CN114368397B - Curve judging method and device, storage medium and electronic equipment - Google Patents

Curve judging method and device, storage medium and electronic equipment Download PDF

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Publication number
CN114368397B
CN114368397B CN202210115696.7A CN202210115696A CN114368397B CN 114368397 B CN114368397 B CN 114368397B CN 202210115696 A CN202210115696 A CN 202210115696A CN 114368397 B CN114368397 B CN 114368397B
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curve
vehicle
low
information
speed
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CN114368397A (en
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杨航
吕颖
祁旭
曲白雪
白天晟
祝铭含
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FAW Group Corp
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FAW Group Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • 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
    • B60W40/072—Curvature of the road

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The application discloses a curve judging method, a curve judging device, a storage medium and electronic equipment. The method comprises the following steps: collecting vehicle operation parameters, and generating low-speed turning sign information of the vehicle based on the vehicle operation parameters; performing curve judgment based on one or more of vehicle rotation angle, yaw rate, lane line parameter average value and low-speed turning mark information to obtain initial curve judgment information; and acquiring curve verification information, and verifying the initial curve judgment information based on the curve verification information to obtain target curve judgment information of the vehicle. The application can realize the judgment of the low-speed curve by collecting the vehicle running parameters and generating the low-speed turning sign information of the vehicle based on the vehicle running parameters, and further, can realize the initial judgment of the running scene of the vehicle by judging the curve according to one or more parameters; and verifying the initial curve judgment information according to the curve verification information, so that the obtained target curve judgment information is more accurate and reliable.

Description

Curve judging method and device, storage medium and electronic equipment
Technical Field
The embodiment of the application relates to the technical field of automatic driving, in particular to a curve judging method and device, a storage medium and electronic equipment.
Background
In automatic driving, when the forward target of automatic driving is selected, the processing modes of the vehicle for selecting the target based on straight running and curve running are different, so that the judgment that the target is in a straight-path scene or the curve scene has great influence on the target selection.
In the prior art, the method for judging the curve comprises the following steps: whether the vehicle is in a curve scene or not is judged directly based on the vehicle rotation angle and the yaw rate, the method cannot cover some special scenes, and the reliability of a curve judgment result is low.
Disclosure of Invention
The embodiment of the application provides a curve judging method, a device, a storage medium and electronic equipment, so as to improve the reliability of a curve judging result.
In a first aspect, an embodiment of the present application provides a curve determining method, including:
collecting vehicle operation parameters, and generating low-speed turning sign information of the vehicle based on the vehicle operation parameters;
performing curve judgment based on one or more of the vehicle corner, the yaw rate, the lane line parameter average value and the low-speed turning mark information to obtain initial curve judgment information;
and acquiring curve verification information, and verifying the initial curve judgment information based on the curve verification information to obtain target curve judgment information of the vehicle.
In a second aspect, an embodiment of the present application further provides a curve determining apparatus, including:
the data acquisition module is used for acquiring vehicle operation parameters and generating low-speed turning sign information of the vehicle based on the vehicle operation parameters;
the initial judging module is used for judging the curve based on one or more of the vehicle corner, the yaw rate, the lane line parameter average value and the low-speed turning mark information to obtain initial curve judging information;
and the curve verification module is used for acquiring curve verification information, verifying the initial curve judgment information based on the curve verification information and obtaining target curve judgment information of the vehicle.
In a third aspect, an embodiment of the present application further provides an electronic device, including:
one or more processors;
storage means for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors implement the curve determination method according to any one of the embodiments of the present application.
In a fourth aspect, embodiments of the present application also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform the curve determination method according to any one of the embodiments of the present application.
The application can realize the judgment of the low-speed curve by collecting the vehicle running parameters and generating the low-speed turning sign information of the vehicle based on the vehicle running parameters, and further, realize the initial judgment of the running scene of the vehicle by judging the curve based on one or more of the vehicle corner, the yaw rate, the lane line parameter average value and the low-speed turning sign information; and verifying the initial curve judgment information according to the curve verification information, so that the obtained target curve judgment information is more accurate and reliable.
