CN114715272A - Lane line repairing method and vehicle active steering control device - Google Patents
Lane line repairing method and vehicle active steering control device Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention discloses a lane line repairing method and a vehicle active steering control device, wherein the method comprises the following steps: s1, acquiring lane line information; s2, if the first lane line information is successfully acquired, continuously acquiring the lane line information and judging the quality of a new lane line; and S3, if the lane line information can not be obtained continuously or the quality of the new lane line is poor, the lane line required by the expected path is calculated by extracting and converting the lane line characteristic points by using the lane line of the effective path at the previous moment. The invention provides a lane line repairing method, and therefore, the active steering control of a vehicle is realized; the invention solves the problem that the vehicle active steering control device can not work normally (degrade or function quit) due to the fact that the camera part has no lane line temporarily or the quality of the lane line is poor or the camera system is attacked to output wrong lane line information, and enlarges the application scene of the device.
Description
Technical Field
The invention belongs to the field of lane lines, and particularly relates to a lane line repairing method and a vehicle active steering control device.
Background
Most ADAS systems in the current market, many involve lateral control. One of the functions is to keep the vehicle driving in the current lane, for example: LKA, LaneKeep Assist, lane keeping system; HWA, high way Assist, HighWay auxiliary system, etc., and the function realization is realized based on the lane line information.
Generally, when there is no lane line or the quality of the lane line is not good, or when the camera system fails and no lane line is output, or wrong lane line information is output due to other reasons such as the camera system being attacked, the active steering control device of the vehicle will have the problem of degradation or function quitting.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a lane line repairing method and a vehicle active steering control device, which solve the problems that no lane line or the quality of the lane line is poor, the fault of a camera system cannot acquire lane line information, the camera system is attacked to output wrong lane line information, and the vehicle active steering control device cannot work normally.
In order to achieve the above object, the present invention provides a lane line repairing method, comprising the steps of:
s1, acquiring lane line information;
s2, if the first lane line information is successfully acquired, continuously acquiring the lane line information and judging the quality of a new lane line;
s3, if the lane line information can not be obtained continuously or the quality of the new lane line is poor, the lane line required by the expected path is calculated by extracting and converting the feature points of the lane line by using the lane line of the effective path at the last moment; the method specifically comprises the following steps:
s31, the lane line equation of the effective path at the previous time is: y ═ c0+c1s+c2s2+c3s3； in the formula ,C0、C1、C2、C3Is a coefficient;
s32, setting the extraction interval of the characteristic points as
Then the characteristic pointIs n +1, and the positions thereof are respectively
Wherein R represents the total distance of the lane lines of the active path;
s33, calculating the transverse deviation y of all the characteristic points by combining a lane line equation:
obtaining coordinates of the characteristic points;
s34, after the vehicle runs, the vehicle coordinate system changes, so the lane line characteristic points are converted into the current vehicle coordinate system, and the coordinate conversion formula is as follows:
wherein, (x, y) is the characteristic point coordinate in the coordinate system of the last moment, (x ', y') is the characteristic point coordinate in the coordinate system of the current moment, a and b respectively represent the longitudinal and transverse displacement of the vehicle compared with the last moment, and theta represents the rotation angle of the vehicle;
substituting the extracted coordinates of the lane line characteristic points, and calculating to obtain transformed coordinates of the lane line characteristic points:
wherein ,(x0,y0)＝(0,c0)，
S35, when the transformed lane line characteristic points are more than 4, selecting 4 characteristic points in the lane line and substituting the characteristic points into the lane line equation to obtain the necessary lane line information c 'required by the expected path'0、c′1、c′2、c3′，Generating lane line y required for desired pathn＝c′0+c′1x+c′2x2+c′3x3。
Further, if the lane line information can not be continuously acquired at the next moment or the quality of the new lane line is poor, the lane line of the effective path at the previous moment is continuously utilized, and the lane line required by the expected path is calculated through extraction and conversion of the feature points of the lane line.
Further, if the lane line information at the next time is successfully acquired, the lane line is used as the lane line of the new effective path.
Further, if the lane line information cannot be continuously acquired or the quality of a new lane line is not good for a specific time, the vehicle is controlled to safely decelerate and finally safely stop.
Further, the specific time period is determined by the total distance of the lane lines of the effective path and the vehicle speed.
Further, if the lane line information cannot be continuously acquired all the time or the quality of a new lane line is poor and the vehicle has traveled to half of the total distance of the lane lines of the effective path, the vehicle is controlled to safely decelerate and finally safely stop.
Further, if the first acquisition of the lane marking information fails, the process proceeds to step S1.
Further, if the first lane line information is successfully acquired, the lane line information is continuously acquired according to a fixed period.
