CN114655208A - Method and device for determining obstacle vehicle behind vehicle - Google Patents

Method and device for determining obstacle vehicle behind vehicle Download PDF

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Publication number
CN114655208A
CN114655208A CN202011401630.1A CN202011401630A CN114655208A CN 114655208 A CN114655208 A CN 114655208A CN 202011401630 A CN202011401630 A CN 202011401630A CN 114655208 A CN114655208 A CN 114655208A
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vehicle
lane
behind
center line
obstacle
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柏满飞
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SAIC Motor Corp Ltd
Shanghai Automotive Industry Corp Group
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SAIC Motor Corp Ltd
Shanghai Automotive Industry Corp Group
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • B60W40/04—Traffic 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B60W2420/408—

Abstract

The application discloses a method and a device for determining an obstacle vehicle behind a vehicle, wherein the method comprises the following steps: the method comprises the steps of firstly, calculating historical tracks of the first N periods of a vehicle according to the yaw rate and the vehicle speed of the vehicle, wherein N is a positive integer larger than 0. Then, the lane line information is obtained by using a forward camera of the vehicle, the lane width of the lane where the vehicle is located and the transverse intercept of the lane center line are calculated according to the lane line information, and then the obstacle vehicle behind the vehicle can be determined according to the historical tracks of the previous N periods of the vehicle, the lane width of the lane where the vehicle is located and the transverse intercept of the lane center line. Therefore, the obstacle vehicle behind the vehicle can be quickly and accurately determined on the premise of not increasing the volume production cost of the automatic lane changing assistant driving system, effective reference is provided for the estimation of the rear lane changing safety space of the automatic lane changing assistant driving system, and traffic accidents are avoided.

Description

Method and device for determining rear obstacle vehicle of vehicle
Technical Field
The application relates to the technical field of vehicles, in particular to a method and a device for determining a vehicle with an obstacle behind the vehicle.
Background
With the rapid development of intelligent driving technology, more and more automobile manufacturers want to integrate an Adaptive Cruise Control (ACC) with a Lane Keeping Assist system (LKA) and an automatic Lane changing Assist system (ALC) to form a driving Assist system with a greater function, which requires that the system not only screen the obstacle vehicles of the ACC, i.e., the closest vehicle in front of the own Lane, but also screen the adjacent Lane in the Lane changing direction of the own vehicle and the closest obstacle vehicles in front of and behind the adjacent Lane, and can suppress Lane changing when the own vehicle and the obstacle vehicles have a collision risk, so as to avoid accidents.
However, due to the wide application and popularization of the ACC, research on screening of obstacle vehicles in the automobile industry is basically directed to the front, and research on screening methods of obstacle vehicles behind the vehicle is very little, so that how to quickly and accurately determine obstacle vehicles behind the vehicle to provide effective reference for rear lane change safety space estimation of an automatic lane change assistant driving system of the vehicle is an urgent problem to be solved.
Disclosure of Invention
The embodiment of the application mainly aims to provide a method and a device for determining a vehicle rear obstacle vehicle, which can rapidly and accurately determine the obstacle vehicle behind the vehicle by utilizing a vehicle-mounted forward camera and two rear millimeter wave angle radars on the premise of not increasing the volume production cost of an automatic lane change assistant driving system, provide effective reference for estimating a rear lane change safety space of the automatic lane change assistant driving system, and avoid traffic accidents.
In a first aspect of the present application, a method of determining an obstacle vehicle behind a vehicle is provided, including:
calculating historical tracks of the previous N periods of the vehicle according to the yaw velocity and the vehicle speed of the vehicle; n is a positive integer greater than 0;
acquiring lane line information by using a forward camera of the vehicle, and calculating the lane width of a lane where the vehicle is located and the transverse intercept of a lane central line according to the lane line information;
and determining the obstacle vehicle behind the vehicle according to the historical track of the previous N periods of the vehicle, the lane width of the lane where the vehicle is located and the transverse intercept of the lane center line.
In an alternative implementation, the historical trajectory for the first N cycles of the vehicle includes an abscissa and an ordinate for the first N cycles of the vehicle;
after the acquiring lane line information by using the forward camera of the vehicle and calculating the lane width of the lane where the vehicle is located and the transverse intercept of the lane center line according to the lane line information, the method further comprises:
storing the abscissa and ordinate of the first N cycles of the vehicle and the lateral intercept of the lane center line;
judging whether the vehicle changes lanes or not;
if so, updating the stored transverse intercept of the lane center line;
and if not, calculating the distance between the vehicle behind the vehicle and the lane center line.