Drawings
In order to more clearly illustrate the technical solution of the exemplary embodiments of the present application, a brief description is given below of the drawings required for describing the embodiments. It is obvious that the drawings presented are only drawings of some of the embodiments of the application to be described, and not all the drawings, and that other drawings can be made according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a curve determining method according to an embodiment of the application;
fig. 2 is a flow chart of a curve determining method according to a second embodiment of the present application;
fig. 3 is a schematic flow chart of a first flag bit judgment provided in the second embodiment of the present application;
fig. 4 is a schematic flow chart of second flag bit determination according to the second embodiment of the present application;
fig. 5 is a schematic flow chart of third flag bit judgment according to the second embodiment of the present application;
fig. 6 is a flow chart of a curve determining method according to a third embodiment of the present application;
fig. 7 is a flow chart of a curve determining method according to a fourth embodiment of the present application;
fig. 8 is a schematic structural diagram of a curve determining device according to a fifth embodiment of the present application;
fig. 9 is a schematic structural diagram of an electronic device according to a sixth embodiment of the present application.
Detailed Description
The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting thereof.
It should be further noted that, for convenience of description, only some, but not all of the matters related to the present application are shown in the accompanying drawings. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or at the same time. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example 1
Fig. 1 is a flowchart of a curve determining method according to a first embodiment of the present application, where the present embodiment is applicable to a case of automatically performing curve determination in an automatic driving forward target selecting task, and the method may be performed by a curve determining apparatus according to the embodiment of the present application, where the apparatus may be implemented by software and/or hardware, and the apparatus may be configured on an electronic computing device, for example, a vehicle terminal. The method specifically comprises the following steps:
s110, collecting vehicle operation parameters, and generating low-speed turning sign information of the vehicle based on the vehicle operation parameters.
The vehicle operation parameters can be operation parameters acquired in real time in the current vehicle running process, and the vehicle operation parameters include, but are not limited to, vehicle corner, lane slope, lane line length, lane line curvature, vehicle speed, yaw rate and vehicle corner change rate. The vehicle operating parameters may be acquired by visual or inertial sensors. The low speed turning flag information may be a determination result of a vehicle driving scene, and may specifically be represented by a number or a symbol, for example, the low speed turning flag information may be 1 or 0, when the low speed turning flag information is 1, the determination result is that the vehicle is in the vehicle low speed curve scene, and when the low speed turning flag information is 0, the determination result is that the vehicle is not in the vehicle low speed curve scene.
Specifically, in some embodiments, the threshold value judgment may be performed on each vehicle operation parameter, and the low-speed turning flag information of the vehicle may be determined according to the judgment result of the threshold value condition corresponding to each vehicle operation parameter. In another embodiment, the running parameters of each vehicle may be input to a preset machine learning model to obtain the low-speed turning sign information of the vehicle, which is not limited in this embodiment.
In the embodiment of the application, various vehicle operation parameters are introduced to determine whether the vehicle is in a low-speed turning state, so that covered curve scenes are more comprehensive, and the low-speed turning sign information is more accurate and reliable.
S120, performing curve judgment based on one or more of the vehicle corner, the yaw rate, the lane line parameter average value and the low-speed turning mark information to obtain initial curve judgment information.
In the embodiment of the application, the average value of the lane line parameters refers to the average value of the parameters of the lane line equation, and the parameters of the lane line equation comprise the transverse distance from the origin of the lane line to the coordinate system, the lane slope, the lane line curvature and the first-order derivative of the lane line curvature. The lane line equation is specifically as follows:
Y＝A 3 ×X 3 +A 2 ×X 2 +A 1 ×X+A 0
wherein X and Y are variables in the vehicle coordinate system, i.eActual distances from the vehicle to the X-axis and the Y-axis in the vehicle coordinate system, A 0 Represents the transverse distance of the lane line from the origin of the coordinate system, A 1 Indicating the slope of the lane, A 2 Indicating the curvature of the lane line, A 3 A first derivative representing the curvature of the lane line.
The initial curve determination information is an initial determination of a vehicle driving scene. The initial curve determination information may include, but is not limited to, a curve scene and a straight-path scene, and may be represented by numerals or names. If one or more of the vehicle corner, the yaw rate, the lane line parameter average value and the low-speed turning mark information meet respective corresponding preset curve conditions, the initial curve judgment information is determined to be a curve scene, if the vehicle corner, the yaw rate, the lane line parameter average value and the low-speed turning mark information do not meet respective corresponding preset curve conditions, the initial curve judgment information is determined to be a straight-path scene, and the curve judgment flow is ended, namely, the curve verification process is not performed, the curve judgment processing flow can be reduced, and the curve judgment efficiency is improved.
