary line and the central line; the vehicle is controlled to travel along the travel reference line. When the central line is not matched with the boundary line, the method generates the running reference line between the central line and the boundary line, and the running reference line is parallel to the boundary line, so that the vehicle runs along the running reference line, the condition that the vehicle changes lanes is avoided, and traffic accidents caused by the vehicle are avoided.

Description

Method and device for driving vehicle
Technical Field
The invention relates to unmanned technology, in particular to a driving method and device of a vehicle.
Background
With the breakthrough progress of autonomous vehicle technology and other related technologies, unmanned vehicles have further evolved.
In the running process of the unmanned vehicle, the unmanned vehicle needs to run by depending on a local running reference line.
Currently, unmanned vehicles travel along the center line of the road, i.e., the vehicle travels in the middle of the road. If the center line on the road is drawn inaccurately, the shape of the center line and the shape of the boundary line have larger difference, so that the vehicle can change the road when running along the center line, thereby causing traffic accidents.
Disclosure of Invention
The invention provides a vehicle driving method and device, which are used for solving the problem that an unmanned vehicle causes traffic accidents due to inaccurate drawing of a lane center line.
In one aspect, the present invention provides a driving method of a vehicle, including:
acquiring a central line on a road on which a vehicle runs and a boundary line on the road closest to the vehicle;
acquiring a plurality of center points on the center line, and determining boundary points corresponding to the center points on the boundary line, wherein the connecting line of the center points and the boundary points corresponding to the center points is perpendicular to the center line;
When the shape of the central line is not matched with the shape of the boundary line, generating a running 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 running reference line is positioned between the boundary line and the central line;
and controlling the vehicle to run along the running reference line.
In an embodiment, the target points are boundary points, and the step of generating a running 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 the target lengths, 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 the direction in which a connecting line of the boundary point 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 point includes the boundary point and the center point, and the step of generating a travel reference line parallel to the boundary line according to the actual length of each of the connecting 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 the target lengths, wherein the target length corresponding to the connecting line is smaller than the actual length of the connecting line;
determining the ordinate of the second reference point corresponding to each boundary point according to the minimum length, and determining the abscissa 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 Freund internal coordinate system;
determining two nearest first target center points of each second reference point in the center 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 Freund internal coordinate system;
And generating a running reference line parallel to the boundary line according to the second coordinates 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 the connecting line is smaller than the actual length of the connecting line;
moving each center point towards a second direction corresponding to the center point by a target length corresponding to the center point to obtain a third reference point corresponding to each center point, wherein the second direction corresponding to the center point is the direction in which a connecting line where the center point is located points to the boundary line, and the target length corresponding to the center point is the target length corresponding to the connecting line where the center 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 point includes a center point and a boundary point, and the step of generating a travel reference line parallel to the boundary line according to the actual length of each of the connecting 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 the connecting line is smaller than the actual length of the connecting line;
determining the ordinate of a fourth reference point corresponding to each center point according to the target length corresponding to each center point, and determining the abscissa of the fourth reference point corresponding to each center point according to the position of each center point on the center line to obtain the third coordinate of each fourth reference point in a Freund internal coordinate system, wherein the target length corresponding to the center point is the target length corresponding to a connecting line where the center point is located;
determining two nearest second target center points of each fourth reference point in the center points;
determining a fourth coordinate 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 the Freund internal coordinate system;
and generating a running reference line parallel to the boundary line according to the fourth coordinates of each fourth reference point.
In an embodiment, the step of generating the running reference line parallel to the boundary line according to the actual length of each connecting line and each target point when the shape of the center line does not match the shape of the boundary line includes:
Determining whether the boundary line is a smooth line when the shape of the center line does not match the shape of the boundary line;
when the boundary lines are smooth lines, running reference lines parallel to the boundary lines are generated according to the actual lengths of the connecting lines and the target points.
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 running 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 the target lengths, wherein the target length corresponding to the connecting line is smaller than the actual length of the connecting line;
moving each center point towards a second direction corresponding to the center line by the minimum length to obtain a fifth reference point corresponding to each center point, wherein the second direction corresponding to the center line is the direction in which a connecting line of the center line points to the boundary line;
And generating a running 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 the target lengths, wherein the target length corresponding to the connecting line is smaller than the actual length of the connecting line;
determining the ordinate of a sixth reference point corresponding to each center point according to the minimum length, and determining the abscissa of the sixth reference point corresponding to each center point according to the position of each center point on the center line to obtain the fifth coordinate of each sixth reference point in a French internal coordinate system;
determining two nearest third target center points of each sixth reference point in the center points;
determining a sixth coordinate of each sixth reference point in a Cartesian coordinate system according to a fifth coordinate of the sixth reference point and coordinates of two second target center points in the Freund internal coordinate system;
And generating a running reference line parallel to the central line according to the sixth coordinates of each sixth reference point.
In an embodiment, the target point is a boundary point, and the step of generating a running 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 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 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 the direction in which a connecting line where the boundary point is located points to the central 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;
and generating a running reference line parallel to the central line according to each seventh reference point.
In an embodiment, the target points include boundary points and center points, and the step of generating a running 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 the connecting line is smaller than the actual length of the connecting line;
determining the ordinate of an eighth reference point corresponding to each boundary point according to the target length corresponding to each boundary point, and determining the abscissa of the eighth reference point corresponding to each boundary point according to the position of each boundary point on the boundary line to obtain the seventh coordinate of each eighth reference point in a French internal coordinate system, wherein the target length corresponding to the boundary point is the target length corresponding to a connecting line where the boundary point is located;
determining two nearest fourth target boundary points of each eighth reference point in 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 two fourth target boundary points in the Freund internal coordinate system;
and generating a running reference line parallel to the central line according to the eighth coordinates of each eighth reference point.
In an embodiment, the step of determining whether the boundary line is a smooth line comprises:
Determining target connecting lines in the connecting lines, 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 generating sequence as a target connecting line in two adjacent and non-intersecting connecting lines, wherein the larger the generating sequence of the connecting line is, the larger the distance between the central point on the connecting line and the vehicle is.
In an embodiment, the step of determining the target length corresponding to each connection line according to the actual length of each connection line includes:
acquiring 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 the boundary line during running 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 acquiring a plurality of center points on the centerline comprises:
acquiring a projection point of the vehicle on the central 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 running length, and the endpoints of the target center line comprise the projection points;
taking the projection points as starting points, and sampling the points on the target central line at intervals of a preset length to obtain each central point.