In an optional implementation, the calculating a distance between a vehicle behind the vehicle and the lane center line includes:
acquiring the abscissa and the ordinate of a vehicle behind the vehicle in the vehicle coordinate system by using a vehicle-mounted angle radar behind the vehicle;
associating the time at which the vehicle behind the vehicle is level with the longitudinal position of the vehicle behind the vehicle in the vehicle history track according to the abscissa and the ordinate of the vehicle in the vehicle coordinate system and the abscissa and the ordinate of the vehicle in the first N periods;
and calculating the distance between the vehicle behind the vehicle and the lane center line according to the time.
In an optional implementation manner, the determining an obstacle vehicle behind the vehicle according to the historical tracks of the first N cycles of the vehicle, the lane width of the lane where the vehicle is located and the lateral intercept of the lane center line includes:
and determining an obstacle vehicle behind the vehicle from the rear vehicles according to the distance between the rear vehicle of the vehicle and the center line of the lane.
In an optional implementation manner, the determining an obstacle vehicle behind the vehicle from the rear vehicles according to the distance between the rear vehicle of the vehicle and the lane center line includes:
determining lanes where the rear vehicles are located according to the distance between the rear vehicles of the vehicles and the center line of the lane;
and screening out obstacle vehicles respectively positioned on the lane where the vehicle is positioned, the lane changing lane and adjacent lanes of the lane changing lane from the rear vehicles according to the principle that the longitudinal distance is closest.
In correspondence with the above method of determining an obstacle vehicle behind a vehicle, the present application proposes a device for determining an obstacle vehicle behind a vehicle, comprising:
a first calculation unit for calculating a history track of the previous N cycles of the vehicle according to a yaw rate and a vehicle speed of the vehicle; n is a positive integer greater than 0;
the second calculation unit is used for acquiring lane line information by using a forward camera of the vehicle and calculating the lane width of a lane where the vehicle is located and the transverse intercept of a lane center line according to the lane line information;
the determining unit is used for determining the obstacle vehicle behind the vehicle according to the historical tracks of the previous N periods of the vehicle, the lane width of the lane where the vehicle is located and the transverse intercept of the lane center line.
In an alternative implementation, the historical trajectory for the first N cycles of the vehicle includes an abscissa and an ordinate for the first N cycles of the vehicle; the device further comprises:
a storage unit for storing the abscissa and ordinate of the vehicle in the first N cycles and the transverse intercept of the lane center line;
the judging unit is used for judging whether the vehicle changes lanes or not;
the updating unit is used for updating the stored transverse intercept of the lane center line if the vehicle is judged to be lane changing;
and the third calculating unit is used for calculating the distance between the vehicle behind the vehicle and the lane center line if the vehicle is judged not to change lanes.
In an alternative implementation, the third computing unit includes:
the acquisition subunit is used for acquiring the abscissa and the ordinate of a vehicle behind the vehicle in the vehicle coordinate system by using a vehicle-mounted angle radar behind the vehicle;
the association subunit is configured to associate, according to the abscissa and the ordinate of the vehicle behind the vehicle in the vehicle coordinate system and the abscissa and the ordinate of the vehicle in the first N periods, a time at which the vehicle behind the vehicle is aligned with the longitudinal position in the vehicle history track;
and the calculating subunit is used for calculating the distance between the vehicle behind the vehicle and the lane center line according to the time.
In an optional implementation manner, the determining unit is specifically configured to:
and determining an obstacle vehicle behind the vehicle from the rear vehicles according to the distance between the rear vehicle of the vehicle and the center line of the lane.
In an optional implementation manner, the determining unit includes:
the determining subunit is used for determining lanes where the rear vehicles are located according to the distance between the rear vehicles of the vehicles and the center line of the lanes;
and the screening subunit is used for screening out obstacle vehicles which are respectively positioned in the lane where the vehicle is positioned, the lane changing lane and adjacent lanes of the lane changing lane from the rear vehicles according to the principle that the longitudinal distance is closest.
