CN114771518B - Lane center guide wire generation method and device, electronic equipment and medium - Google Patents
Lane center guide wire generation method and device, electronic equipment and medium Download PDFInfo
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- CN114771518B CN114771518B CN202210358871.5A CN202210358871A CN114771518B CN 114771518 B CN114771518 B CN 114771518B CN 202210358871 A CN202210358871 A CN 202210358871A CN 114771518 B CN114771518 B CN 114771518B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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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
- Y02T10/40—Engine management systems
Abstract
The application discloses a method, a device, electronic equipment and a medium for generating a lane center guide line, relates to the field of artificial intelligence, and particularly relates to an automatic driving technology. The specific implementation scheme is as follows: generating an initial lane center point set according to the left lane line and the right lane line; respectively constructing a parameterization curve of the lane center guide line in the abscissa direction and a parameterization curve of the lane center guide line in the ordinate direction based on the initial lane center point set; and calculating to obtain a curve equation of the lane center guide line according to the parameterized curve of the lane center guide line in the abscissa direction and the parameterized curve of the lane center guide line in the ordinate direction. According to the method and the device, the lane center guiding line which meets smoothness, continuous curvature and centering of the road can be efficiently generated in real time according to the lane lines of environmental awareness, the calculated amount is small, the accuracy is high, the vehicle is guaranteed to keep the road to run centered, unreasonable swing of the steering wheel is avoided, and the driving experience of a user is improved.
Description
Technical Field
The disclosure relates to the technical field of artificial intelligence, and further relates to an automatic driving technology, in particular to a method, a device, electronic equipment and a medium for generating a lane center guide wire.
Background
The lane center guide line is a virtual path generated by lane lines on the left side and the right side, provides a reference path for an automatic driving and auxiliary driving system, and guides a vehicle to run near the lane center. Limited by the minimum turning radius constraint of the vehicle and taking the experience of driving and riding into consideration, the lane center guide line needs to ensure smoothness and curvature continuity. The unreasonable lane center guide wire can cause serious problems such as the vehicle deviates from the lane center, the swing amplitude of the steering wheel is overlarge, the track is S-shaped, and the like. The application provides a method for automatically generating a lane center guide line in real time, which ensures smoothness, continuous curvature and approaching to the center of a road.
The existing lane center guide line generation method mainly comprises the following two types: the method comprises the following steps: constructing and solving a path planning problem with constraint; the second method is as follows: and (5) carrying out fitting averaging on lane lines on the left side and the right side. The main flow of the two methods is as follows:
(one) method one: constructing and solving a constrained path planning problem: (1) establishing a vehicle kinematic model; (2) Defining an optimization performance index (e.g., a measure of deviation from the center of the lane); (3) Defining constraint equations (e.g., curvature, lateral acceleration, etc.); (4) solving the constrained path planning problem. The method can obtain the guide wire which meets the continuous constraint of smoothness and curvature and is positioned in the center of the road, but the calculation complexity is particularly high, and the real-time calculation on the vehicle-mounted calculation platform is difficult.
(II) method II: and (5) after curve fitting of lane lines on the left side and the right side, averaging: (1) adopting curves to fit lane lines on the left side and the right side respectively; (2) The average value of the fitted curves on the two sides is taken as the lane center line. The method II has high calculation efficiency and real-time calculation capability, can meet the continuous constraint of smoothness and curvature, but under the scene of abrupt change of the curvature or large change of the curvature of the road such as right angle bend, the generated lane center guide line deviates more from the lane center and has poor precision.
Disclosure of Invention
The disclosure provides a method, a device, electronic equipment and a medium for generating a lane center guide line.
In a first aspect, the present application provides a method for generating a lane center guide line, the method including:
generating an initial lane center point set according to the left lane line and the right lane line;
respectively constructing a parameterized curve of a lane center guide line in the abscissa direction and a parameterized curve of the lane center guide line in the ordinate direction based on the initial lane center point set;
and calculating a curve equation of the lane center guide line according to the parameterized curve of the lane center guide line in the abscissa direction and the parameterized curve of the lane center guide line in the ordinate direction.