S130, acquiring curve verification information, and verifying the initial curve judgment information based on the curve verification information to obtain target curve judgment information of the vehicle.
The curve verification information may be used to verify the initial curve judgment information. The curve verification information includes, but is not limited to, vehicle speed, lane line curvature, and lane line effective distance, and the curve verification information may be acquired by sensors mounted on the vehicle. The target curve judgment information may be a judgment result obtained by verifying the initial curve judgment information. The target curve determination information may include, but is not limited to, a curve scene and a straight road scene.
In the embodiment of the application, the initial curve judgment information is verified according to the curve verification information, so that the obtained target curve judgment information of the vehicle is more accurate and reliable.
The embodiment of the application provides a curve judging method, which can judge a low-speed curve by collecting vehicle running parameters and generating low-speed turning sign information of a vehicle based on the vehicle running parameters, and further, can judge the curve based on one or more of the vehicle corner, the yaw rate, the lane line parameter average value and the low-speed turning sign information, so as to realize initial judgment of a running scene of the vehicle; and verifying the initial curve judgment information according to the curve verification information, so that the obtained target curve judgment information is more accurate and reliable.
Example two
Fig. 2 is a flowchart of a curve determining method according to a second embodiment of the present application, where the "generating the low speed turning flag information of the vehicle based on the vehicle operating parameter" is further refined on the basis of the above embodiment. Reference may be made to the detailed description of the present technical solution for a specific implementation. Wherein, the technical terms identical to or corresponding to the above embodiments are not repeated herein. As shown in fig. 2, the method in the embodiment of the present application specifically includes the following steps:
s210, acquiring vehicle operation parameters, and determining a first low-speed zone bit, a second low-speed zone bit and a third low-speed zone bit based on the vehicle operation parameters.
The first low-speed zone bit, the second low-speed zone bit and the third low-speed zone bit are all judgment results of low-speed turning conditions of the vehicle, and the first low-speed zone bit can be general judgment of a running scene of the vehicle and can cover most turning conditions; the second low-speed zone bit can be used for judging the running speed of the vehicle, can cover a low-speed running scene of the vehicle, and the third low-speed zone bit can be used for judging the specific situation of the running scene of the vehicle and can cover more low-speed curve scenes.
On the basis of the above embodiment, the determining the first low speed flag bit, the second low speed flag bit, and the third low speed flag bit based on the vehicle operation parameter includes: determining a first low-speed zone bit based on the length of a lane line, the curvature of the lane line, the average value of the slope of a left lane and a right lane and the rotation angle of the vehicle; determining a second low speed flag based on vehicle speed and the yaw rate; and determining a third low-speed zone bit based on the lane line curvature average value, the vehicle corner, the yaw rate, the vehicle speed and the corner change rate.
The lane line curvature includes, but is not limited to, a left lane line curvature and a right lane line curvature, the average value of the left and right lane slopes is the average value of the left and right lane slopes, and the rotation angle change rate may be the change rate of the rotation angle of the vehicle.
Fig. 3 is a flowchart illustrating a first flag bit determination according to an embodiment of the present application. The specific process is as follows: if the length of the lane line is greater than the threshold value 1, the curvature of the Left lane line (indicated by left_a2 in fig. 3) is greater than the threshold value 2, or the curvature of the Right lane line (indicated by right_a2 in fig. 3) is greater than the threshold value 3 and is satisfied at the same time, setting the first low-speed mark as 1, otherwise, judging the average value of the slope of the Left lane and the Right lane; if the average value of the slope of the left lane and the right lane is larger than a threshold value 4, setting a first low-speed zone bit to be 1, otherwise, judging the vehicle corner; and if the vehicle rotation angle is larger than a threshold value 5, setting the first low-speed zone bit to be 1, otherwise, setting the first low-speed zone bit to be 0.