Therefore, the embodiment of the application has the following beneficial effects:
the embodiment of the application provides a method and a device for determining an obstacle vehicle behind a vehicle, and the method and the device are used for firstly calculating historical tracks of the previous N periods of the vehicle according to the yaw rate and the vehicle speed of the vehicle, wherein N is a positive integer greater than 0. Then, the lane line information is obtained by using a forward camera of the vehicle, the lane width of the lane where the vehicle is located and the transverse intercept of the lane center line are calculated according to the lane line information, and then the obstacle vehicle behind the vehicle can be determined according to the historical tracks of the previous N periods of the vehicle, the lane width of the lane where the vehicle is located and the transverse intercept of the lane center line. Therefore, the obstacle vehicle behind the vehicle can be quickly and accurately determined on the premise of not increasing the volume production cost of the automatic lane changing assistant driving system, effective reference is provided for the estimation of the rear lane changing safety space of the automatic lane changing assistant driving system, and traffic accidents are avoided.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a method for determining an obstacle vehicle behind a vehicle according to an embodiment of the present disclosure;
fig. 2 is a schematic position diagram of a vehicle-mounted forward camera and a vehicle-mounted rear angle radar provided in an embodiment of the present application;
fig. 3 is a schematic position diagram of a vehicle coordinate system at a previous time relative to a current time according to an embodiment of the present disclosure;
fig. 4 is a schematic position diagram of a host vehicle and a rear vehicle in a host vehicle coordinate system at a current time according to an embodiment of the present application;
FIG. 5 is a schematic position diagram of a vehicle behind a vehicle according to an embodiment of the present disclosure;
fig. 6 is a schematic diagram of a device for determining an obstacle vehicle behind a vehicle according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As is well known, the intelligent driving technology not only can reduce the driving pressure, but also can greatly improve the safety factor and effectively reduce the occurrence rate of traffic accidents, so the application of the intelligent driving technology is more and more extensive, and more automobile manufacturers wish to integrate the ACC with the LKA and the ALC to form a driving assistance system with stronger functions, which requires the system to screen not only the obstacle vehicles of the ACC (i.e. the vehicles closest to the front of the own lane), but also the adjacent lanes in the lane changing direction of the own vehicle and the obstacle vehicles closest to the front and the rear of the adjacent lanes, and to inhibit the lane changing when the own vehicle and the obstacle vehicles have a collision risk, so as to avoid the occurrence of accidents.
However, due to the wide application and popularization of the ACC, research on determination of obstacle vehicles in the automobile industry is basically directed to obstacle vehicles ahead, and research on screening methods of obstacle vehicles behind vehicles is very little, so that how to quickly and accurately determine obstacle vehicles behind vehicles to provide an effective reference for estimation of rear lane change safety space of an automatic lane change assistant driving system of vehicles is an urgent problem to be solved.
Based on the method and the device, the obstacle vehicle behind the vehicle can be determined quickly and accurately on the premise of not increasing the volume production cost of the automatic lane changing auxiliary driving system.
The following describes in detail a method for determining a vehicle rear obstacle provided in an embodiment of the present application, with reference to the drawings. Referring to fig. 1, which shows a flowchart of an embodiment of a method for determining an obstacle vehicle behind a vehicle according to an embodiment of the present application, the embodiment may include the following steps;
s101: calculating the historical tracks of the previous N periods of the vehicle according to the yaw velocity and the vehicle speed of the vehicle; wherein N is a positive integer greater than 0.
In the present embodiment, in order to achieve accurate determination of the obstacle vehicle behind the vehicle, the historical trajectories of the vehicle in the first N periods need to be calculated first for performing the subsequent step S103. Wherein N is a positive integer greater than 0.
Specifically, first, the vehicle-mounted sensor may be used to acquire operation data such as yaw rate, longitudinal speed, and data acquisition cycle of the vehicle, and the operation data may be preprocessed as follows to obtain a processed data set, as shown below:
S1＝{ω，v，T}
where ω represents the yaw rate of the vehicle; v represents a longitudinal vehicle speed of the vehicle; and T represents the software running period, the specific value can be set according to the actual situation, and if the software running frequency can be set to be 50HZ, the corresponding software running period is 0.02 s.
Then, the collected motion information of the vehicle may be stored for N cycles, and a vector corresponding to the historical track information of the previous N cycles of the vehicle is obtained as follows:
Figure BDA0002817137770000061
Figure BDA0002817137770000062
wherein, ω isi、viThe yaw rate and the longitudinal vehicle speed of the first i periods of the vehicle are respectively represented, wherein i is 1, 2, 3.