In another aspect, the present invention provides a travel reference line generating device of a vehicle, including:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a central line on a road on which a vehicle runs and a boundary line on the road, which is nearest to the vehicle;
the determining module is used for acquiring a plurality of center points on the center line and determining boundary points corresponding to the center points on the boundary line, wherein the connecting line of the boundary points corresponding to the center points and the center points is perpendicular to the center line;
A generating module, configured to generate a running reference line parallel to the boundary line according to an actual length of each connecting 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 running 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 traveling apparatus of a vehicle, including: a memory and a processor;
the memory stores computer-executable instructions;
the processor executes the computer-executable instructions stored in the memory, causing the processor to perform the method of driving 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 a driving method of a vehicle as described above when executed by a processor.
The method and the device for driving the vehicle acquire the central line of the road on which the vehicle runs and the boundary line on the road closest to the vehicle, acquire a plurality of central points on the central line, determine the boundary point corresponding to each central point on the boundary, and when the central line is not matched with the boundary line, generate a driving reference line parallel to the boundary line according to the actual length of each connecting line, the boundary point and the central point, so that the vehicle runs along the driving reference line. In the invention, when the central line is not matched with the boundary line, the running reference line between the central line and the boundary line is generated, and the running reference line is parallel to the boundary line, so that the vehicle runs along the running reference line, the condition that the vehicle changes lanes is avoided, and the traffic accident caused by the vehicle is avoided.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the 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 in accordance with the present invention;
FIG. 2 is a flow chart of a first embodiment of a driving method of a vehicle according to the present invention;
FIG. 3 is a schematic diagram illustrating a refinement flow of step S300 in a second embodiment of a driving method of a vehicle according to the present invention;
FIG. 4 is a schematic view of a road according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a refinement flow of step S300 in a fourth embodiment of a driving method of a vehicle according to the present invention;
FIG. 6 is a schematic functional block diagram of a vehicle running apparatus according to the present invention;
fig. 7 is a schematic hardware configuration of the running apparatus of the vehicle of the present invention.
Specific embodiments of the present disclosure have been shown by way of the above drawings and will be described in more detail below. These drawings and the written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the disclosed concepts to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
The present invention provides a vehicle driving method, which can be realized by a system architecture diagram shown in fig. 1. As shown in fig. 1, the vehicle 100 travels on the road 200, and the vehicle 100 travels between the center line 210 and the boundary line 220 of the road 200. The vehicle 100 is an unmanned vehicle, and the running device of the vehicle (the running device of the vehicle may be the vehicle 100 or other terminals with image processing capability) directly obtains the map of the road 200, and determines the center line 210 and the boundary line 220 of the road 200 from the map, so as to generate the running reference line 230 between the center line 210 and the boundary line 220, and the vehicle 100 can run along the running reference line 230.
The following describes the technical scheme of the present invention and how the technical scheme of the present application solves the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail 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 according to the present invention, the running method of the vehicle including the steps of:
Step S100, a center line on a road on which the vehicle runs and a boundary line closest to the vehicle on the road are acquired.
In the present embodiment, the execution body is a running device of a vehicle. The vehicle traveling device may be a vehicle or a terminal having an image processing function and a data interaction function. The vehicle refers to an unmanned vehicle. For convenience of description, the following means will be referred to as a running means of the vehicle.
The device obtains a map of a road on which the vehicle is currently traveling. Specifically, the vehicle locates the current position through the locating module and sends the current position to the server, and the server determines a map of a road on which the vehicle is currently traveling based on the current position and sends the map to the device.
The device identifies the center line and the nearest boundary line to the vehicle in the map, namely the boundary line on the right side of the vehicle. The boundary lines appearing hereinafter all refer to the boundary line nearest to the vehicle.
Step S200, a plurality of center points are obtained on the center line, and boundary points corresponding to the center points on the boundary line are determined, wherein the center points are perpendicular to the central line of the connecting line of the boundary points corresponding to the center points.
The device acquires a plurality of center points on the center line, wherein the acquisition mode of the center points can be random acquisition or acquisition of the center points at intervals of the center line by setting the length. The device hangs down by taking each central point as foot, and makes a perpendicular line with the central line. The intersection point of the vertical line and the boundary line is the boundary point corresponding to the central point on the vertical line on the boundary line. It will be appreciated that the line of connection between the center point and the boundary point corresponding to the center point is perpendicular to the center line.
And step S300, when the shape of the central line is not matched with the shape of the boundary line, generating a running 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 running reference line is positioned between the boundary line and the central line.
In an actual scenario, there is no centerline on the road, i.e., the device cannot identify the centerline from the road, so the centerline is drawn on the road on the map. The center line of the road may be inaccurately drawn, for example, if the road is an intersection, it is difficult to accurately draw the center line, and if the shape of the center line is greatly different from the shape of the boundary line, which is defined as that the shape of the center line is not matched with the shape of the boundary line. If the shapes of the two are not matched, the inaccuracy of the drawing of the central line can be determined, the device generates a running reference line parallel to the boundary line, and traffic accidents caused by running of the vehicle along the inaccuracy of the drawing of the central line are eliminated.
When determining the connecting line corresponding to each center point, and the shape of the center line does not match the shape of the boundary line, the apparatus may calculate the actual length of each connecting line. Specifically, each point on the map has corresponding coordinates, that is, the device can acquire the coordinates of each center point and the coordinates of each boundary point based on the map, so that the actual length of the connecting line can be calculated based on the coordinates of the boundary points and the center points.
The device can generate a running reference line parallel to the center line or boundary line by means of the respective actual length and the respective target point. The target point is a center point, a boundary point or a center point and a boundary point. The device can move each center point towards the boundary line by the same actual length to obtain a reference point corresponding to each center point, and then generate a running reference line parallel to the central line through each reference point. Alternatively, the device may move each boundary point by the same actual length toward the center line to obtain a reference point corresponding to each boundary point, and generate a running reference line parallel to the boundary line through each reference point.
In step S400, the vehicle is controlled to travel along the travel reference line.
After the travel reference line is generated, the vehicle can verify that the travel reference line is traveling.
In the technical solution provided in this embodiment, a center line of a road on which a vehicle runs and a boundary line on the road closest to the vehicle are obtained, a plurality of center points are obtained at the center line, boundary points corresponding to the center points on the boundary are determined, connecting lines of the center points and the boundary points corresponding to the center points are perpendicular to the center line, and when the center line is not matched with the boundary line, a running reference line parallel to the boundary line is generated according to the actual length of each connecting line, the boundary points and the center points, so that the vehicle runs along the running reference line. In the invention, when the central line is not matched with the boundary line, the running reference line between the central line and the boundary line is generated, and the running reference line is parallel to the boundary line, so that the vehicle runs along the running reference line, the condition that the vehicle changes lanes is avoided, and the traffic accident caused by the vehicle is avoided.