Fig. 4 is a flowchart of a second flag bit judgment provided in an embodiment of the present application. The specific process is as follows: and if the vehicle speed is smaller than a threshold value 6, judging the yaw rate, if the yaw rate is larger than a threshold value 7, judging the vehicle speed, and if the vehicle speed is larger than a threshold value 8, setting the second low-speed zone bit to be 1. If the vehicle speed is greater than or equal to a threshold value 6, setting the second low-speed zone bit to 0; if the yaw rate is smaller than or equal to a threshold 7, judging the vehicle speed, if the vehicle speed is larger than a threshold 9, setting the second low-speed zone bit to be 1, otherwise, setting the second low-speed zone bit to be 0; and if the vehicle speed is less than or equal to the threshold value 8, the second low-speed zone bit is set to 0.
Fig. 5 is a flowchart of third flag bit determination provided in the embodiment of the present application, specifically, if an average value of the curvature (A2) of a lane line is greater than a threshold value 10, determining the vehicle corner; and if the vehicle rotation angle is larger than a threshold value 12, judging the yaw rate average value, if the yaw rate average value is larger than a threshold value 13, judging the vehicle speed, if the vehicle speed is larger than a threshold value 14, judging the rotation angle change rate, and if the rotation angle change rate is larger than a threshold value 15, setting the third low-speed zone bit to be 1. If the average value of the lane line curvatures (A2) is smaller than or equal to the threshold value 10, judging the left lane distance or the right lane line distance; if the left lane distance or the right lane line distance is greater than a threshold value 11, judging the vehicle corner, otherwise, setting the third low-speed zone bit to 0; if the vehicle rotation angle is smaller than or equal to a threshold value 12, setting the third low-speed zone bit to 0; if the yaw rate average value is less than or equal to a threshold value 13, setting the third low-speed zone bit to 0; if the vehicle speed is less than or equal to a threshold value 14, setting the third low speed flag bit to 0; and if the rotation angle change rate is smaller than or equal to a threshold value 15, setting the third low-speed zone bit to 0.
S220, if the first low-speed zone bit, the second low-speed zone bit and the third low-speed zone bit simultaneously meet preset judging conditions, setting the low-speed turning zone information as a first zone.
The preset judging condition may be that the flag bit is 1, if the first low-speed flag bit, the second low-speed flag bit and the third low-speed flag bit are simultaneously 1, the vehicle is indicated to be in a low-speed turning scene, the low-speed turning flag information is set as a first flag, the first flag may be represented by a number or a character, for example, the first flag may be represented by the number 1, and the first flag may be represented by "low-speed turning". The present embodiment does not limit the representation of the first mark.
Specifically, if the first low speed flag bit, the second low speed flag bit, and the third low speed flag bit are not all 1, it indicates that the vehicle is in a non-low speed turning scene, the low speed turning flag information is set to a second flag, and the second flag may be represented by a number or a character, for example, the second flag may be represented by a number 0, and the second flag may also be represented by "non-low speed turning".
S230, performing curve judgment based on one or more of the vehicle corner, the yaw rate, the lane line parameter average value and the low-speed turning mark information to obtain initial curve judgment information.
The initial curve judgment information comprises a curve scene and a straight road scene, and the initial curve judgment information is obtained by performing curve judgment based on one or more of vehicle corner, yaw rate, lane line parameter average value and low-speed turning mark information, and comprises the following steps: if any one of the following is satisfied, determining the initial curve judgment information as a curve scene: the vehicle rotation angle is larger than a preset rotation angle threshold value; the yaw rate is greater than a preset yaw rate threshold; the average value of the lane line parameters is larger than a preset lane line threshold value; the low speed turn flag information is a first flag.
In the embodiment of the application, the curve judgment is sequentially carried out on the vehicle corner, the yaw rate, the lane line parameter average value and the low-speed turning mark information, and if the vehicle corner is larger than the preset corner threshold value, the initial curve judgment information is determined to be a curve scene; or if the yaw rate is greater than the preset yaw rate threshold, determining that the initial curve judgment information is a curve scene; or, if the average value of the lane line parameters is larger than a preset lane line threshold value, determining that the initial curve judgment information is a curve scene; and if the low-speed turning mark information is the first mark, determining that the initial curve judgment information is a curve scene, and enabling the curve scene covered by the judgment result to be more comprehensive through the multiple curve judgment processes, thereby improving the accuracy of curve judgment.
S240, acquiring curve verification information, and verifying the initial curve judgment information based on the curve verification information to obtain target curve judgment information of the vehicle.
