CN114715272B - 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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- CN114715272B CN114715272B CN202210260980.3A CN202210260980A CN114715272B CN 114715272 B CN114715272 B CN 114715272B CN 202210260980 A CN202210260980 A CN 202210260980A CN 114715272 B CN114715272 B CN 114715272B
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
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- Combustion & Propulsion (AREA)
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- Traffic Control Systems (AREA)
Abstract
The invention discloses a lane line repairing method and a vehicle active steering control device, wherein the method comprises the following steps: s1, lane line information is obtained; s2, if the first lane line information acquisition is successful, the lane line information is continuously acquired, and the quality of a new lane line is judged; and S3, if the lane line information cannot be continuously obtained or the quality of the new lane line is poor, calculating the lane line required by the expected path by utilizing the lane line of the effective path at the previous moment and extracting and converting the characteristic points of the lane line. The invention provides a lane line repairing method, and thereby realizes the active steering control of a vehicle; the invention solves the problem that the active steering control device of the vehicle cannot work normally (degrade or exit the function) because the problem of the camera part temporarily has no lane line or the quality of the lane line is bad or the camera system is attacked to output wrong lane line information, and expands 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 type of function is to keep the vehicle running along the current lane, for example: LKA, lane keep Assist, lane keep system; HWA, highWay Assist, highWay auxiliary systems, etc., such functional implementations are all based on lane line information.
In general, when there is no lane line or the quality of the lane line is poor, or when the camera system fails and no lane line is output, or when wrong lane line information is output due to other reasons such as attack of the camera system, the active steering control device of the vehicle will have degradation or function exit problems.
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 poor quality of the lane line exists or the camera system fails and can not acquire lane line information or the camera system is attacked to output wrong lane line information and the vehicle active steering control device can not work normally.
In order to achieve the above object, the present invention provides a lane line repair method, comprising the steps of:
s1, lane line information is obtained;
s2, if the first lane line information acquisition is successful, the lane line information is continuously acquired, and the quality of a new lane line is judged;
s3, if lane line information cannot be continuously obtained or the quality of a new lane line is poor, calculating a lane line required by an expected path by utilizing the lane line of the effective path at the previous moment and extracting and converting the characteristic points of the lane line; the method specifically comprises the following steps:
s31, the lane line equation of the effective path at the last moment is as follows: y=c 0 +c 1 s+c 2 s 2 +c 3 s 3； in the formula ,C0 、C 1 、C 2 、C 3 Is a coefficient;
s32, setting the extraction interval of the feature points as
The total number of the feature points is n+1, and the positions thereof are respectively
Wherein R represents the total distance of the lane lines of the effective path;
s33, calculating the transverse deviation y of all the characteristic points by combining a lane line equation:
obtaining coordinates of the feature points;
s34, after the vehicle runs, the vehicle coordinate system is changed, so that the lane line characteristic points are transformed into the current vehicle coordinate system, and the coordinate transformation formula is as follows:
wherein, (x, y) is the characteristic point coordinate under the coordinate system of the last moment, (x ', y') is the characteristic point coordinate under the coordinate system of the current moment, a and b respectively represent the longitudinal displacement and the transverse displacement of the vehicle compared with the current moment and the last moment, and θ represents the rotation angle of the vehicle;
substituting the coordinates of the extracted lane line characteristic points into the coordinates of the lane line characteristic points after transformation, and calculating to obtain the coordinates of the lane line characteristic points after transformation:
wherein ,(x0 ,y 0 )＝(0,c 0 )，
S35, when the changed characteristic points of the lane lines are more than 4, 4 characteristic points in the lane lines are selected to be substituted into a lane line equation, so that necessary lane line information c 'required by a desired path is obtained' 0 、c′ 1 、c′ 2 、c 3 ' generate lane line y required by expected path n ＝c′ 0 +c′ 1 x+c′ 2 x 2 +c′ 3 x 3 。
Further, if lane line information cannot be obtained continuously at the next moment or the quality of the new lane line is poor, the lane line of the effective path at the last moment is continuously utilized, and the lane line required by the expected path is calculated through extraction and conversion of the characteristic points of the lane line.
Further, if the lane line information at the next moment is successfully acquired, the lane line is taken as the lane line of the new effective path.