In a second aspect, the present application provides a lane center guide line generating device, the device including: the device comprises a generation module, a construction module and a calculation module; wherein, the liquid crystal display device comprises a liquid crystal display device,
the generating module is used for generating an initial lane center point set according to the left lane line and the right lane line;
the construction module is used for respectively constructing a parameterized curve of the lane center guide line in the abscissa direction and a parameterized curve of the lane center guide line in the ordinate direction based on the initial lane center point set;
the calculation module is used for calculating a curve equation of the lane center guide line according to the parameterized curve of the lane center guide line in the abscissa direction and the parameterized curve of the lane center guide line in the ordinate direction.
In a third aspect, an embodiment of the present application provides an electronic device, including:
one or more processors;
a memory for storing one or more programs,
and when the one or more programs are executed by the one or more processors, the one or more processors implement the method for generating the lane center guide line according to any embodiment of the present application.
In a fourth aspect, embodiments of the present application provide a storage medium having stored thereon a computer program that, when executed by a processor, implements the method for generating a lane center guide according to any embodiment of the present application.
In a fifth aspect, a computer program product is provided, which when executed by a computer device implements the method for generating a lane center guide line according to any embodiment of the present application.
According to the technical scheme, the lane center guide wire which meets the requirements of smoothness, curvature continuity and road centering can be efficiently generated in real time according to the lane lines perceived by environment, the calculated amount is small, the precision is high, the vehicle is guaranteed to keep running on the road centering, unreasonable swing of the steering wheel is avoided, and the driving experience of a user is improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
fig. 1 is a first flow schematic diagram of a method for generating a lane center guide line according to an embodiment of the present application;
fig. 2 is a second flow schematic diagram of a method for generating a lane center guide line according to an embodiment of the present application;
FIG. 3 is a third flow chart of a method for generating a lane center guide line according to an embodiment of the present application
Fig. 4 is a schematic structural diagram of a lane center guide line generating device provided in an embodiment of the present application;
fig. 5 is a block diagram of an electronic device for implementing a method of generating a lane center guide line according to an embodiment of the present application.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Example 1
Fig. 1 is a schematic flow chart of a first procedure of a method for generating a lane center guide line according to an embodiment of the present application, where the method may be performed by a lane center guide line generating device or an electronic device, and the device or the electronic device may be implemented by software and/or hardware, and the device or the electronic device may be integrated into any intelligent device with a network communication function. As shown in fig. 1, the method for generating the lane center guide line may include the steps of:
s101, generating an initial lane center point set according to the left lane line and the right lane line.
In this step, the electronic device may generate an initial lane center point set according to the left lane line and the right lane line. Specifically, the electronic device may first discrete the left lane line and the right lane line into a left lane line point set sequence and a right lane line point set sequence, respectively; and then generating an initial lane center point set based on the left lane line point set sequence and the right lane line point set sequence. Further, the electronic device may first extract a point from the left lane line point set sequence as a current left lane line point; then, current right lane line points matched with the current lane line points are obtained from the right lane line point set sequence; repeatedly executing the operation until right lane line points matched with each left lane line point in the left lane line point set sequence are obtained; and finally, generating an initial lane center point set according to the right lane line points matched with each left lane line point.
S102, respectively constructing a parameterization curve of the lane center guide line in the abscissa direction and a parameterization curve of the lane center guide line in the ordinate direction based on the initial lane center point set.
In this step, the electronic device may construct a parametric curve of the lane center finger in the abscissa direction and a parametric curve of the lane center finger in the ordinate direction, respectively, based on the initial lane center point set. Specifically, the electronic device may calculate, first, an abscissa and an ordinate of each lane center point in the initial lane center point set according to right lane line points matched with each left lane line point; then, according to the abscissa and the ordinate of each lane center point, calculating the distance between each lane center point and the first lane center point; and respectively constructing a parameterization curve of the lane center guide line in the abscissa direction and a parameterization curve of the lane center guide line in the ordinate direction based on the distance between each lane center point and the first lane center point.
S103, calculating to obtain a curve equation of the lane center guide line according to the parameterized curve of the lane center guide line in the abscissa direction and the parameterized curve of the lane center guide line in the ordinate direction.