Referring to fig. 3, fig. 3 is a second embodiment of a driving method of a vehicle according to the present invention, based on the first embodiment, 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 the target lengths, wherein the target length corresponding to the connecting line is smaller than the actual length of the connecting line.
In this embodiment, the device determines the target length of each connection line from the actual length of each connection line. The target length may be less than or equal to an actual length of the connection line corresponding to the target length, that is, the actual length of each connection line minus a preset value obtains the target length corresponding to 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 driving lane line.
In addition, the device can correct the actual length of each connecting line through 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 a running process of the vehicle; the device then 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 parameter 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 firstly acquires each target length, and determines the minimum length in the target lengths, wherein the minimum length L= N is the number of connecting wires,is of sequence numberThe actual length of the connecting line, W, is the vehicle width and D is the distance between the vehicle and the boundary line required during the running of the vehicle.
Step S320, moving each boundary point towards 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 of the boundary point points to a central 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 the direction that the connecting line points to the central line, and the second direction is the direction that 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 a first reference point corresponding to each boundary point is obtained.
Step S330, a running reference line parallel to the boundary line is generated from each first reference point.
The device connects the first reference lines to generate the running reference line parallel to the boundary line.
In the technical solution provided in this embodiment, the device determines a target length corresponding to each connecting line according to an actual length of each connecting line, determines a minimum length in each target length, and moves each boundary point toward a first direction corresponding to the boundary point by the minimum length to obtain a first reference point corresponding to each boundary point, thereby accurately generating a running reference line parallel to the boundary line according to each first reference point.
In an 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 the target lengths, wherein the target length corresponding to the connecting line is smaller than the actual length of the connecting line;
according to the minimum length, determining the ordinate of the second reference point corresponding to each boundary point, and determining the abscissa of the second reference point corresponding to each boundary point according to the position of each boundary point at the boundary line, so as to obtain the first coordinate of each second reference point in the Freund internal coordinate system;
determining two nearest first target center points of each second reference point in the center 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 Freund's internal coordinate system;
and generating a running reference line parallel to the boundary line according to the second coordinates of each second reference point.
When the unmanned vehicle is running, a Frenet coordinate system in the Frenet is introduced. The Frenet coordinate system was introduced to better describe the road trend. The Frenet coordinate system is characterized in that the Frenet coordinate system takes the central line of a road as an S axis and takes the vertical S axis as an L axis to the left. The generation of the driving reference line depends on a cartesian coordinate system. The device can generate a running 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.
Assume that there is a reference point on the travel reference line in the Cartesian coordinate systemp（x p ，y p ) The reference point always finds a distance in the road boundary linepTwo nearest boundary pointss（x s ，y s ) Ande（x e ，y e ) Let s be atThe Frenet coordinate system has the following coordinatess s ， 0) E is the coordinate of the Frenet coordinate systems e ，0) Points in Cartesian coordinatesp（x p ，y p ) Coordinates under Frenet coordinate systems p ，l p ) The relation of (2) is:
a running reference line parallel to the boundary line can be generated based on the above formula. The specific flow is as follows:
1. the minimum length is determined among the respective target lengths. The minimum length determination process is referred to the above description, and will not be described in detail herein.
2. And determining the ordinate of the second reference point corresponding to each boundary point according to the minimum length, and determining the abscissa 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 the Freund internal coordinate system.
Referring to FIG. 4, the boundary points includeThe device obtains a set in a Cartesian coordinate system，In (a) and (b)As boundary pointsIn the abscissa of the cartesian coordinate system,in (a) and (b)As boundary pointsIn the ordinate of the cartesian coordinate system. Assuming that the boundary point has a corresponding second reference point, the second reference point is the point on the running reference line to be generated, the boundary point The ordinate of the corresponding second reference point in the Freund's internal coordinate system=+++……+，Representing boundary pointsThe length on the S-axis in the fowler internal coordinate system,representing boundary pointsAnd boundary pointThe length between them, and so on,representing boundary pointsAnd boundary pointLength between them. The positions of the boundary points can determine the coordinates of the boundary points in the Freund's internal coordinate system, so that the lengths between adjacent boundary points are determined based on the coordinates of the boundary points, and further, the abscissa of the second reference point in the Freund's internal coordinate system is determined based on the lengths.
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=. The device can obtain the first coordinate of each second reference point in the Freund's internal coordinate system through the abscissa 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 formulas of the Cartesian coordinate system and the Freund's internal coordinate system, the device needs to find the nearest center point of each second reference point in the respective center points, and the nearest center point of the second reference points is defined as the first target center point.
4. And determining the second coordinate of each second reference point in the 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 Freund's internal coordinate system.
The first coordinates of the second reference points are determined, the coordinates of the two nearest first target center points of the second reference points in the Freund's internal coordinate system can be directly obtained, and the device can perform coordinate transformation on the second reference points based on the formula, so that the second coordinates of the second reference points in the Cartesian coordinate system can be obtained.
5. And generating a running reference line parallel to the boundary line according to the second coordinates of each second reference point.
After the device obtains the second coordinates of each second reference point, the device can determine the assumed second reference points in the map, and then connect each determined second reference point to generate a running reference line parallel to the boundary line.
In an embodiment, step S300 further includes:
determining the target length corresponding to each connecting line according to the actual length of each connecting line, wherein the target length corresponding to the connecting line is smaller than the actual length of the connecting line;
moving each center point towards a second direction corresponding to the center point by a target length corresponding to the center point to obtain a third reference point corresponding to each center point, wherein the second direction corresponding to the center point is the direction in which a connecting line of the center point points to a boundary line, and the target length corresponding to the center point is the target length corresponding to the connecting line of the center point;
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 running reference line specifically refers to the following steps:
1. and moving each center point towards a second direction corresponding to the center point by a target length corresponding to the center point to obtain a third reference point corresponding to each center point, wherein the second direction corresponding to the center point is the direction in which a connecting line of the center point points to a boundary line, and the target length corresponding to the center point is the target length corresponding to the connecting line of the center point.
The device firstly acquires each target length, and the target length L i =，Is of sequence numberThe actual length of the connecting line, W, is the vehicle width and D is the distance between the vehicle and the boundary line required during the running of the vehicle. The device moves each center point towards the second direction corresponding to the center point by the target length corresponding to the center point, so that a moved point is obtained, and the moved point is the third reference point corresponding to the center point. The second direction corresponding to the center point is the direction in which the connecting line where the center point is located points to the boundary line, and the target length corresponding to the center point is the target length corresponding to the connecting line where the center 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 running reference line is generated. Assuming that the distance of each center point is the actual length of the connecting line where the center point is located, each center point is located on the boundary line after moving, and the target length L i =Each center point has a smaller moving target length than each center pointThe distance between the boundary line and the third reference point obtained by the distance of the center point moving target isTherefore, the running reference lines generated at the respective third reference points are parallel to the boundary line.