The curve verification information comprises vehicle speed, lane line curvature and lane line effective distance, and when the initial curve judgment information is a curve scene, determining that the target curve judgment information of the vehicle is the judgment condition of the curve scene comprises the following steps: the vehicle speed meets a preset speed condition; the curvature of the lane line meets a preset curvature condition; the effective distance of the lane line meets the preset distance condition.
In the embodiment of the present application, the preset speed condition may include a preset speed threshold, the preset curvature condition may include a preset curvature threshold, and the preset distance condition may include a preset distance threshold. And further judging the initial curve judgment information through the plurality of preset conditions, so that the obtained target curve judgment information is more reliable.
For example, if the vehicle speed is greater than a preset speed threshold, judging the curvature of the lane line; if the curvature of the lane line is larger than a preset curvature threshold value, judging the effective distance of the lane line; and if the effective distance of the lane line is greater than the preset distance threshold value, determining that the target curve judgment information is a curve scene. If the vehicle speed is less than or equal to a preset speed threshold value, determining that the target curve judgment information is a straight-road scene; if the curvature of the lane line is smaller than or equal to a preset curvature threshold value, determining that the target curve judgment information is a straight-road scene; if the effective distance of the lane line is smaller than or equal to a preset distance threshold value, determining that the target curve judgment information is a straight-road scene.
The embodiment of the application provides a curve judging method, which comprises the steps of collecting vehicle operation parameters and determining a first low-speed zone bit, a second low-speed zone bit and a third low-speed zone bit based on the vehicle operation parameters; if the first low-speed zone bit, the second low-speed zone bit and the third low-speed zone bit simultaneously meet preset judging conditions, the low-speed turning zone bit information is set to be a first zone, and through the three low-speed zone bits, accurate judgment of a low-speed curve is achieved, low-speed curve scenes covered by judging results are more comprehensive, and accordingly accuracy of overall curve judgment is improved.
Example III
Fig. 6 is a flow chart of a curve judging method according to a third embodiment of the present application, and the embodiment of the present application may be combined with each of the alternatives in the foregoing embodiments. In the embodiment of the present application, optionally, before obtaining curve verification information and verifying the initial curve judgment information based on the curve verification information, the method further includes: and if the vehicle corner meets a preset corner threshold, determining that the target curve judgment information is a curve scene.
As shown in fig. 6, the method in the embodiment of the present application specifically includes the following steps:
s310, collecting vehicle operation parameters, and generating low-speed turning sign information of the vehicle based on the vehicle operation parameters.
S320, performing curve judgment based on one or more of the vehicle corner, the yaw rate, the lane line parameter average value and the low-speed turning mark information to obtain initial curve judgment information.
S330, if the vehicle corner meets a preset corner threshold, determining that the target curve judgment information is a curve scene.
When the vehicle corner meets a preset corner threshold, the target curve judgment information can be directly determined to be a curve scene, and the judgment flow is reduced. The reason for this is that the preset turning angle threshold is larger than the general turning angle threshold, and when the turning angle of the vehicle meets the preset turning angle threshold, the vehicle is shown to be in a curve scene obviously, so that the target curve judgment information can be directly determined to be the curve scene, the curve judgment process is omitted, and the processing efficiency of the curve judgment is improved.
The embodiment of the application provides a curve judging method, which can judge a low-speed curve by collecting vehicle running parameters and generating low-speed turning sign information of a vehicle based on the vehicle running parameters, and further, judges the curve based on one or more of a vehicle corner, a yaw rate, a lane line parameter average value and the low-speed turning sign information, and can directly determine target curve judging information as a curve scene when the vehicle corner meets a preset corner threshold value, thereby reducing curve judging flow and improving the processing efficiency of curve judgment.
Example IV
Fig. 7 is a flow chart of a curve determining method according to a fourth embodiment of the present application, and the embodiment of the present application may be combined with each of the alternatives in the foregoing embodiment. In an embodiment of the present application, optionally, after obtaining the target curve determination information of the vehicle, the method further includes: establishing curve mark information, wherein the curve mark information is a first mark under the condition that the target curve judgment information is a curve scene; and if the number of times of the curve mark information, which is the first mark, in the first period meets the preset number of times, and the duration period number of the first period, which meets the preset number of times, determining that the vehicle state is the curve driving state, wherein the preset number of times is an integer multiple of the first period.