In this step, the electronic device may calculate a curve equation of the lane center finger according to the parameterized curve of the lane center finger in the abscissa direction and the parameterized curve of the lane center finger in the ordinate direction. Specifically, the electronic device may calculate, first, a centering optimization index and a smoothness optimization index of the performance optimization indexes according to a parameterization curve of the lane center guide line in the abscissa direction, a parameterization curve of the lane center guide line in the ordinate direction, and an abscissa and an ordinate of each lane center point in the initial lane center point set; then calculating a performance optimization index according to the centering optimization index, the smoothness optimization index and a predetermined smoothness weight value; and calculating a curve equation of the center guide line of the lane according to the performance optimization index. Further, when the electronic device calculates the performance optimization index, the electronic device may multiply the centering optimization index with the centering weight value to obtain a weighted centering optimization index; then multiplying the smoothness optimization index by a smoothness weight value to obtain a weighted smoothness optimization index; wherein the smoothness weight value is a value of 0 or more and 1 or less; the centering weight value is 1 minus the smoothness weight value; and taking the sum of the weighted central optimization index and the weighted smoothness optimization index as a performance optimization index.
According to the method for generating the lane center guide line, an initial lane center point set is generated according to a left lane line and a right lane line; then, based on the initial lane center point set, respectively constructing a parameterized curve of the lane center guide line in the abscissa direction and a parameterized curve of the lane center guide line in the ordinate direction; and calculating to obtain a curve equation of the lane center guide line according to the parameterized curve of the lane center guide line in the abscissa direction and the parameterized curve of the lane center guide line in the ordinate direction. That is, the lane center guide line can be automatically generated in real time based on the left lane line and the right lane line, and smoothness, continuous curvature and approaching to the center of a road can be ensured. In the existing method for generating the lane center guide line, the first method is extremely large in calculated amount and cannot realize real-time calculation, and the second method is relatively large in deviation of the generated lane center guide line from the lane center and relatively poor in accuracy under the scene of abrupt change of road curvature or relatively large curvature change. Because the method adopts the technical means of generating the initial lane center point set, constructing the parameterized curve and solving the parameter vector, the technical problems that the first existing method is particularly high in calculation complexity and difficult to calculate on a vehicle-mounted calculation platform in real time and the second existing method is relatively more deviated from the lane center and relatively poor in precision under the condition that the curvature of the road such as a right angle bend is suddenly changed or the curvature is relatively changed are solved. According to the technical scheme provided by the application, the lane center guide line which meets smoothness, continuous curvature and road centering can be efficiently generated in real time according to the lane lines perceived by environment, the calculated amount is small, the accuracy is high, the vehicle is ensured to keep road centering running, unreasonable swing of a steering wheel is avoided, and the driving experience of a user is improved; in addition, the technical scheme of the embodiment of the application is simple and convenient to realize, convenient to popularize and wider in application range.
Example two
Fig. 2 is a second flow schematic diagram of a method for generating a lane center guide line according to an embodiment of the present application. Further optimization and expansion based on the above technical solution can be combined with the above various alternative embodiments. As shown in fig. 2, the method for generating the lane center guide line may include the steps of:
s201, respectively dispersing a left lane line and a right lane line into a left lane line point set sequence and a right lane line point set sequence.
In this step, the electronic device may discrete the left lane line and the right lane line into a left lane line point set sequence and a right lane line point set sequence, respectively. Specifically, the left lane line point set sequence is: l (L) 1 ,l 2 ,…,l m The method comprises the steps of carrying out a first treatment on the surface of the m is a natural number greater than 1; the right lane line point set sequence is: r is (r) 1 ,r 2 ,…,r n The method comprises the steps of carrying out a first treatment on the surface of the n is a natural number greater than 1. Point l k One point in the left lane line point set sequence is denoted as (l) k,x ,l k,y ). Point r k One point in the right lane line set of points is denoted (r k,x ,r k,y )。
S202, generating an initial lane center point set based on the left lane line point set sequence and the right lane line point set sequence.