In an embodiment, step S300 further includes:
determining the target length corresponding to each connecting line according to the actual length of each connecting line, wherein the target length corresponding to the connecting line is smaller than the actual length of the connecting line;
determining the ordinate of a fourth reference point corresponding to each center point according to the target length corresponding to each center point, and determining the abscissa of the fourth reference point corresponding to each center point according to the position of each center point on the central line to obtain the third coordinate of each fourth reference point on the Freund internal coordinate system, wherein the target length corresponding to the center point is the target length corresponding to the connecting line where the center point is located;
Determining two nearest second target center points of each fourth reference point in the center points;
determining a fourth coordinate 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 the Freund's internal coordinate system;
and generating a running reference line parallel to the boundary line according to the fourth coordinates of each fourth reference point.
In the present embodiment, the target point includes a boundary point and a center point, and the running reference line in which the boundary lines are parallel is generated by coordinates of the center point:
1. determining the ordinate of the fourth reference point corresponding to each center point according to the target length corresponding to each center point (the target length is obtained according to the description, and is not repeated herein), and determining the abscissa of the fourth reference point corresponding to each center point according to the position of each center point at the center line, so as to obtain the third coordinate of each fourth reference point in the Fowler internal coordinate system, wherein the target length corresponding to the center point is the target length corresponding to the connecting line where the center point is located;
referring to FIG. 4, the center point includesThe device obtains a set in the Dierka coordinate system，In (a) and (b)As the center pointIn the abscissa of the cartesian coordinate system, In (a) and (b)As the center pointIn the ordinate of the cartesian coordinate system. Assuming that the center point has a corresponding fourth reference point, which is the point on the running reference line to be generated, the center pointOrdinate of the corresponding fourth reference point in the Freund's internal coordinate system=+++……+，Representing the center pointInternal Freund's coordinate systemThe length on the middle S-axis,representing the center pointAnd a center pointThe length between them, and so on,representing the center pointAnd a center pointLength between them. The position of the center point can determine the coordinates of the center point in the Freund's internal coordinate system, so that the length between the adjacent center points is determined based on the coordinates of each center point, and further, the abscissa of the fourth reference point in the Freund's internal coordinate system is determined based on each length. If the center point is spaced from the center lineSampling to obtain the ordinate of the fourth reference point in the Freund's internal coordinate system=+i 。
The device further determines the ordinate of the fourth reference point corresponding to each center point at the target length corresponding to each center point. I.e. the ordinate of each second reference point=. The device can obtain the third coordinate of each fourth reference point in the Freund's internal coordinate system through the abscissa of each fourth reference point. The target length corresponding to the center point is the target length corresponding to the connecting line where the center point is located.
2. Determining two nearest second target center points of each fourth reference point in the center points;
based on the coordinate transformation formulas of the Cartesian coordinate system and the Freund's internal coordinate system, the device needs to find the nearest center point of each fourth reference point in the respective center points, and the nearest center point of the fourth reference point is defined as the second target center point.
3. And determining the fourth coordinate of each fourth reference point in the Cartesian coordinate system according to the third coordinates of the fourth reference points and the coordinates of the two second target center points in the Freund's internal coordinate system.
The third coordinates of the fourth reference point are determined, the coordinates of the two nearest second target center points of the fourth reference point in the Freund's internal coordinate system 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 coordinates of the fourth reference point in the Cartesian coordinate system can be obtained.
4 generating a running reference line parallel to the boundary line based on the fourth coordinates of each fourth reference point.
After the device obtains the fourth coordinates of each fourth reference point, the device can determine the assumed fourth reference points in the map, and then connect each determined fourth reference point to generate a running reference line parallel to the boundary line.
Referring to fig. 5, fig. 5 is a third embodiment of a method of the form of the vehicle of the present invention, based on the first or second embodiment, step S300 includes:
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 that the distance between the boundary point and two boundary points adjacent to the boundary point is too large, that is, the distances between the boundary point and the boundary point adjacent to the boundary point are all greater than a preset distance, and the boundary point is the discrete boundary point. If there are discrete boundary points on the boundary line, the boundary is not a smooth line. If the device generates a running reference line parallel to the boundary line, the corresponding discrete reference points are also arranged on the running reference line due to the existence of the discrete boundary points, and when a vehicle runs from the reference points to the discrete reference points, the vehicle can translate leftwards or rightwards by a larger distance, 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 center line relative to the boundary line such that the center line coincides with a point where at least a portion of the boundary line exists. The device carries out multiple relative movements on the central line and the boundary line, determines the number of points where the central line coincides with the boundary line after each movement, obtains the maximum number in each number, divides the total number of points of the central line by the maximum number to obtain a ratio, and can determine that the shape of the central line is not matched with the shape of the boundary line if the ratio is smaller than a preset ratio. The preset ratio may be any number of values, for example, the preset ratio is 0.9.
In step S350, when the boundary line is a smooth line, a travel reference line parallel to the boundary line is generated based on the actual length of each connecting line and each target point.
In step S360, when the boundary line is not a smooth line, a travel reference line parallel to the center line is generated based on the actual length of each connecting line and each target point.
The vehicle running suddenly changes lanes due to the fact that the boundary line is not smooth, and the vehicle is gradually changed lanes under the condition that the central line is not matched with the boundary line, so that the probability of traffic accidents caused by the vehicle due to the fact that the boundary line is not smooth is larger than the probability of traffic accidents caused by the vehicle due to the fact that the central line is not matched with the boundary line. It is therefore necessary to give priority to whether the boundary line is a smooth curve. In contrast, when the boundary line is a smooth line, a running reference line parallel to the boundary line is generated; if the boundary line is not a smooth curve, a running reference line parallel to the center line is generated 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 that the distance between the center point and two adjacent center points of the center point is too large, that is, the distances between the center point and the adjacent center points of the center point are all 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 is not a smooth line. If the device generates a running reference line parallel to the boundary line, the corresponding discrete reference points are also arranged on the running reference line due to the existence of the discrete center points, and when a vehicle runs from the reference points to the discrete reference points, the vehicle can translate leftwards or rightwards by a larger distance, so that the probability of traffic accidents is overlarge. For this purpose, the device generates a travel reference line parallel to the center line.
In this regard, when the boundary line is a smooth line, the device generates a travel reference line parallel to the center line by each target length and each target point.