It should be noted that, in the embodiment, if the detection distance of the rear angle radar of the automatic lane change assistant driving system shown in fig. 2 is 80m, the candidate vehicle of the obstacle vehicle behind the vehicle only needs to pay attention to the rear 80m, and the minimum speed of the automatic lane change function can be set to 60km/h, at this time, 80m is driven at 60km/h, 4.8s is required, that is, 240 cycles are required, and N can be set to 240;
then, using the historical yaw rate vector of the vehicle, the heading angle vector of the current coordinate system of the vehicle in the previous N periods of the vehicle can be calculated as follows:
Figure BDA0002817137770000063
wherein the content of the first and second substances,
Figure BDA0002817137770000064
i is 1, 2, 3,. N, e.g. representing the heading angle of i periods in front of the vehicle relative to the current coordinate system of the vehicle
Figure BDA0002817137770000065
As shown in fig. 3. Further, in the present invention, it is preferable that,
Figure BDA0002817137770000066
can be calculated by the following formula:
Figure BDA0002817137770000071
wherein the initial value of course angle
Figure BDA0002817137770000072
The initial value is 0 because the course angle of the current time of the vehicle relative to the current time coordinate system of the vehicle is shown.
The company for calculating the horizontal and vertical coordinate vectors of the current coordinate system of the vehicle in N periods in front of the vehicle by using the historical heading angle vector of the vehicle is as follows:
Figure BDA0002817137770000073
Figure BDA0002817137770000074
wherein, Xi、YiThe vertical coordinate and the horizontal coordinate of the current coordinate system of the vehicle in the preceding i periods of the vehicle are respectively shown, and i is 1, 2, 3 and … N.
Further, Xi、YiCan be calculated by the following formula:
Figure BDA0002817137770000075
wherein, the initial value X0、Y0Respectively shows the vertical coordinate and the horizontal coordinate of the current time of the vehicle under the current time coordinate system of the vehicle, and both are 0.
S102: the method comprises the steps of acquiring lane line information by using a forward camera of a vehicle, and calculating the lane width of a lane where the vehicle is located and the transverse intercept of a lane central line according to the lane line information.
In this embodiment, in order to accurately determine the obstacle vehicle behind the vehicle, not only the historical track of the vehicle in the previous N periods needs to be calculated, but also the lane line information needs to be acquired by using the forward camera of the vehicle, and the lane width of the lane where the vehicle is located and the transverse intercept of the lane center line are calculated according to the acquired lane line information, so as to jointly execute the subsequent step S103.
Specifically, the heading angle α including the left and right lane lines of the lane may be first collected by using the forward camera of the vehicle as shown in fig. 2L、αRAnd transverse intercept dyL、dyRAnd preprocessing the lane line information data to obtain a processed data set as follows:
S2＝{αL，dyL，αR，dyR}
wherein the course angle alphaL、αRRespectively representing the included angles between the tangent lines of the left lane line and the right lane line at the position where X is equal to 0 and the X axis of the vehicle coordinate system; transverse intercept dyL、dyLRespectively represents the transverse intercept of the left lane line equation and the right lane line equation in the vehicle coordinate system, and alsoThat is, the function value at X ═ 0.
Then, the lane width of the lane in which the host vehicle is located can be calculated by the following formula:
Figure BDA0002817137770000076
wherein d isLaneThe lane width of the lane in which the host vehicle is located.
And, the lateral intercept of the current lane center line can be calculated by the following formula:
Figure BDA0002817137770000081
wherein d isyCRepresenting the lateral intercept of the current lane centerline.
S103: and determining the obstacle vehicle behind the vehicle according to the historical tracks of the front N periods of the vehicle, the lane width of the lane where the vehicle is located and the transverse intercept of the lane center line.
In the present embodiment, after the historical track of the vehicle in the first N cycles is calculated in step S101, and the lane width of the lane where the vehicle is located and the lateral intercept of the lane center line are calculated in step S102, the obstacle vehicle behind the vehicle can be further determined based on the obtained data.
It should be noted that, in a possible implementation manner of the embodiment of the present application, the historical track of the first N cycles of the vehicle may include the abscissa and the ordinate of the first N cycles of the vehicle, and after calculating the lane width of the lane where the vehicle is located and the lateral intercept of the lane center line, the following steps a to D may also be performed:
step A: the abscissa and ordinate of the first N cycles of the vehicle and the lateral intercept of the lane center line are stored.