In this step, the electronic device may generate an initial lane center point set based on the left lane line point set sequence and the right lane line point set sequence. Specifically, the electronic device may first extract a point from the left lane line point set sequence as a current left lane line point; then, current right lane line points matched with the current lane line points are obtained from the right lane line point set sequence; repeatedly executing the operation until right lane line points matched with each left lane line point in the left lane line point set sequence are obtained; and finally, generating an initial lane center point set according to the right lane line points matched with each left lane line point.
The specific flow is as follows: 1) The left lane line and the right lane line are respectively discretized into a series of point set sequences (equally spaced or unequally spaced) which are recorded as follows: l (L) 1 ,l 2 ,…,l m The method comprises the steps of carrying out a first treatment on the surface of the m is a natural number greater than 1; the right lane line point set sequence is recorded as follows: r is (r) 1 ,r 2 ,…,r n The method comprises the steps of carrying out a first treatment on the surface of the n is a natural number greater than 1; point l k One point in the left lane line point set sequence is denoted as (l) k,x ,l k,y ) Point r k One point in the right lane line set of points is denoted (r k,x ,r k,y ) The method comprises the steps of carrying out a first treatment on the surface of the 2) Let i=1, j=1; 3) From r j ,r j+1 ,…,r n The i-th point l on the middle searching and left lane line i Point r on the right lane line of matching k (matching by distance nearest index); 4) Calculating the center point of the ith lane: c i ＝(l i +r k ) 2, namely: c i,x ＝(l i,x +r k,x )/2；c i,y ＝(l i,y +r k,y ) 2; 5) i=i+1, j=k; 6) If i.ltoreq.n, returning to the step 3).
S203, based on the initial lane center point set, respectively constructing a parameterization curve of the lane center guide line in the abscissa direction and a parameterization curve of the lane center guide line in the ordinate direction.
In this step, the electronic device may construct a parametric curve of the lane center finger in the abscissa direction and a parametric curve of the lane center finger in the ordinate direction, respectively, based on the initial lane center point set. Specifically, the electronic device may calculate, first, an abscissa and an ordinate of each lane center point in the initial lane center point set according to right lane line points matched with each left lane line point; then, according to the abscissa and the ordinate of each lane center point, calculating the distance between each lane center point and the first lane center point; and respectively constructing a parameterization curve of the lane center guide line in the abscissa direction and a parameterization curve of the lane center guide line in the ordinate direction based on the distance between each lane center point and the first lane center point.
The specific flow is as follows: 1) Let s 1 ＝0,i＝1；2)3) i=i+1; 4) If i is less than or equal to n-1, returning to the step 2); 5) F is noted x (s,θ x ),f y (s,θ y ) The parameterization curve of the lane center finger lead in the horizontal coordinate direction and the parameterization curve of the lane center finger lead in the vertical coordinate direction are respectively adopted; the parameterized curve can be a polynomial parameterized curve or a spline parameterized curve, etc.; s is the distance between the lane center point and the first lane center point, θ x ,θ y Respectively, the parameter vectors to be solved. Taking K-order polynomials as an example, parameterizing the lane center guide line:wherein, the parameter vector is: θ x ＝[θ x,0 θ x,1 …θ x,K ] T ,θ y ＝[θ y,0 θ y,1 …θ y,K ] T Wherein the superscript T represents the vector transpose.
S204, calculating to obtain a curve equation of the lane center guide line according to the parameterized curve of the lane center guide line in the abscissa direction and the parameterized curve of the lane center guide line in the ordinate direction.
In this step, the electronic device may calculate a curve equation of the lane center finger according to the parameterized curve of the lane center finger in the abscissa direction and the parameterized curve of the lane center finger in the ordinate direction. Specifically, the electronic device may calculate, first, a centering optimization index and a smoothness optimization index of the performance optimization indexes according to a parameterization curve of the lane center guide line in the abscissa direction, a parameterization curve of the lane center guide line in the ordinate direction, and an abscissa and an ordinate of each lane center point in the initial lane center point set; then calculating a performance optimization index according to the centering optimization index, the smoothness optimization index and a predetermined smoothness weight value; and calculating a curve equation of the center guide line of the lane according to the performance optimization index. Further, when the electronic device calculates the performance optimization index, the electronic device may multiply the centering optimization index with the centering weight value to obtain a weighted centering optimization index; then multiplying the smoothness optimization index by a smoothness weight value to obtain a weighted smoothness optimization index; wherein the smoothness weight value is a value of 0 or more and 1 or less; the centering weight value is 1 minus the smoothness weight value; and taking the sum of the weighted central optimization index and the weighted smoothness optimization index as a performance optimization index.