Further, if lane line information cannot be continuously obtained or the quality of the new lane line is poor and reaches a specific duration, 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 lane line information cannot be continuously obtained or the quality of a new lane line is poor, and the vehicle is already driven to half of the total distance of the lane line of the effective path, the vehicle is controlled to safely decelerate and finally safely stop.
Further, if the first lane information acquisition fails, the step S1 is continued.
Further, if the first lane line information acquisition is successful, the lane line information is continuously acquired according to a fixed period.
Further, 4 characteristic points in the lane lines are selected to be substituted into the lane line equation, and necessary lane line information c 'required by the expected path is obtained' 0 、c′ 1 、c′ 2 、c 3 ' comprising:
necessary lane line information c 'required for calculating a desired path' 0 、c′ 1 、c′ 2 、c 3 ′。
The invention also provides a vehicle active steering control device, which comprises: the device comprises a camera, a lane line repair module and a steering actuator; the camera is used for acquiring lane line information, the lane line repair module is used for adopting the lane line repair method, and the steering actuator is used for controlling the vehicle according to the lane lines required by the expected path.
Compared with the prior art, the invention has the following advantages:
the invention provides a lane line repairing method, and thereby realizes the active steering control of a vehicle; the invention solves the problem that the active steering control device of the vehicle cannot work normally (degrade or exit the function) because the problem of the camera part temporarily has no lane line or the quality of the lane line is bad or the camera system is attacked to output wrong lane line information, and expands the application scene of the device.
Drawings
FIG. 1 is a flow chart of a lane line repair method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of lane line feature point transformation according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an active steering control device for a vehicle according to an embodiment of the present invention;
fig. 4 is a communication schematic diagram of a vehicle active steering control device according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a lane repair module according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The invention provides a lane line repairing method and a vehicle active steering control device based on lane line repairing. The invention fundamentally solves the problem that the active steering control device of the vehicle cannot work normally (degrade or exit the function) when no lane line or poor quality of the lane line exists, and expands the application scene of the device.
According to the invention, the necessary lane line information required by the expected path is calculated through the camera acquisition system, and then whether a lane line exists or whether the quality of the lane line is good is rapidly identified through the lane line signal fault diagnosis module. As shown in fig. 1 and 5, the flow is as follows:
and starting the system, and acquiring lane line information through a camera. If the first acquisition fails, the system exits, and if the first acquisition succeeds, the lane lines are continuously refreshed according to the following flow.
After the system is started successfully, lane line information is refreshed according to a fixed period, and the quality and information of the acquired lane line are judged: when the lane line is normally acquired, the acquired lane line information is used as the input of transverse control, and the system functions normally run; repairing by lane lines when there is no lane line or the quality of lane line is poorAnd the module is used for extracting, storing, calling and converting the characteristic points of the lane lines and actively calculating necessary lane line information required by the expected path according to the history information of the lane lines. The history information of the lane line refers to the lane line information when the lane line information is successfully acquired in the last frame, and the expression form is as follows: [ effective distance, C 0 ，C 1 ，C 2 ，C 3 ]. Therefore, degradation and function withdrawal of the vehicle active steering control device can be avoided in a short time, and the application scene of the device is 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, if the acquisition is unsuccessful, the system continues to adopt historical recursion information as control information input, and whether the current moment is overtime is judged.
And if the system is not overtime, feeding back the previous steps, and continuing to operate. And when the system is judged to be overtime, entering a safety mode, so that the system controls the vehicle to safely slow down and finally safely stop.
The lane line repair module has the main functions as follows:
when the current lane line cannot be identified, the system actively calls the lane line data of the effective path stored before (the lane line data of the effective path is the lane line information successfully acquired in the previous period, and is stored for one frame, if the next frame cannot be acquired, the history information stored in the previous frame is adopted, by recursive calculation, the result of the calculation in the current period is stored, and the like, if the available lane line is acquired, the new acquired lane line is adopted, the information is stored as the history lane line information when the next frame is lost, and the lane line characteristic points are converted into the lane line required by the calculation of the expected path under the current vehicle coordinate system through coordinate transformation for the short moment that the lane line cannot be identified.