And B: and judging whether the vehicle changes lanes or not. If yes, executing the step C; if not, executing the step D.
And C: the stored lateral intercept of the lane center is updated.
Step D: and calculating the distance between the vehicle behind the vehicle and the lane center line.
Specifically, in the present implementation, after the first N periodic horizontal and vertical coordinates of the vehicle are calculated in step S101, and the horizontal intercept of the lane center line of the lane where the vehicle is located is calculated in step S101, these pieces of information may be stored in the storage pool in chronological order, in a specific storage form as shown in the following table:
period T Transverse intercept of lane center line Abscissa of the vehicle Ordinate of the vehicle
T1 dyC1 Y1 X1
T2 dyC2 Y2 X2
T3 dyC3 Y2 X2
… … … …
TN dyCN YN XN
Wherein, TiRepresenting the first i cycles; dyCiRepresenting the lateral intercept of the center line of the first i periodic lanes; wherein i is 1, 2, 3, … N.
Then, judging whether the vehicle changes lanes or not, and if so, updating the stored transverse intercept of the lane center line; if not, calculating the distance between the vehicle behind the vehicle and the center line of the lane.
The basis for judging whether the vehicle changes lanes is as follows: and (4) the transverse intercept of the lane center line is suddenly changed, and the sudden change value exceeds a set threshold value, the lane change of the vehicle is considered. Specifically, judging the input property:
|dyC0-dyC1|＞dlanechange
wherein d isyC0A lateral intercept representing a lane center at a current time; dyC1Representing the transverse intercept of the lane center line at the previous moment; dlanechangeThe lane center line sudden change threshold value representing the judgment of the lane change of the vehicle is related to the lane width calculated in step S102, and may be, for example: dlanechange＝dLane-0.2。
If the lane change of the vehicle is judged, whether the vehicle changes the lane leftwards or rightwards needs to be further judged, specifically, the lane where the vehicle changes from the original lane to the target lane due to the lane change of the vehicle, so that the center line of the lane where the vehicle changes from the center line of the original lane to the center line of the target lane, when the vehicle is judged to change the lane leftwards, the transverse intercept of the center line of the lane in the first N periods needs to be increased by a lane width, and the updated storage pool is shown in the following table:
period T Transverse intercept of lane center line Abscissa of the vehicle Longitudinal coordinate of vehicle
T1 dyC1+dLane Y1 X1
T2 dyC2+dLane Y2 X2
T3 dyC3+dLane Y2 X2
… … … …
TN dyCN+dLane YN XN
Further, the formula for judging the lane change of the vehicle to the left is as follows:
dyC0-dyC1＞0
when the vehicle is judged to change lanes to the right, the transverse intercept of the central line of the lanes in the first N periods needs to be reduced by one lane width, and the updated storage pool is as follows:
Figure BDA0002817137770000091
Figure BDA0002817137770000101
further, the formula for judging the lane change of the vehicle to the right is as follows:
dyC0-dyC1＜0
however, if it is determined that the vehicle does not change lanes, the distance between the vehicle behind the vehicle and the lane center line can be further calculated. The specific implementation process can comprise the following steps D1-D3:
step D1: and acquiring the abscissa and the ordinate of the vehicle behind the vehicle in a vehicle coordinate system by using a vehicle-mounted angle radar behind the vehicle.
Step D2: and associating the time at which the vehicle behind the vehicle is level with the longitudinal position of the vehicle behind the vehicle in the vehicle history track according to the abscissa and the ordinate of the vehicle behind the vehicle in the vehicle coordinate system and the abscissa and the ordinate of the vehicle in the first N periods.
Step D3: according to the time, the distance between the vehicle behind the vehicle and the lane center line is calculated
Specifically, first, the vehicle-mounted angle radar at the rear of the vehicle shown in fig. 2 is used to acquire the abscissa and ordinate of the vehicle behind the vehicle in the vehicle coordinate system, and these data are preprocessed as follows to obtain a processed data set, as shown below:
S3＝{xT1，yT1，xT2，yT2，xT3，yT3，…，xTn，yTn}
wherein x isT1，xT2，xT3，...，xTnThe ordinate of the rear vehicles 1, 2, 3 … n of the vehicle, respectively; y isT1，yT2，yT3，...，yTnRespectively, the abscissa of the rear vehicle 1, 2, 3 … n of the vehicle. Wherein the value of n depends on the number of rear vehicles detected by the rear angle radar.