According to the method for generating the lane center guide line, an initial lane center point set is generated according to a left lane line and a right lane line; then, based on the initial lane center point set, respectively constructing a parameterized curve of the lane center guide line in the abscissa direction and a parameterized curve of the lane center guide line in the ordinate direction; and calculating to obtain a curve equation of the lane center guide line according to the parameterized curve of the lane center guide line in the abscissa direction and the parameterized curve of the lane center guide line in the ordinate direction. That is, the lane center guide line can be automatically generated in real time based on the left lane line and the right lane line, and smoothness, continuous curvature and approaching to the center of a road can be ensured. In the existing method for generating the lane center guide line, the first method is extremely large in calculated amount and cannot realize real-time calculation, and the second method is relatively large in deviation of the generated lane center guide line from the lane center and relatively poor in accuracy under the scene of abrupt change of road curvature or relatively large curvature change. Because the method adopts the technical means of generating the initial lane center point set, constructing the parameterized curve and solving the parameter vector, the technical problems that the first existing method is particularly high in calculation complexity and difficult to calculate on a vehicle-mounted calculation platform in real time and the second existing method is relatively more deviated from the lane center and relatively poor in precision under the condition that the curvature of the road such as a right angle bend is suddenly changed or the curvature is relatively changed are solved. According to the technical scheme provided by the application, the lane center guide line which meets smoothness, continuous curvature and road centering can be efficiently generated in real time according to the lane lines perceived by environment, the calculated amount is small, the accuracy is high, the vehicle is ensured to keep road centering running, unreasonable swing of a steering wheel is avoided, and the driving experience of a user is improved; in addition, the technical scheme of the embodiment of the application is simple and convenient to realize, convenient to popularize and wider in application range.
Example III
Fig. 3 is a third flow schematic diagram of a method for generating a lane center guide line according to an embodiment of the present application. Further optimization and expansion based on the above technical solution can be combined with the above various alternative embodiments. As shown in fig. 3, the method for generating the lane center guide line may include the steps of:
s301, respectively dispersing a left lane line and a right lane line into a left lane line point set sequence and a right lane line point set sequence.
S302, acquiring a current right lane line point matched with a current lane line point in a right lane line point set sequence; and repeatedly executing the operation until the right lane line point matched with each left lane line point in the left lane line point set sequence is obtained.
S303, generating an initial lane center point set according to the right lane line points matched with each left lane line point.
S304, calculating the abscissa and the ordinate of each lane center point in the initial lane center point set according to the right lane line point matched with each left lane line point.
S305, calculating the distance between each lane center point and the first lane center point according to the abscissa and the ordinate of each lane center point.
S306, respectively constructing a parameterization curve of the lane center guide line in the abscissa direction and a parameterization curve of the lane center guide line in the ordinate direction based on the distance between each lane center point and the first lane center point.
In this step, the electronic device may construct a parameterized curve of the lane center finger in the abscissa direction and a parameterized curve of the lane center finger in the ordinate direction, respectively, based on the distances between the respective lane center points and the first lane center point. Specifically, the electronic device may first construct an expression of a parameter vector of the lane center leader in the abscissa direction and an expression of a parameter vector of the lane center leader in the ordinate direction according to a predetermined parameterized curve type; and then, respectively constructing a parameterization curve of the lane center finger in the abscissa direction and a parameterization curve of the lane center finger in the ordinate direction based on the distance between each lane center point and the first lane center point and the expression of the parameter vector of the lane center finger in the abscissa direction and the expression of the parameter vector of the lane center finger in the ordinate direction.
S307, calculating to obtain a curve equation of the lane center guide line according to the parameterized curve of the lane center guide line in the abscissa direction and the parameterized curve of the lane center guide line in the ordinate direction.