Specifically, while the unmanned vehicle is traveling, a Frenet coordinate system in the Frenet is introduced. The Frenet coordinate system was introduced to better describe the road trend. The Frenet coordinate system is characterized in that the Frenet coordinate system takes the central line of a road as an S axis and takes the vertical S axis as an L axis to the left. The generation of the driving reference line depends on a cartesian coordinate system. The device can generate a running 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 can directly move the target point, namely, a running reference line parallel to the boundary line can be generated.
Based on the two generation modes 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 modes of the driving reference line can be obtained by combining, and each generation mode is described in detail below.
A. The target point is a center point, and the running reference line with the boundary lines parallel is generated by movement of the center point:
1. the minimum length is determined among the respective target lengths (the manner of determining the target length is referred to above and will not be described here).
The device firstly acquires each target length, and determines the minimum length in the target lengths, wherein the minimum length L=N is the number of connecting wires,is of sequence numberThe actual length of the connecting line, W, is the vehicle width and D is the distance between the vehicle and the boundary line required during the running of the vehicle.
2. And moving each center point towards a second direction corresponding to the center point by a minimum length to obtain a fifth reference point corresponding to each center point, wherein the second direction corresponding to the center point is the direction in which the connecting line of the center point points to the boundary line.
Each connecting line has a first direction and a second direction, the first direction is the direction that the connecting line points to the central line, and the second direction is the direction that the connecting line points to the boundary line. The device moves each center point towards the second direction corresponding to the center point by the minimum length, so that a fifth reference point corresponding to each center point is obtained.
3. A travel reference line parallel to the center line is generated from each fifth reference point.
The device can generate the running reference line parallel to the central line by connecting the fifth reference lines.
B. The target point is a center point, and a running 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 manner of determining the target length is referred to above and will not be described here). The minimum length determination process is referred to the above description, and will not be described in detail herein.
2. And determining the ordinate of the sixth reference point corresponding to each center point according to the minimum length, and determining the abscissa of the sixth reference point corresponding to each center point according to the position of each center point on the central line to obtain the fifth coordinate of each sixth reference point in the Freund internal coordinate system.
Referring to FIG. 4, the center point includesThe device obtains a set in a Cartesian coordinate system，In (a) and (b)As the center pointIn the abscissa of the cartesian coordinate system,in (a) and (b)As the center pointIn the ordinate of the cartesian coordinate system. Assuming that the center point has a corresponding sixth reference point, which is the point on the running reference line to be generated, the center pointThe corresponding sixth reference point is in the Freund's internal coordinate systemOrdinate of the ordinate=+++……+，Representing the center pointThe length on the S-axis in the fowler internal coordinate system,representing the center pointAnd a center pointThe length between them, and so on,representing the center pointAnd a center pointLength between them. The position of the center point can determine the coordinates of the center point in the Freund's internal coordinate system, thereby determining the position between the adjacent center points based on the coordinates of each center pointAnd further determining the abscissa of the sixth reference point in the fowler's internal coordinate system based on the respective lengths. If the center point is spaced from the center line Sampling to obtain the ordinate of the sixth reference point in the Freund's internal coordinate system=+i 。
The device determines the ordinate of the fourth reference point corresponding to each center point based further on the minimum length. I.e. the ordinate of each second reference point=. The device can obtain a fifth coordinate of each sixth reference point in the Freund's internal coordinate system through the abscissa 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 the 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 Freund's internal coordinate system.
The fifth coordinate of the sixth reference point is determined, the coordinates of the nearest two third target center points of the sixth reference point in the friedel-crafts 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. A travel reference line parallel to the center line is generated based on the sixth coordinates of each sixth reference point.
After the device obtains the sixth coordinates of each sixth reference point, the device can determine the assumed sixth reference points in the map, and then connect each determined sixth reference point to generate a running reference line parallel to the central line.
C. The target point is a boundary point, and the running reference line with the boundary line parallel is generated by movement of the boundary point:
1. and moving the target length corresponding to the boundary point towards the first direction corresponding to the boundary point by each boundary point (the determination mode of the target length is referred to the above description and is not repeated herein), so as to obtain a seventh reference point corresponding to each boundary point, wherein the first direction corresponding to the boundary point is the direction in which the connecting line of the boundary point points to the central line, and the target length corresponding to the boundary point is the target length corresponding to the connecting line of the boundary point.
The device firstly acquires each target length, and the target length L i =，Is of sequence numberThe actual length of the connecting line, W, is the vehicle width and D is the distance between the vehicle and the boundary line required during the running of the vehicle. The device moves each boundary point towards the target length corresponding to the boundary point in the first direction corresponding to the boundary point, so that a moved point is obtained, and 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 of the boundary point pointing to the central line, and the target length corresponding to the boundary point is the corresponding direction of the connecting line of the boundary point Is a target length of (a).
2. A travel reference line parallel to the center line is generated from each seventh reference point.
After each seventh reference point is generated, the seventh reference point may be wired, thereby generating a travel reference line. Assuming that the distance traveled by each boundary point is the actual length of the connecting line where the boundary point is located, each boundary point is located on the centerline after being moved, and the target length L i =Each boundary point has a smaller moving target length than each boundary pointThe distance between the seventh reference point and the center line, which is obtained by the distance of the moving target of the boundary point, isThus, 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 a running reference line with parallel boundary lines is generated by coordinates of the boundary point:
1. determining the ordinate of the eighth reference point corresponding to each boundary point according to the corresponding target length of each boundary point (the determination mode of the target length is not described herein), and determining the abscissa of the eighth reference point corresponding to each boundary point according to the position of each boundary point at the boundary line to obtain the seventh coordinate of each eighth reference point in the French internal 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 includeThe device obtains a set in the Dierka coordinate system，In (a) and (b)As boundary pointsIn the abscissa of the cartesian coordinate system,in (a) and (b)As boundary pointsIn the ordinate of the cartesian coordinate system. Assuming that the boundary point has a corresponding eighth reference point, the eighth reference point is the point on the running reference line to be generated, the boundary pointOrdinate of the corresponding eighth reference point in the Freund's internal coordinate system=+++……+Representing boundary pointsThe length on the S-axis in the fowler internal coordinate system,representing boundary pointsAnd boundary pointThe length between them, and so on,representing boundary pointsAnd boundary pointLength between them. The positions of the boundary points can determine the coordinates of the boundary points in the Freund's internal coordinate system, so that the lengths between the adjacent boundary points are determined based on the coordinates of the boundary points, and further, the abscissa of the eighth reference point in the Freund's internal coordinate system is determined based on 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=. The device can obtain a seventh coordinate of each eighth reference point in the Freund's internal coordinate system through the abscissa 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 nearest fourth target boundary points of each eighth reference point in the center points;
based on the coordinate transformation formulas of the Cartesian coordinate system and the Freund's internal coordinate system, the device needs to find the nearest center point of each eighth reference point in the respective center points, and the nearest center point of the eighth reference point is defined as a 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 Freund's internal coordinate system.