Then, for the rear vehicle detected by the current frame, the ordinate x thereof can be setTComparing the longitudinal coordinates of the vehicle in the storage pool in the previous N periods, and finding the T corresponding to the closest longitudinal coordinatekThe time is the time when the vehicle behind the vehicle is level with the longitudinal position in the associated vehicle history track. The details are shown in the following table:
Figure BDA0002817137770000102
Figure BDA0002817137770000111
next, the target vehicle location may be related to TkThe historical position of the vehicle at the moment is restored under the coordinate system of the vehicle at the current moment, and as shown in fig. 4, the distance between the vehicle behind the vehicle and the center line of the lane is calculated by adopting the following formula according to the geometrical relationship in the figure:
YT2LC＝YT-Yk-dyCk
wherein Y isT2LCIndicating rear vehicle and lane of vehicleThe distance of the midline. When Y isT2LCWhen the speed is higher than 0, the rear vehicle is positioned on the left side of the center line of the lane; when Y isT2LCAnd when the distance is less than 0, the rear vehicle is on the right of the lane center line.
On this basis, an optional implementation manner is that the specific implementation process of step S103 "determining an obstacle vehicle behind the vehicle according to the historical track of the previous N cycles of the vehicle, the lane width of the lane where the vehicle is located and the transverse intercept of the lane center line" may include: and determining the obstacle vehicle behind the vehicle from the rear vehicles according to the distance between the rear vehicle of the vehicle and the center line of the lane.
Specifically, in the present embodiment, first, the distance Y of the vehicle behind the vehicle from the center line of the own lane may be usedT2LCAnd matching different lanes of the vehicles behind the vehicles in different intervals to determine the lanes of the vehicles behind the vehicles. The specific matching interval is determined by the lane width, as shown in the following table:
distance Y between rear vehicle and central line of the roadT2LC Lane for rear vehicle
[2.5dLane，1.5dLane) Left lane
[1.5dLane，0.5dLane) Left lane
[0.5dLane，-0.5dLane] The lane
[-1.5dLane，-0.5dLane) Right lane
[-2.5dLane，-1.5dLane) Right and right lane
Then, according to the direction of the steering lamp by the driver, all rear vehicles in the lane, the lane change lane (i.e. the target lane) and the adjacent lane of the lane change lane (i.e. the adjacent lane in the lane change direction) can be screened out, and then according to the principle of the shortest longitudinal distance, barrier vehicles respectively positioned in the lane, the target lane and the adjacent lane in the lane change direction are screened out from the rear vehicles, as shown by the barrier vehicles outlined in fig. 5. And further, effective reference can be provided for the estimation of the rear lane change safe space of the automatic lane change auxiliary driving system, and traffic accidents are avoided. A
In summary, the present embodiment provides a method for determining an obstacle vehicle behind a vehicle, first calculating a historical track of the vehicle for the first N periods according to a yaw rate of the vehicle and a vehicle speed, where N is a positive integer greater than 0. Then, the lane line information is obtained by using a forward camera of the vehicle, the lane width of the lane where the vehicle is located and the transverse intercept of the lane center line are calculated according to the lane line information, and then the obstacle vehicle behind the vehicle can be determined according to the historical tracks of the previous N periods of the vehicle, the lane width of the lane where the vehicle is located and the transverse intercept of the lane center line. Therefore, the obstacle vehicle behind the vehicle can be quickly and accurately determined on the premise of not increasing the volume production cost of the automatic lane changing assistant driving system, effective reference is provided for the estimation of the rear lane changing safety space of the automatic lane changing assistant driving system, and traffic accidents are avoided.
Referring to fig. 6, the present application further provides an embodiment of a device for determining an obstacle vehicle behind a vehicle, which may include:
a first calculation unit 601 for calculating a history track of the previous N cycles of the vehicle according to a yaw rate and a vehicle speed of the vehicle; n is a positive integer greater than 0;
a second calculating unit 602, configured to obtain lane line information by using a forward camera of the vehicle, and calculate, according to the lane line information, a lane width of a lane where the vehicle is located and a lateral intercept of a lane center line;
a determining unit 603, configured to determine, according to the historical tracks of the first N cycles of the vehicle, and the lane width of the lane where the vehicle is located and the lateral intercept of the lane center line, an obstacle vehicle behind the vehicle.