In the running process of the vehicle, the system continuously extracts and stores feature points at equal intervals in the visible range of the lane line. When the lane line cannot be identified, the stored characteristic points are converted into the current vehicle coordinate system through coordinate transformation, necessary lane line information required by the system for calculating the expected path is acquired according to the extracted converted characteristic points, a new lane line is automatically generated, and the situations that the vehicle active steering control device is degraded and has a function of exiting 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 characteristic points of the automatic storage lane line is n+1, and the extraction interval of the extracted characteristic points is
At this time, the positions of the lane line feature points are +.>
The value of n is determined according to R, and is preferably between 10 and 20.
The lane line standard expression formula output by the camera: y=c 0 +c 1 s+c 2 s 2 +c 3 s 3, in the formula ,C0 、C 1 、C 2 、C 3 Is a coefficient;
the lateral deviation y of all feature points can be calculated from this, the formula of which is calculated as follows:
when the vehicle runs, the vehicle coordinate system changes, so that the lane line characteristic points are transformed to the current vehicle coordinate system. Assuming that the vehicle is translated at the current time as 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 the coordinate system at the time when the feature point was recorded at the previous time, and O ' X ' Y ' is the coordinate system after the vehicle was changed at this time.
If the feature point coordinates (x, y) in the coordinate system at the previous time to the new coordinates at this time are (x ', y'), the calculation formula of the values thereof is as follows:
substituting the coordinates of the lane line characteristic points into the coordinates, and calculating the changed lane line characteristic points. The calculation of the feature points in the new coordinates can thus be calculated as follows:
wherein (x0 ,y 0 )＝(0,c 0 )，
When the number of the changed 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 the following steps:
calculating necessary lane line information c 'required by the available system to calculate the desired path' 0 、c′ 1 、c′ 2 、c 3 ′。
Thereby generating the desired path:
y n ＝c′ 0 +c′ 1 x+c′ 2 x 2 +c′ 3 x 3
therefore, when the quality of the lane line is poor, the lane line equation of the expected path is acquired, a new lane line is automatically generated (theoretically, the number of times of recursing or generating the lane line of the expected path is determined according to the effective distance, and the maximum number of times of recursing is half of the effective distance of the lane line acquired last time), and the situations of degradation and function withdrawal of the vehicle active steering control device when the quality of the lane line is poor are avoided in a short time.
The present invention also provides a vehicle active steering control apparatus, as shown in fig. 3 and 4, comprising: the device comprises a camera, a lane line repair module and a steering actuator; the camera is used for acquiring lane line information, the lane line repair module is used for adopting the lane line repair method, and the steering actuator is used for controlling the vehicle according to the lane lines required by the expected path.
When the front lane line cannot be identified, the system actively calls the lane line data of the effective path stored before, converts the lane line characteristic points into the current vehicle coordinate system through coordinate transformation, and calculates necessary lane line information required by the expected path for the short moment when the lane line cannot be identified.
Let t be e The moment starts without lane line, the duration is tau, i.e. the time T= [ T ] e ,t e +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 lines and actively calculating necessary lane line information c required by a desired path by the system 0 、c 1 、c 2 、c 3 . Then, the measurement output of the camera system at this time is:
the lane line complement module can complement the lost lane line, but the time of the lane line complement module is limited. Generally, the lane line distance R of the previous frame can be complemented by a length not exceeding at most
If during this time the lane line is re-detected. The lane line is replaced with the lane line after the normal recovery, and the vehicle returns to normal operation.
If arriving at completion
The rear vehicle still cannot retrieve the lane line. It is determined whether the driver can intervene in the takeover. If the driver is not involved continuously, the vehicle should judge that the vehicle enters a safe parking mode, namely, the vehicle is decelerated in a segmented mode by utilizing the lane line of the second half, the vehicle is parked step by step, double flashing is activated after parking, and other road users are alerted.
By adopting the scheme, the execution error rate of the vehicle active steering control device is greatly reduced, and the application scene is greatly increased: when no lane line or poor quality of the lane line exists, or when the camera system fails and cannot acquire lane line information or the camera system is attacked to output wrong lane line information, the vehicle active steering control device cannot work normally (degrade or exit the function), and the vehicle active steering control device is provided with a lane line repairing module, so that the system can repair the lane line information according to the current specific situation, the problem that the system frequently reduces the price due to poor quality of the lane line in a short time is avoided, good driving experience is brought to a user, the application scene of the device is enlarged, and the wrong execution rate of the vehicle active steering device is reduced.