Further, 4 characteristic points in the lane line are selected and substituted into a lane line equation to obtain necessary lane line information c 'required by the expected path'0、c′1、c′2、c3', includes:
necessary lane line information c 'required for the desired route is calculated'0、c′1、c′2、c3′。
The present invention also provides a vehicle active steering control device, including: the system comprises a camera, a lane line repairing module and a steering actuator; the camera is used for obtaining lane line information, the lane line repairing module is used for adopting the lane line repairing method, and the steering actuator is used for controlling the vehicle according to the lane line required by the expected path.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the invention provides a lane line repairing method, and therefore, the active steering control of a vehicle is realized; the invention solves the problem that the vehicle active steering control device can not work normally (degrade or function quit) due to the fact that the camera part has no lane line temporarily or the quality of the lane line is poor or the camera system is attacked to output wrong lane line information, and enlarges the application scene of the device.
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Fig. 1 is a flowchart of a lane line repairing method according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a lane line feature point transformation according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a vehicle active steering control apparatus according to an embodiment of the present invention;
FIG. 4 is a communication diagram of an active steering control device of a vehicle according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a lane line repairing module according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention provides a lane line repairing method and a vehicle active steering control device based on lane line repairing, which automatically generate a new lane line by extracting, storing, calling and converting feature points of the lane line. The invention fundamentally solves the problem that the vehicle active steering control device cannot normally work (degrade or exit function) when no lane line exists or the quality of the lane line is poor, and the like, and enlarges the application scenes of the devices.
The method comprises the steps of firstly obtaining necessary lane line information required by a system for calculating the expected path through a camera, and then quickly identifying whether a lane line exists or whether the lane line quality is good or not through a lane line signal fault diagnosis module. As shown in fig. 1 and 5, the process is as follows:
and starting the system, and acquiring lane line information through the camera. If the first acquisition fails, the system exits, and if the first acquisition succeeds, the lane line is continuously refreshed according to the following process.
After the system is successfully started, the lane line information is refreshed according to a fixed period, and the quality and the information of the lane line are judged and obtained: when the lane line is normally acquired, the acquired lane line information is adopted as the input of transverse control, and the system functions are normally operated; when no lane line exists or the quality of the lane line is poor, the lane line repairing module is used for extracting, storing, calling and converting the characteristic points of the lane line, and necessary lane line information required by the expected path is actively calculated according to the historical information of the lane line. The historical information of the lane line refers to the lane line information when the previous frame successfully acquires the lane line information, and the expression form is as follows: [ effective distance, C0，C1，C2，C3]. Therefore, the situations of degradation and function exit of the vehicle active steering control device can be avoided in a short time, and the application scenes of the device are expanded.
When the lane line is lost, the system continuously operates to try to continuously acquire the lane line information. If the acquisition is successful, the system enters a normal mode, and if the acquisition is not successful, the system continues to adopt historical recursion information as control information input and judges whether the current moment is overtime.
And if the system is not timed out, feeding back the previous step and continuing to operate. And when the system is judged to be overtime, the system enters a safe mode, so that the system controls the vehicle to safely decelerate and finally safely stop.
The main functions of the lane line repairing module are as follows:
when the current lane line cannot be identified, the system actively calls the previously stored lane line data of the effective path (the lane line data of the effective path is the lane line information successfully acquired in the previous period and is stored in one frame, if the next frame cannot be acquired, the historical information stored in the previous frame is adopted, the calculation result in the period is stored through recursive calculation, and by analogy, the lane line information of the current time cannot be continuously acquired in the next period, if the available lane line is acquired, the newly acquired lane line is adopted and is stored as the historical lane line information of the next frame when the next frame is lost), and the lane line characteristic points are converted into the current vehicle coordinate system through coordinate transformation to calculate the lane line required by the expected path for the short time when the lane line cannot be identified.
And in the driving process of the vehicle, the system continuously extracts the feature points at equal intervals in the visible range of the lane line and stores the feature points. When the lane line cannot be identified, the stored feature points are converted to the current vehicle coordinate system through coordinate conversion, necessary lane line information required by the system for calculating the expected path is acquired according to the extracted converted feature points, a new lane line is automatically generated, and the situations of degradation and function quitting of the vehicle active steering control device when the quality of the lane line is poor are avoided in a short time.
When the lane line cannot be identified, assuming that the position coordinate of the driver is 0, the total distance of the lane line directly output by the camera is the effective distance R. At this time, the number of the automatically stored lane line feature points is n +1, and the extraction interval of the extracted feature points is
At this time, the positions of the characteristic points of the lane line are respectively
The value of n is determined by R, preferably between 10 and 20.