In some possible implementations of the present application, the historical trajectory for the first N cycles of the vehicle includes an abscissa and an ordinate of the first N cycles of the vehicle; the device further comprises:
a storage unit for storing the abscissa and ordinate of the first N cycles of the vehicle and the lateral intercept of the lane center line;
the judging unit is used for judging whether the vehicle changes lanes or not;
the updating unit is used for updating the stored transverse intercept of the lane center line if the vehicle is judged to be lane changing;
and the third calculating unit is used for calculating the distance between the vehicle behind the vehicle and the lane center line if the vehicle is judged not to change lanes.
In some possible implementations of the present application, the third computing unit includes:
the acquisition subunit is used for acquiring the abscissa and the ordinate of a vehicle behind the vehicle in the vehicle coordinate system by using a vehicle-mounted angle radar behind the vehicle;
the association subunit is used for associating the time at which the vehicle behind the vehicle is aligned with the longitudinal position in the vehicle history track according to the abscissa and the ordinate of the vehicle behind the vehicle in the vehicle coordinate system and the abscissa and the ordinate of the vehicle in the first N periods;
and the calculating subunit is used for calculating the distance between the vehicle behind the vehicle and the lane center line according to the time.
In some possible implementations of the present application, the determining unit 603 is specifically configured to:
and determining an obstacle vehicle behind the vehicle from the rear vehicles according to the distance between the rear vehicle of the vehicle and the center line of the lane.
In some possible implementations of the present application, the determining unit 603 includes:
the determining subunit is used for determining lanes where the rear vehicles are located according to the distance between the rear vehicles of the vehicles and the center line of the lanes;
and the screening subunit is used for screening out obstacle vehicles which are respectively positioned in the lane where the vehicle is positioned, the lane changing lane and adjacent lanes of the lane changing lane from the rear vehicles according to the principle that the longitudinal distance is closest.
As can be seen from the foregoing embodiments, the device for determining an obstacle vehicle behind a vehicle according to the embodiments of the present application first calculates the historical trajectories for the first N cycles of the vehicle, where N is a positive integer greater than 0, from the yaw rate and the vehicle speed of the vehicle. Then, the lane line information is obtained by using a forward camera of the vehicle, the lane width of the lane where the vehicle is located and the transverse intercept of the lane center line are calculated according to the lane line information, and then the obstacle vehicle behind the vehicle can be determined according to the historical tracks of the previous N periods of the vehicle, the lane width of the lane where the vehicle is located and the transverse intercept of the lane center line. Therefore, the obstacle vehicle behind the vehicle can be quickly and accurately determined on the premise of not increasing the volume production cost of the automatic lane changing assistant driving system, effective reference is provided for the estimation of the rear lane changing safety space of the automatic lane changing assistant driving system, and traffic accidents are avoided.
As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the above embodiment methods can be implemented by software plus a necessary general hardware platform. Based on such understanding, the technical solution of the present application may be essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network communication device such as a media gateway, etc.) to execute the method according to the embodiments or some parts of the embodiments of the present application.
It should be noted that, in the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A method of determining an obstacle vehicle behind a vehicle, comprising:
calculating historical tracks of the previous N periods of the vehicle according to the yaw velocity and the vehicle speed of the vehicle; n is a positive integer greater than 0;
acquiring lane line information by using a forward camera of the vehicle, and calculating the lane width of a lane where the vehicle is located and the transverse intercept of a lane central line according to the lane line information;
and determining the obstacle vehicle behind the vehicle according to the historical track of the previous N periods of the vehicle, the lane width of the lane where the vehicle is located and the transverse intercept of the lane center line.
2. The method of claim 1, wherein the historical trajectory of the first N cycles of the vehicle comprises an abscissa and an ordinate of the first N cycles of the vehicle;
after the acquiring lane line information by using the forward camera of the vehicle and calculating the lane width of the lane where the vehicle is located and the transverse intercept of the lane center line according to the lane line information, the method further comprises:
storing the abscissa and ordinate of the first N cycles of the vehicle and the lateral intercept of the lane center line;
judging whether the vehicle changes lanes or not;
if so, updating the stored transverse intercept of the lane center line;
and if not, calculating the distance between the vehicle behind the vehicle and the lane center line.