As shown in fig. 7, the method in the embodiment of the present application specifically includes the following steps:
s410, collecting vehicle operation parameters, and generating low-speed turning sign information of the vehicle based on the vehicle operation parameters.
S420, performing curve judgment based on one or more of the vehicle corner, the yaw rate, the lane line parameter average value and the low-speed turning mark information to obtain initial curve judgment information.
S430, acquiring curve verification information, and verifying the initial curve judgment information based on the curve verification information to obtain target curve judgment information of the vehicle.
S440, establishing curve mark information, wherein the curve mark information is a first mark under the condition that the target curve judgment information is a curve scene.
The curve mark information can be used for representing a scene where the vehicle is located. In the case that the target curve judgment information is a curve scene, the curve mark information is a first mark, and the first mark can include, but is not limited to, a number or a symbol, etc., for example, the first mark can be represented by a number 1; in the case where the target curve determination information is a straight-path scene, the curve flag information is a second flag, which may include, but is not limited to, a form of a number or a symbol, etc., for example, the second flag may be represented by the number 0.
S450, if the number of times that the curve mark information is the first mark in the first period meets the preset number of times, and the duration period number of the first period meeting the preset number of times meets the preset period number of times, determining that the vehicle state is the curve driving state.
The first period is a preset period, and may include a plurality of curve judging periods, where the curve judging period refers to a time for completing one curve judgment, and the preset period times are integer multiples of the first period. For example, if the current vehicle driving scene of the vehicle is a straight road scene, the curve mark information is that the first mark appears at least once in 2 curve judging periods, and the situation lasts for 8 curve judging periods, the vehicle driving scene is switched to the curve scene, and the vehicle state is determined to be the curve driving state. According to the embodiment of the application, through the arrangement, the robustness of the judging result can be enhanced, and the frequent jump of the target curve judging information is prevented.
The embodiment of the application provides a curve judging method, which can judge a low-speed curve by collecting vehicle running parameters and generating low-speed turning sign information of a vehicle based on the vehicle running parameters, and further, can judge the curve based on one or more of the vehicle corner, the yaw rate, the lane line parameter average value and the low-speed turning sign information, so as to realize initial judgment of a running scene of the vehicle; and verifying the initial curve judgment information according to the curve verification information, so that the obtained target curve judgment information of the vehicle is more accurate and reliable.
Example five
Fig. 8 is a schematic structural diagram of a curve determining device according to a fifth embodiment of the present application, where the curve determining device according to the present embodiment may be implemented by software and/or hardware, and may be configured in a terminal and/or a server to implement the curve determining method according to the embodiment of the present application. The device specifically can include: a data acquisition module 510, an initial determination module 520, and a curve verification module 530.
The data acquisition module 510 is configured to acquire vehicle operation parameters, and generate low-speed turning sign information of the vehicle based on the vehicle operation parameters; the initial judging module 520 is configured to perform curve judgment based on one or more of the vehicle corner, the yaw rate, the lane line parameter average value, and the low-speed turning flag information, so as to obtain initial curve judgment information; the curve verification module 530 is configured to obtain curve verification information, and verify the initial curve judgment information based on the curve verification information to obtain target curve judgment information of the vehicle.
The embodiment of the application provides a curve judging device, which can judge a low-speed curve by collecting vehicle running parameters and generating low-speed turning sign information of a vehicle based on the vehicle running parameters, and further, can judge the curve based on one or more of the vehicle corner, the yaw rate, the lane line parameter average value and the low-speed turning sign information, so as to realize initial judgment of a running scene of the vehicle; and verifying the initial curve judgment information according to the curve verification information, so that the obtained target curve judgment information of the vehicle is more accurate and reliable.
Optionally, on the basis of any optional technical solution of the embodiments of the present application, the data acquisition module 510 includes:
the zone bit determining unit is used for determining a first low-speed zone bit, a second low-speed zone bit and a third low-speed zone bit based on the vehicle operation parameters;
and the zone bit judging unit is used for setting the low-speed turning zone information as a first zone if the first low-speed zone bit, the second low-speed zone bit and the third low-speed zone bit simultaneously meet preset judging conditions.