The seventh coordinate of the eighth reference point is determined, the coordinates of the nearest two fourth target center points of the eighth reference point in the Friedel's internal 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.
4 generating a running reference line parallel to the center line according to the eighth coordinates of each eighth reference point.
After the device obtains the fourth coordinates of each eighth reference point, the device can determine the assumed eighth reference points in the map, and then connect the determined eighth reference points to generate a running 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 running 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 target connecting lines in each connecting line, wherein two adjacent target connecting lines do not intersect;
determining azimuth angles 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 determining that the boundary line is not a smooth line when the at least one angle difference is greater than a preset threshold.
Whether the boundary line is smooth depends on whether there are discrete boundary points on the boundary line. And the azimuth angle of the discrete boundary point in the coordinate system is greatly different from the azimuth angle of the adjacent boundary point.
The road may have an intersection, and thus the boundary line of the intersection is a curve, and the azimuth angle difference between adjacent boundary points on the curve may be large. Therefore, in determining whether the boundary line is a smooth curve, it is necessary to eliminate the curve on the boundary line. The connecting lines of adjacent boundary lines on the curves are intersected, as in the curve segment of the boundary line in fig. 4, three connecting lines are intersected. The device can determine the target connecting line in each connecting line, and two adjacent target connecting lines are not intersected, so that boundary points on the intersecting curves are removed. Furthermore, the device may determine the target connection line by two connection lines that are adjacent and do not intersect. Specifically, the device determines two adjacent and disjoint connecting lines, and determines the connecting line with the largest generating sequence as a target connecting line in the two adjacent and disjoint connecting lines, wherein the larger the generating sequence of the connecting line is, the larger the distance between the central point on the connecting line and the vehicle is. Referring to fig. 5, if the vehicle is at point r0, line segments r are sequentially generated 0 c 0 、r 1 c 1 、r 2 c 2 、… r n c n . The following is illustrative:
(1) Referring to FIG. 4, a device traverser setEach center point of (a)ToThe abscissa of (2) is the vertical foot, the vertical line perpendicular to the central line right is intersected with the boundary line, and the intersection point set isThe elements in the intersection point set are boundary points;
(2) From a set of pointsAnd (3) withSequentially constructing connection segments;
(3) First line segment（r 0 c 0 ) Deposit collectionIs extracted from the set SAnd detectWhether or not to match withDisjoint, thenDeposit collectionThe method comprises the steps of carrying out a first treatment on the surface of the The device extracts from the set SAnd detectWhether or not to match with，Disjoint, thenDeposit collectionIn this way, the collection set is traversed in turnAggregation ofAll the connecting lines in the network are target connecting lines.
The device determines the azimuth angle corresponding to each target boundary point, wherein the target boundary point is the boundary point of the target connecting line on the boundary line. The azimuth angle corresponding to the target boundary point is the included angle between the 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 in azimuth angle between two adjacent boundary points is small. Target boundary pointAzimuth angle of (2):
the device determines the angle difference between two adjacent azimuth angles after determining the azimuth angle of each target boundary point. At least one angle difference is larger than a preset threshold value It is 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 a vehicle on a central line, and determining the running length of the vehicle;
determining a target central line on the central line, wherein the length of the target central line is the running length, and the end points of the target central line comprise projection points;
taking the projection points as starting points, and sampling the points on the target central line at preset lengths at intervals to obtain each central point.
Referring to fig. 4, the projection of the vehicle on the routing (center line) is as followsThe local path planning distance length isL is the length of travel of the vehicle. Based on intervalsObtaining a target center line to(preset length) is interval, a series of center points are sampled on routingWhereinAndrespectively isAnd the abscissa in the cartesian coordinate system.
The present invention also provides a vehicle traveling apparatus 600, and referring to fig. 6, the vehicle traveling apparatus 600 includes:
an obtaining module 601, configured to obtain a center line on a road on which the vehicle runs and a boundary line on the road closest to the vehicle;
A determining module 602, configured to obtain a plurality of center points on a center line, and determine a boundary point corresponding to each center point on a boundary line, where a connecting line between the center point and the boundary point corresponding to the center point is a vertical center line;
a generating module 603, configured to generate, when the shape of the center line does not match the shape of the boundary line, a running reference line parallel to the boundary line according to the actual length of each connecting line and each target point, where the target point includes at least one of a center point and a boundary point, and the running reference line is located between the boundary line and the center line;
the control module 604 is configured to control the vehicle to travel along the travel reference line.
In one embodiment, the traveling apparatus 600 of a vehicle includes:
a determining module 602, configured to determine a target length corresponding to each connection line according to an actual length of each connection line, and determine a minimum length in each target length, 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 towards 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 the direction of a connecting line where the boundary point is located pointing to the central line;
A generating module 603 is configured to generate a driving reference line parallel to the boundary line according to each first reference point.
In one embodiment, the traveling apparatus 600 of a vehicle includes:
a determining module 602, configured to determine a target length corresponding to each connection line according to an actual length of each connection line, and determine a minimum length in each target length, 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, an ordinate of the second reference point corresponding to each boundary point, and determine, according to a position of each boundary point at 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 the fowler internal coordinate system;
a determining module 602, configured to determine, among the respective center points, two first target center points closest to each second reference point;
a determining module 602, configured to determine, according to the first coordinates of the second reference points and the coordinates of the two first target center points in the fowler internal coordinate system, second coordinates of each second reference point in the cartesian coordinate system;
a generating module 603 is configured to generate a running reference line parallel to the boundary line according to the second coordinates of each second reference point.
In one embodiment, the traveling apparatus 600 of a vehicle includes:
a determining module 602, configured to determine, according to an actual length of each connection line, a target length corresponding to 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 center point towards a second direction corresponding to the center point by a target length corresponding to the center point to obtain a third reference point corresponding to each center point, wherein the second direction corresponding to the center point is the direction in which a connecting line of the center point points to a boundary line, and the target length corresponding to the center point is the target length corresponding to the connecting line of the center point;
a generating module 603 is configured to generate a running reference line parallel to the boundary line according to each third reference point.