The standard expression formula of the lane line output by the camera is as follows: y ═ c0+c1s+c2s2+c3s3, in the formula ,C0、C1、C2、C3Is a coefficient;
from this, the lateral deviation y of all feature points can be calculated, the formula of which is as follows:
when the vehicle runs, the vehicle coordinate system changes, so that the lane line characteristic points are converted into the current vehicle coordinate system. Assuming that the vehicle has translated at the current time compared with the previous time, the coordinate system translates the vector
The rotation angle generated by the vehicle itself is θ. As shown in fig. 2, the coordinate system OXY is a coordinate system when the feature point was recorded at the previous time, and O ' X ' Y ' is a coordinate system after the vehicle has changed at this time.
If the feature point coordinate from the previous time point coordinate system (x, y) to the new coordinate at this time point is (x ', y'), the calculation formula of the value is as follows:
and substituting the coordinates of the lane line characteristic points, and calculating to obtain the transformed lane line characteristic points. The calculation of the feature points at the new coordinates can thus be calculated as follows:
wherein (x0,y0)＝(0,c0)，
When the number of the transformed lane line characteristic points is not less than 4, substituting 4 characteristic points in the selected lane line into a lane line equation to obtain:
calculating necessary lane line information c 'required by the available system to calculate the desired path'0、c′1、c′2、c3′。
Thus generating the desired path:
yn＝c′0+c′1x+c′2x2+c′3x3
therefore, when the quality of the lane line is poor, a lane line equation of the expected path is obtained, a new lane line is automatically generated (theoretically, the number of times of recursion or generation of the lane line of the expected path is determined according to the effective distance, and generally, the maximum number of times of recursion is half of the effective distance of the lane line acquired at the last time), and the situations of degradation and function exit of the vehicle active steering control device when the quality of the lane line is poor can be avoided in a short time.
The present invention also provides a vehicle active steering control apparatus, as shown in fig. 3 and 4, including: the system comprises a camera, a lane line repairing module and a steering actuator; the camera is used for obtaining lane line information, the lane line repairing module is used for adopting the lane line repairing method, and the steering actuator is used for controlling the vehicle according to the lane line required by the expected path.
When the lane line at the front can not be identified, the system actively calls the lane line data of the effective path stored before, converts the characteristic points of the lane line into the coordinate system of the current vehicle through coordinate transformation, and calculates necessary lane line information required by the expected path for the short time when the lane line can not be identified.
Let teThe time begins to have no lane line, the duration is tau, namely the time T without lane line is Te,te+τ]. Then, the measurement output of the camera system at this time is:
the lane line repairing module is used for extracting, storing, calling and converting the characteristic points of the lane line and actively calculating necessary lane line information c required by the system for the expected path0、c1、c2、c3. Then, the measurement output of the camera system at this time is:
the lane line completion module can complete the lost lane line, but the time of the lost lane line is limited. Generally, the distance R between the lane lines in the previous frame can be made up to a length not exceeding the maximum
If during this time the lane line is re-detected. And replacing the supplemented lane line with the lane line which is recovered to be normal, and returning the vehicle to the normal operation.
If the completion reaches
The vehicle still cannot reacquire the lane marking after the vehicle is driven. It is determined whether the driver can intervene to take over. If the driver does not intervene continuously, the vehicle is judged to enter a safe parking mode, namely the vehicle is decelerated in a segmented mode by utilizing a back half lane line and is parked step by step, double flashes are activated after parking, and other road users are warned.
By adopting the scheme, the execution error rate of the vehicle active steering control device is greatly reduced, and the application scenes are greatly increased: when no lane line or the quality of the lane line is poor, or when the camera system fails to acquire the lane line information or the camera system is attacked to output wrong lane line information, the vehicle active steering control device cannot normally work (degrade or exit the function), and the device is provided with the lane line repairing module, so that the system can repair the lane line information according to the current specific situation, the problem that the cost of the system is frequently reduced due to poor lane line quality in a short time is solved, better driving experience is brought to a user, the application scene of the device is expanded, and the wrong execution rate of the vehicle active steering device is reduced.
In summary, when the current lane line cannot be identified, the system actively calls the lane line data of the valid path stored before, converts the lane line feature points into the current vehicle coordinate system through coordinate transformation, and calculates necessary lane line information required by the expected path for the short time when the lane line cannot be identified. The operation logic of the system comprises the process of completing the lane line in a short time and safely stopping the vehicle under the condition that the vehicle cannot be recovered.
It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included within the scope of the present invention.