On the basis of any optional technical scheme in the embodiment of the present application, optionally, the flag bit determining unit may be configured to:
determining a first low-speed zone bit based on the length of a lane line, the curvature of the lane line, the average value of the slope of a left lane and a right lane and the rotation angle of the vehicle;
determining a second low speed flag based on vehicle speed and the yaw rate;
and determining a third low-speed zone bit based on the lane line curvature average value, the vehicle corner, the yaw rate, the vehicle speed and the corner change rate.
Optionally, on the basis of any optional technical solution in the embodiment of the present application, the initial curve judgment information includes a curve scene, and the initial judgment module 520 may be further configured to:
if any one of the following is satisfied, determining the initial curve judgment information as a curve scene:
the vehicle rotation angle is larger than a preset rotation angle threshold value;
the yaw rate is greater than a preset yaw rate threshold;
the average value of the lane line parameters is larger than a preset lane line threshold value;
the low speed turn flag information is a first flag.
Optionally, on the basis of any optional technical solution in the embodiment of the present application, the curve verification information includes a vehicle speed, a lane line curvature and a lane line effective distance; when the initial curve judgment information is a curve scene, determining that the target curve judgment information of the vehicle is a judgment condition of the curve scene includes:
the vehicle speed meets a preset speed condition;
the curvature of the lane line meets a preset curvature condition;
the effective distance of the lane line meets the preset distance condition.
On the basis of any optional technical scheme of the embodiment of the application, optionally, the device can also be used for:
and if the vehicle corner meets a preset corner threshold, determining that the target curve judgment information is a curve scene.
On the basis of any optional technical scheme of the embodiment of the application, optionally, the device can also be used for:
establishing curve mark information, wherein the curve mark information is a first mark under the condition that the target curve judgment information is a curve scene;
and if the number of times of the curve mark information, which is the first mark, in the first period meets the preset number of times, and the duration period number of the first period, which meets the preset number of times, determining that the vehicle state is the curve driving state, wherein the preset number of times is an integer multiple of the first period.
The curve judging device provided by the embodiment of the application can execute the curve judging method provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects of the executing method.
Example six
Fig. 9 is a schematic structural diagram of an electronic device according to a sixth embodiment of the present application. Fig. 9 illustrates a block diagram of an exemplary electronic device 12 suitable for use in implementing embodiments of the present application. The electronic device 12 shown in fig. 9 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present application.
As shown in fig. 9, the electronic device 12 is in the form of a general purpose computing device. Components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, a bus 18 that connects the various system components, including the system memory 28 and the processing units 16.
Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, and a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Electronic device 12 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by electronic device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 9, commonly referred to as a "hard disk drive"). Although not shown in fig. 9, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of the embodiments of the application.
A program/utility 36 having a set (at least one) of program modules 26 may be stored in, for example, system memory 28, such program modules 26 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 26 generally perform the functions and/or methods of the embodiments described herein.
The electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the electronic device 12, and/or any devices (e.g., network card, modem, etc.) that enable the electronic device 12 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. Also, the electronic device 12 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through a network adapter 20. As shown in fig. 9, the network adapter 20 communicates with other modules of the electronic device 12 over the bus 18. It should be appreciated that although not shown in fig. 9, other hardware and/or software modules may be used in connection with electronic device 12, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processing unit 16 executes various functional applications and data processing by running a program stored in the system memory 28, for example, implementing a curve determination method provided in the present embodiment.
Example seven
A seventh embodiment of the present application also provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are for performing a curve determination method, the method comprising:
collecting vehicle operation parameters, and generating low-speed turning sign information of the vehicle based on the vehicle operation parameters;
performing curve judgment based on one or more of the vehicle corner, the yaw rate, the lane line parameter average value and the low-speed turning mark information to obtain initial curve judgment information;
and acquiring curve verification information, and verifying the initial curve judgment information based on the curve verification information to obtain target curve judgment information of the vehicle.
The computer storage media of embodiments of the application may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Note that the above is only a preferred embodiment of the present application and the technical principle applied. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, while the application has been described in connection with the above embodiments, the application is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the application, which is set forth in the following claims.