In one embodiment, the traveling apparatus 600 of a vehicle includes:
a determining module 602, configured to determine, according to an actual length of each connection line, a target length corresponding to each connection line, 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 a target length corresponding to each center point, an ordinate of a fourth reference point corresponding to each center point, and determine, according to a position of each center point on a center line, an abscissa of the fourth reference point corresponding to each center point, to obtain a third coordinate of each fourth reference point in a fowler internal coordinate system, where the target length corresponding to the center point is a target length corresponding to a connecting line where the center point is located;
A determining module 602, configured to determine, among the respective center points, two second target center points closest to each fourth reference point;
a determining module 602, configured to determine a fourth coordinate 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 the fowler internal coordinate system;
a generating module 603 is configured to generate a running reference line parallel to the boundary line according to the fourth coordinates of each fourth reference point.
In one embodiment, the traveling apparatus 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 running reference line parallel to the boundary line according to the actual length of each connecting line and each target point when the boundary line is a smooth line.
In one embodiment, the traveling apparatus 600 of a vehicle includes:
the generating module 603 is configured to generate a running reference line parallel to the center line according to the actual length of each connecting line and each target point when the boundary line is not a smooth line.
In one embodiment, the traveling apparatus 600 of a vehicle includes:
A determining module 602, configured to determine a target length corresponding to each connection line according to an actual length of each connection line, and determine a minimum length in each target length, 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 center point towards a second direction corresponding to the center line by a minimum length to obtain a fifth reference point corresponding to each center point, wherein the second direction corresponding to the center line is the direction in which the connecting line of the center line points to the boundary line;
a travel reference line parallel to the center line is generated from each fifth reference point.
In one embodiment, the traveling apparatus 600 of a vehicle includes:
a determining module 602, configured to determine a target length corresponding to each connection line according to an actual length of each connection line, and determine a minimum length in each target length, 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, an ordinate of a sixth reference point corresponding to each center point, and determine, according to a position of each center point on the center line, an abscissa of the sixth reference point corresponding to each center point, to obtain a fifth coordinate of each sixth reference point in the fowler internal coordinate system;
A determining module 602, configured to determine, among the respective center points, two third target center points closest to each sixth reference point;
a determining module 602, configured to determine a sixth coordinate of each sixth reference point in the 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 fowler internal coordinate system;
a generating module 603 is configured to generate a running reference line parallel to the center line according to the sixth coordinates of each sixth reference point.
In one embodiment, the traveling apparatus 600 of a vehicle includes:
a determining module 602, configured to determine, according to an actual length of each connection line, a target length corresponding to 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 towards 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 the direction of the connecting line of the boundary point pointing to the central line, and the target length corresponding to the boundary point is the target length corresponding to the connecting line of the boundary point;
a generating module 603 is configured to generate a running reference line parallel to the center line according to each seventh reference point.
In one embodiment, the traveling apparatus 600 of a vehicle includes:
a determining module 602, configured to determine, according to an actual length of each connection line, a target length corresponding to each connection line, 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 a target length corresponding to each boundary point, an ordinate of an eighth reference point corresponding to each boundary point, and determine, according to a position of each boundary point at a 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 fowler internal coordinate system, where the target length corresponding to the boundary point is a target length corresponding to a connecting line where the boundary point is located;
a determining module 602, configured to determine, among the respective center points, two fourth target boundary points closest to each eighth reference point;
a determining module 602, configured to determine, according to the seventh coordinates of the eighth reference points and the coordinates of the two fourth target boundary points in the fowler internal coordinate system, eighth coordinates of each eighth reference point in the cartesian coordinate system;
a generating module 603 is configured to generate a running reference line parallel to the center line according to the eighth coordinates of each eighth reference point.
In one embodiment, the traveling apparatus 600 of a vehicle includes:
a determining module 602, configured to determine a target connection line among the connection lines, where two adjacent target connection lines do not intersect;
a determining module 602, configured to determine an azimuth angle corresponding to each target boundary point, and determine an angle difference between two adjacent azimuth angles, where the target boundary point is a boundary point on a target connecting 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 traveling apparatus 600 of a vehicle includes:
a determining module 602, configured to determine two adjacent and disjoint connection lines;
a determining module 602, configured to determine, as the target connection line, the connection line with the largest generation order from two adjacent and disjoint connection lines, where the larger the generation order of the connection line is, the larger the distance between the center point on the connection line and the vehicle is.
In one embodiment, the traveling apparatus 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 during driving of the vehicle;
A determining module 602, configured to determine a target length of each connection line according to the reference parameter and an actual length of each connection line, where the target length of each connection line is smaller than the actual length of each connection line.
In one embodiment, the traveling apparatus 600 of a vehicle includes:
an acquisition module 601, configured to acquire a projection point of a vehicle on a central line, and determine a driving length of the vehicle;
a determining module 602, configured to determine a target center line on a center line, where a length of the target center line is a driving length, and an end point of the target center line includes a projection point;
and the sampling module is used for taking the projection points as starting points, and sampling the points on the target central line at intervals of a preset length to obtain each central point.
Fig. 7 is a schematic hardware configuration diagram of a running apparatus of a vehicle according to an exemplary embodiment.
The running apparatus 700 of the vehicle may include: a processor 701, such as a CPU, a memory 702, and a transceiver 703. It will be appreciated by those skilled in the art that the structure shown in fig. 7 does not constitute a limitation of the running gear of the vehicle, and may include more or fewer components than shown, or may combine certain components, or may have a different arrangement of components. The memory 702 may be implemented by any type or combination of volatile or non-volatile memory 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 (pro n), read-only memory (RON), magnetic memory, flash memory, magnetic or optical disk.
The processor 701 may call a computer program stored in the memory 702 to perform all or part of the steps of the method of driving a vehicle described above.
The transceiver 703 is used to receive information transmitted by an external device and transmit information to the external device.
A non-transitory computer readable storage medium, which when executed by a processor of a running apparatus of a vehicle, enables a terminal to perform the above running method of the vehicle.
A computer program product comprising a computer program which, when executed by a processor of a driving device of a vehicle, enables a terminal to perform the above-described driving 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 adaptations, 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 is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected 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 central line on a road on which a vehicle runs and a boundary line on the road closest to the vehicle;
acquiring a plurality of center points on the center line, and determining boundary points corresponding to the center points on the boundary line, wherein the connecting line of the center points and the boundary points corresponding to the center points is perpendicular to the center line;
when the shape of the central line is not matched with the shape of the boundary line, generating a running 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 running 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 running method of the vehicle according to claim 1, wherein the target points are boundary points, and the step of generating running reference lines parallel to the boundary lines from the actual lengths of the respective connecting 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, and determining a minimum length in the target lengths, 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 the direction in which a connecting line of the boundary point points to the central line;
and generating a running reference line parallel to the boundary line according to each first reference point.