3. The method of claim 2, wherein the calculating a distance of a vehicle rearward of the vehicle from the lane center line comprises:
acquiring the abscissa and the ordinate of a vehicle behind the vehicle in the vehicle coordinate system by using a vehicle-mounted angle radar behind the vehicle;
associating the time at which the vehicle behind the vehicle is level with the longitudinal position of the vehicle behind the vehicle in the vehicle history track according to the abscissa and the ordinate of the vehicle in the vehicle coordinate system and the abscissa and the ordinate of the vehicle in the first N periods;
and calculating the distance between the vehicle behind the vehicle and the lane center line according to the time.
4. The method according to any one of claims 2 or 3, wherein determining an obstacle vehicle behind the vehicle according to the historical track of the vehicle in the first N cycles, the lane width of the lane in which the vehicle is located and the lateral intercept of the lane center line comprises:
and determining an obstacle vehicle behind the vehicle from the rear vehicles according to the distance between the rear vehicle of the vehicle and the center line of the lane.
5. The method of claim 4, wherein determining an obstacle vehicle behind the vehicle from the rear vehicles based on a distance of a rear vehicle of the vehicle from the lane center line comprises:
determining lanes where the rear vehicles are located according to the distance between the rear vehicles of the vehicles and the center line of the lanes;
and screening out obstacle vehicles respectively positioned on the lane where the vehicle is positioned, the lane changing lane and adjacent lanes of the lane changing lane from the rear vehicles according to the principle that the longitudinal distance is closest.
6. A device for determining an obstacle vehicle behind a vehicle, characterized by comprising:
a first calculation unit for calculating a history track of the previous N cycles of the vehicle according to a yaw rate and a vehicle speed of the vehicle; n is a positive integer greater than 0;
the second calculation unit is used for acquiring lane line information by using a forward camera of the vehicle and calculating the lane width of a lane where the vehicle is located and the transverse intercept of a lane center line according to the lane line information;
the determining unit is used for determining the obstacle vehicle behind the vehicle according to the historical track of the previous N periods of the vehicle, the lane width of the lane where the vehicle is located and the transverse intercept of the lane center line.
7. The apparatus of claim 6, wherein the historical trajectory of the first N cycles of the vehicle comprises an abscissa and an ordinate of the first N cycles of the vehicle; the device further comprises:
a storage unit for storing the abscissa and ordinate of the first N cycles of the vehicle and the lateral intercept of the lane center line;
the judging unit is used for judging whether the vehicle changes lanes or not;
the updating unit is used for updating the stored transverse intercept of the lane center line if the vehicle is judged to be lane changing;
and the third calculating unit is used for calculating the distance between the vehicle behind the vehicle and the lane center line if the vehicle is judged not to change lanes.
8. The apparatus of claim 7, wherein the third computing unit comprises:
the acquisition subunit is used for acquiring the abscissa and the ordinate of a vehicle behind the vehicle in the vehicle coordinate system by using a vehicle-mounted angle radar behind the vehicle;
the association subunit is used for associating the time at which the vehicle behind the vehicle is aligned with the longitudinal position in the vehicle history track according to the abscissa and the ordinate of the vehicle behind the vehicle in the vehicle coordinate system and the abscissa and the ordinate of the vehicle in the first N periods;
and the calculating subunit is used for calculating the distance between the vehicle behind the vehicle and the lane center line according to the time.
9. The apparatus according to any one of claims 7 or 8, wherein the determining unit is specifically configured to:
and determining an obstacle vehicle behind the vehicle from the rear vehicles according to the distance between the rear vehicle of the vehicle and the center line of the lane.
10. The apparatus of claim 9, wherein the determining unit comprises:
the determining subunit is used for determining lanes where the rear vehicles are located according to the distance between the rear vehicles of the vehicles and the center line of the lanes;
and the screening subunit is used for screening out obstacle vehicles which are respectively positioned in the lane where the vehicle is positioned, the lane changing lane and adjacent lanes of the lane changing lane from the rear vehicles according to the principle that the longitudinal distance is closest.
CN202011401630.1A 2020-12-04 2020-12-04 Method and device for determining obstacle vehicle behind vehicle Pending CN114655208A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114643988A (en) * 2022-05-20 2022-06-21 杭州宏景智驾科技有限公司 Tracking target determination method and device, electronic equipment and storage medium

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114643988A (en) * 2022-05-20 2022-06-21 杭州宏景智驾科技有限公司 Tracking target determination method and device, electronic equipment and storage medium

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