Claims (8)

1. A curve determination method, characterized by comprising:
collecting vehicle operation parameters, and generating low-speed turning sign information of the vehicle based on the vehicle operation parameters;
performing curve judgment based on one or more of the vehicle corner, the yaw rate, the lane line parameter average value and the low-speed turning mark information to obtain initial curve judgment information;
acquiring curve verification information, verifying the initial curve judgment information based on the curve verification information, and obtaining target curve judgment information of the vehicle;
the generating the low-speed turn flag information of the vehicle based on the vehicle operating parameters includes:
determining a first low-speed zone bit, a second low-speed zone bit and a third low-speed zone bit based on the vehicle operation parameters;
if the first low-speed zone bit, the second low-speed zone bit and the third low-speed zone bit simultaneously meet preset judging conditions, setting the low-speed turning zone information as a first zone;
the determining the first low speed flag bit, the second low speed flag bit, and the third low speed flag bit based on the vehicle operating parameters includes:
determining a first low-speed zone bit based on the length of a lane line, the curvature of the lane line, the average value of the slope of a left lane and a right lane and the rotation angle of the vehicle;
determining a second low speed flag based on vehicle speed and the yaw rate;
and determining a third low-speed zone bit based on the lane line curvature average value, the vehicle corner, the yaw rate, the vehicle speed and the corner change rate.
2. The method of claim 1, wherein the initial curve determination information includes a curve scene, the curve determination based on one or more of a vehicle corner, a yaw rate, a lane line parameter average, and the low speed turn flag information, the initial curve determination information including:
if any one of the following is satisfied, determining the initial curve judgment information as a curve scene:
the vehicle rotation angle is larger than a preset rotation angle threshold value;
the yaw rate is greater than a preset yaw rate threshold;
the average value of the lane line parameters is larger than a preset lane line threshold value;
the low speed turn flag information is a first flag.
3. The method of claim 1, wherein the curve verification information includes vehicle speed, lane line curvature, and lane line effective distance;
when the initial curve judgment information is a curve scene, determining that the target curve judgment information of the vehicle is a judgment condition of the curve scene includes:
the vehicle speed meets a preset speed condition;
the curvature of the lane line meets a preset curvature condition;
the effective distance of the lane line meets the preset distance condition.
4. The method of claim 1, wherein prior to obtaining curve verification information, verifying the initial curve determination information based on the curve verification information, further comprising:
and if the vehicle corner meets a preset corner threshold, determining that the target curve judgment information is a curve scene.
5. The method according to any one of claims 1 to 4, characterized in that after the target curve determination information of the vehicle is obtained, the method further comprises:
establishing curve mark information, wherein the curve mark information is a first mark under the condition that the target curve judgment information is a curve scene;
and if the number of times of the curve mark information, which is the first mark, in the first period meets the preset number of times, and the duration period number of the first period, which meets the preset number of times, determining that the vehicle state is the curve driving state, wherein the preset number of times is an integer multiple of the first period.
6. A curve determination apparatus, comprising:
the data acquisition module is used for acquiring vehicle operation parameters and generating low-speed turning sign information of the vehicle based on the vehicle operation parameters;
the initial judging module is used for judging the curve based on one or more of the vehicle corner, the yaw rate, the lane line parameter average value and the low-speed turning mark information to obtain initial curve judging information;
the curve verification module is used for obtaining curve verification information, verifying the initial curve judgment information based on the curve verification information and obtaining target curve judgment information of the vehicle;
the data acquisition module comprises:
the zone bit determining unit is used for determining a first low-speed zone bit, a second low-speed zone bit and a third low-speed zone bit based on the vehicle operation parameters;
the zone bit judging unit is used for setting the low-speed turning zone information as a first zone if the first low-speed zone bit, the second low-speed zone bit and the third low-speed zone bit simultaneously meet preset judging conditions;
the flag bit determining unit is further configured to:
determining a first low-speed zone bit based on the length of a lane line, the curvature of the lane line, the average value of the slope of a left lane and a right lane and the rotation angle of the vehicle;
determining a second low speed flag based on vehicle speed and the yaw rate;
and determining a third low-speed zone bit based on the lane line curvature average value, the vehicle corner, the yaw rate, the vehicle speed and the corner change rate.
7. An electronic device, the electronic device comprising:
one or more processors;
storage means for storing one or more programs,
when executed by the one or more processors, causes the one or more processors to implement the curve determination method of any of claims 1-5.
8. A storage medium containing computer executable instructions which, when executed by a computer processor, are for performing the curve determination method as claimed in any one of claims 1 to 5.
CN202210115696.7A 2022-02-07 2022-02-07 Curve judging method and device, storage medium and electronic equipment Active CN114368397B (en)

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