3. The running method of the vehicle according to claim 1, wherein the target points include the boundary points and the center points, and the step of generating running reference lines parallel to the boundary lines from the actual lengths of the respective connecting 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, and determining a minimum length in the target lengths, wherein the target length corresponding to the connecting line is smaller than the actual length of the connecting line;
Determining the ordinate of the second reference point corresponding to each boundary point according to the minimum length, and determining the abscissa 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 Freund internal coordinate system;
determining two nearest first target center points of each second reference point in the center 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 Freund internal coordinate system;
and generating a running reference line parallel to the boundary line according to the second coordinates of each second reference point.
4. The running method of the vehicle according to claim 1, wherein the target points are center points, and the step of generating running reference lines parallel to the boundary lines from the actual lengths of the respective connecting 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 the connecting line is smaller than the actual length of the connecting line;
Moving each center point towards a second direction corresponding to the center point by a target length corresponding to the center point to obtain a third reference point corresponding to each center point, wherein the second direction corresponding to the center point is the direction in which a connecting line where the center point is located points to the boundary line, and the target length corresponding to the center point is the target length corresponding to the connecting line where the center point is located;
and generating a running reference line parallel to the boundary line according to each third reference point.
5. The running method of the vehicle according to claim 1, wherein the target points include a center point and boundary points, and the step of generating running reference lines parallel to the boundary lines from the actual lengths of the respective connecting 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 the connecting line is smaller than the actual length of the connecting line;
determining the ordinate of a fourth reference point corresponding to each center point according to the target length corresponding to each center point, and determining the abscissa of the fourth reference point corresponding to each center point according to the position of each center point on the center line to obtain the third coordinate of each fourth reference point in a Freund internal coordinate system, wherein the target length corresponding to the center point is the target length corresponding to a connecting line where the center point is located;
Determining two nearest second target center points of each fourth reference point in the center points;
determining a fourth coordinate 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 the Freund internal coordinate system;
and generating a running reference line parallel to the boundary line according to the fourth coordinates of each fourth reference point.
6. The running method of the vehicle 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 connecting lines and each of the target points when the shape of the center line does not match the shape of the boundary line includes:
determining whether the boundary line is a smooth line when the shape of the center line does not match the shape of the boundary line;
when the boundary lines are smooth lines, running reference lines parallel to the boundary lines are generated according to the actual lengths of the connecting lines and the target points.
7. The running method of the vehicle according to claim 6, characterized in that after the step of determining whether the boundary line is a smooth line, further comprising:
And when the boundary line is not a smooth line, generating a running reference line parallel to the central line according to the actual length of each connecting line and each target point.
8. The method of traveling a vehicle according to claim 7, wherein the target points are center points, and the step of generating a traveling reference line parallel to the center line based on the actual length of each of the connecting 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 the target lengths, wherein the target length corresponding to the connecting line is smaller than the actual length of the connecting line;
moving each center point towards a second direction corresponding to the center line by the minimum length to obtain a fifth reference point corresponding to each center point, wherein the second direction corresponding to the center line is the direction in which a connecting line of the center line points to the boundary line;
and generating a running reference line parallel to the central line according to each fifth reference point.
9. The method of traveling a vehicle according to claim 7, wherein the target points are center points, and the step of generating a traveling reference line parallel to the center line based on the actual length of each of the connecting 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 the target lengths, wherein the target length corresponding to the connecting line is smaller than the actual length of the connecting line;
determining the ordinate of a sixth reference point corresponding to each center point according to the minimum length, and determining the abscissa of the sixth reference point corresponding to each center point according to the position of each center point on the center line to obtain the fifth coordinate of each sixth reference point in a French internal coordinate system;
determining two nearest third target center points of each sixth reference point in the center points;
determining a sixth coordinate of each sixth reference point in a Cartesian coordinate system according to a fifth coordinate of the sixth reference point and coordinates of the two third target center points in the Freund internal coordinate system;
and generating a running reference line parallel to the central line according to the sixth coordinates of each sixth reference point.
10. The method of traveling a vehicle according to claim 7, wherein the target points are boundary points, and the step of generating a traveling reference line parallel to the center line based on the actual length of each of the connecting 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 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 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 the direction in which a connecting line where the boundary point is located points to the central 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;
and generating a running reference line parallel to the central line according to each seventh reference point.
11. The method of driving a vehicle according to claim 7, wherein 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 connecting 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 the connecting line is smaller than the actual length of the connecting line;
Determining the ordinate of an eighth reference point corresponding to each boundary point according to the target length corresponding to each boundary point, and determining the abscissa of the eighth reference point corresponding to each boundary point according to the position of each boundary point on the boundary line to obtain the seventh coordinate of each eighth reference point in a French internal coordinate system, wherein the target length corresponding to the boundary point is the target length corresponding to a connecting line where the boundary point is located;
determining two nearest fourth target boundary points of each eighth reference point in 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 two fourth target boundary points in the Freund internal coordinate system;
and generating a running reference line parallel to the central line according to the eighth coordinates of each eighth reference point.
12. The running method of the vehicle according to claim 6, characterized in that the step of determining whether the boundary line is a smooth line includes:
determining target connecting lines in the connecting lines, 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 running method of a vehicle 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 generating sequence as a target connecting line in two adjacent and non-intersecting connecting lines, wherein the larger the generating sequence of the connecting line is, the larger the distance between the central point on the connecting line and the vehicle is.
14. The method of traveling a vehicle according to any one of claims 2 to 5 or 8 to 11, wherein the step of determining a target length corresponding to each of the connection lines based on an 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 a vehicle width of the vehicle, and the target distance is a distance between the vehicle and the boundary line during running 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, characterized in that the step of acquiring a plurality of center points on the center line includes:
acquiring a projection point of the vehicle on the central 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 running length, and the endpoints of the target center line comprise the projection points;
taking the projection points as starting points, and sampling the points on the target central line at intervals of a preset length to obtain each central point.
16. A travel reference line generating device of a vehicle, characterized by comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a central line on a road on which a vehicle runs and a boundary line on the road, which is nearest to the vehicle;
the determining module is used for acquiring a plurality of center points on the center line and determining boundary points corresponding to the center points on the boundary line, wherein the connecting line of the boundary points corresponding to the center points and the center points is perpendicular to the center line;
A generating module, configured to generate a running reference line parallel to the boundary line according to an actual length of each connecting 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 running 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, causing the processor to perform the method of driving a vehicle according to any one of claims 1 to 15.
18. A computer-readable storage medium, in which computer-executable instructions are stored, which when executed by a processor are adapted to carry out a method of driving a vehicle according to any one of claims 1 to 15.
CN202111520084.8A 2021-12-14 2021-12-14 Method and device for driving vehicle Active CN114132325B (en)

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