Claims (10)
1. A lane line repairing method is characterized by comprising the following steps:
s1, acquiring lane line information;
s2, if the first lane line information is successfully acquired, continuously acquiring the lane line information and judging the quality of a new lane line;
s3, if the lane line information can not be obtained continuously or the quality of the new lane line is poor, the lane line required by the expected path is calculated by extracting and converting the feature points of the lane line by using the lane line of the effective path at the last moment; the method specifically comprises the following steps:
s31, the lane line equation of the effective path at the previous time is: y ═ c0+c1s+c2s2+c3s3； in the formula ,C0、C1、C2、C3Is a coefficient;
s32, setting the extraction interval of the characteristic points as
The total number of feature points is n +1, and the positions thereof are respectively
Wherein R represents the total distance of the lane lines of the active path;
s33, calculating the transverse deviation y of all the characteristic points by combining a lane line equation:
obtaining the coordinates of the characteristic points;
s34, after the vehicle runs, the vehicle coordinate system changes, so the lane line characteristic points are converted into the current vehicle coordinate system, and the coordinate conversion formula is as follows:
wherein, (x, y) is the characteristic point coordinate in the coordinate system of the last moment, (x ', y') is the characteristic point coordinate in the coordinate system of the current moment, a and b respectively represent the longitudinal and transverse displacement of the vehicle compared with the last moment, and theta represents the rotation angle of the vehicle;
substituting the extracted coordinates of the lane line characteristic points, and calculating to obtain transformed coordinates of the lane line characteristic points:
wherein ,(x0，y0)＝(0,c0),
S35, when the changed lane line characteristic point is more than 4Selecting 4 characteristic points in the lane line and substituting the characteristic points into a lane line equation to obtain necessary lane line information c 'required by the expected path'0、c′1、c′2、c3', generating the lane line y required for the desired pathn＝c′0+c′1x+c′2x2+c′3x3。
2. The lane line repairing method according to claim 1, wherein if the lane line information cannot be continuously obtained at the next time or the new lane line has poor quality, the lane line required by the desired path is calculated by extracting and converting the feature points of the lane line by continuously using the lane line of the effective path at the previous time.
3. The lane line repairing method according to claim 1, wherein if the lane line information at the next time is successfully acquired, the lane line is used as a lane line of a new valid path.
4. The lane line repairing method according to claim 1, wherein if the lane line information cannot be continuously obtained or the quality of the new lane line is not good for a certain period of time, the vehicle is controlled to safely decelerate and finally safely stop.
5. The lane line repairing method according to claim 4, wherein the specific time period is determined by a total distance of the lane line of the valid path and a vehicle speed.
6. The lane line repairing method according to claim 1, wherein if the lane line information cannot be continuously obtained or the quality of the new lane line is not good and the vehicle has traveled to half of the total distance of the lane lines of the effective path, the vehicle is controlled to safely decelerate and finally safely stop.
7. The lane line repairing method according to claim 1, wherein if the first acquisition of the lane line information fails, the step S1 is continuously performed.
8. The lane line repairing method according to claim 1, wherein if the first acquisition of the lane line information is successful, the acquisition of the lane line information is continued at a fixed period.
9. The lane line repairing method according to claim 1, wherein 4 feature points in the selected lane line are substituted into the lane line equation to obtain necessary lane line information c 'required for the desired path'0、c′1、c′2、c3', includes:
necessary lane line information c 'required for the desired route is calculated'0、c′1、c′2、c3′。
10. An active steering control apparatus for a vehicle, characterized by comprising: the system comprises a camera, a lane line repairing module and a steering actuator; the camera is used for obtaining lane line information, the lane line repairing module is used for adopting the lane line repairing method in any one of claims 1 to 4, and the steering actuator is used for controlling the vehicle according to a lane line required by a desired path.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103605977A (en) * | 2013-11-05 | 2014-02-26 | 奇瑞汽车股份有限公司 | Extracting method of lane line and device thereof |
| CN106681318A (en) * | 2016-12-09 | 2017-05-17 | 重庆长安汽车股份有限公司 | Vehicle safety control system and method for lane line detection temporary loss in automatic drive |
| CN107180228A (en) * | 2017-05-02 | 2017-09-19 | 开易（北京）科技有限公司 | A kind of grad enhancement conversion method and system for lane detection |
| CN110562251A (en) * | 2018-06-05 | 2019-12-13 | 广州小鹏汽车科技有限公司 | automatic driving method and device |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103605977A (en) * | 2013-11-05 | 2014-02-26 | 奇瑞汽车股份有限公司 | Extracting method of lane line and device thereof |
| CN106681318A (en) * | 2016-12-09 | 2017-05-17 | 重庆长安汽车股份有限公司 | Vehicle safety control system and method for lane line detection temporary loss in automatic drive |
| CN107180228A (en) * | 2017-05-02 | 2017-09-19 | 开易（北京）科技有限公司 | A kind of grad enhancement conversion method and system for lane detection |
| CN110562251A (en) * | 2018-06-05 | 2019-12-13 | 广州小鹏汽车科技有限公司 | automatic driving method and device |
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