In summary, when the front lane cannot be identified, the system actively calls the lane data of the effective path stored before, converts the lane feature points into the current vehicle coordinate system through coordinate transformation, and calculates necessary lane information required by the expected path for the short time when the lane cannot be identified. The system operation logic comprises a short-time lane line completion and a safe parking process of the vehicle under the condition that the vehicle cannot recover.
It will be readily appreciated by those skilled in the art that the foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (9)
1. The lane line repairing method is characterized by comprising the following steps of:
s1, lane line information is obtained;
s2, if the first lane line information acquisition is successful, the lane line information is continuously acquired, and the quality of a new lane line is judged;
s3, if lane line information cannot be continuously obtained or the quality of a new lane line is poor, calculating a lane line required by an expected path by utilizing the lane line of the effective path at the previous moment and extracting and converting the characteristic points of the lane line; the method specifically comprises the following steps:
s31, the lane line equation of the effective path at the last moment is as follows:
； in the formula ,/>
、/>
、/>
、/>
Is a coefficient;
s32, setting the extraction interval of the feature points as
The total number of the feature points is n+1, and the positions thereof are respectively
The method comprises the steps of carrying out a first treatment on the surface of the Wherein R represents the total distance of the lane lines of the effective path;
s33, calculating the transverse deviation of all the characteristic points by combining the lane line equation
：
Obtaining coordinates of the feature points;
s34, after the vehicle runs, the vehicle coordinate system is changed, so that the lane line characteristic points are transformed into the current vehicle coordinate system, and the coordinate transformation formula is as follows:
in the formula ,
for the feature point coordinates in the coordinate system of the previous moment, +.>
The coordinates of the feature points in the current time coordinate system,aandbrepresenting the longitudinal and lateral displacement of the vehicle respectively at the present moment compared to the last moment,θrepresenting the vehicle rotation angle;
substituting the coordinates of the extracted lane line characteristic points into the coordinates of the lane line characteristic points after transformation, and calculating to obtain the coordinates of the lane line characteristic points after transformation:
wherein ,
，/>
…
s35, when the changed characteristic points of the lane lines are more than 4, 4 characteristic points in the lane lines are selected to be substituted into a lane line equation, so that the necessary vehicles required by the expected path are obtainedTrack line information
Generating lane lines required by a desired path
；
If the lane line information cannot be continuously acquired or the quality of the new lane line is poor, and the vehicle is driven to half of the total distance of the lane line of the effective path, controlling the vehicle to safely decelerate and finally safely stop.
2. The lane repair method according to claim 1, wherein if lane information cannot be obtained continuously at the next time or a new lane is of poor quality, the lane of the effective path at the previous time is continuously utilized, and the lane required by the desired path is calculated by extracting and converting the characteristic points of the lane.
3. The lane repair method according to claim 1, wherein if the lane information acquisition at the next time is successful, the lane is used as a lane of a new effective path.
4. The lane repair method according to claim 1, wherein if lane information cannot be continuously acquired or a new lane is not of good quality for a certain period of time, the vehicle is controlled to be safely decelerated and finally safely stopped.
5. The lane-repair method according to claim 4, wherein the specific time period is determined by a total distance of the lane lines of the effective path and a vehicle speed.
6. The lane repair method according to claim 1, wherein if the first lane information acquisition fails, the step S1 is continued.
7. The lane repair method according to claim 1, wherein if the first lane information acquisition is successful, the lane information is continuously acquired at a fixed cycle.
8. The lane repair method according to claim 1, wherein 4 feature points in the selected lane are substituted into the lane equation to obtain necessary lane information required for the desired path
Comprising:
necessary lane line information required for calculating desired path
。
9. An active steering control device for a vehicle, comprising: the device comprises a camera, a lane line repair module and a steering actuator; the camera is used for acquiring lane line information, the lane line repair module is used for adopting the lane line repair method according to any one of claims 1 to 4, and the steering actuator is used for controlling the vehicle according to the lane line required by the expected path.
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| CN202210260980.3A CN114715272B (en) | 2022-03-16 | 2022-03-16 | Lane line repairing method and vehicle active steering control device |
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| CN103605977B (en) * | 2013-11-05 | 2017-01-18 | 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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