The embodiment of the application can comprehensively consider the definition optimization performance index of the centering and smoothness:
wherein, the liquid crystal display device comprises a liquid crystal display device,respectively f x (s,θ x ),f y (s,θ y ) For the second derivative of the variable s, 0.ltoreq.eta.ltoreq.1 is a smoothness weight, and the larger the eta, the smoother the curve is, and the larger the fitting error (the deviation distance from the road center) is.
By using the parameterization of the K-th order polynomial, the above formula can be written as:
wherein, the liquid crystal display device comprises a liquid crystal display device,β(s)＝[0 0 2 6s…K(K-1)s K-2 ] T ，
c x ＝[c 1,x c 2,x …c N,x ] T ，c y ＝[c 1,y c 2,y …c N,y ] T 。
the above is the parameter vector theta x ,θ y Is a positive quadratic function of (1), and has an analytical solution:where superscript-1 represents the inverse of the matrix (if the matrix is not reversible, the generalized inverse of M-P is used instead). Thereby obtaining a smooth lane centerline curve equation:
according to the method for generating the lane center guide line, an initial lane center point set is generated according to a left lane line and a right lane line; then, based on the initial lane center point set, respectively constructing a parameterized curve of the lane center guide line in the abscissa direction and a parameterized curve of the lane center guide line in the ordinate direction; and calculating to obtain a curve equation of the lane center guide line according to the parameterized curve of the lane center guide line in the abscissa direction and the parameterized curve of the lane center guide line in the ordinate direction. That is, the lane center guide line can be automatically generated in real time based on the left lane line and the right lane line, and smoothness, continuous curvature and approaching to the center of a road can be ensured. In the existing method for generating the lane center guide line, the first method is extremely large in calculated amount and cannot realize real-time calculation, and the second method is relatively large in deviation of the generated lane center guide line from the lane center and relatively poor in accuracy under the scene of abrupt change of road curvature or relatively large curvature change. Because the method adopts the technical means of generating the initial lane center point set, constructing the parameterized curve and solving the parameter vector, the technical problems that the first existing method is particularly high in calculation complexity and difficult to calculate on a vehicle-mounted calculation platform in real time and the second existing method is relatively more deviated from the lane center and relatively poor in precision under the condition that the curvature of the road such as a right angle bend is suddenly changed or the curvature is relatively changed are solved. According to the technical scheme provided by the application, the lane center guide line which meets smoothness, continuous curvature and road centering can be efficiently generated in real time according to the lane lines perceived by environment, the calculated amount is small, the accuracy is high, the vehicle is ensured to keep road centering running, unreasonable swing of a steering wheel is avoided, and the driving experience of a user is improved; in addition, the technical scheme of the embodiment of the application is simple and convenient to realize, convenient to popularize and wider in application range.
Example IV
Fig. 4 is a schematic structural diagram of a lane center guide line generating device according to an embodiment of the present application. As shown in fig. 4, the apparatus 400 includes: a generation module 401, a construction module 402 and a calculation module 403; wherein, the liquid crystal display device comprises a liquid crystal display device,
the generating module 401 is configured to generate an initial lane center point set according to the left lane line and the right lane line;
the construction module 402 is configured to construct a parameterized curve of a lane center finger in an abscissa direction and a parameterized curve of the lane center finger in an ordinate direction based on the initial lane center point set;
the calculating module 403 is configured to calculate a curve equation of the lane center finger according to the parameterized curve of the lane center finger in the abscissa direction and the parameterized curve of the lane center finger in the ordinate direction.
Further, the generating module 401 is specifically configured to discrete the left lane line and the right lane line into a left lane line point set sequence and a right lane line point set sequence respectively; and generating the initial lane center point set based on the left lane line point set sequence and the right lane line point set sequence.
Further, the generating module 401 is specifically configured to extract a point from the left lane line point set sequence as a current left lane line point; acquiring a current right lane line point matched with the current lane line point from a right lane line point set sequence; repeatedly executing the operation until right lane line points matched with each left lane line point in the left lane line point set sequence are obtained; and generating the initial lane center point set according to the right lane line point matched with each left lane line point.
Further, the construction module 402 is specifically configured to calculate an abscissa and an ordinate of each lane center point in the initial lane center point set according to the right lane line point matched with each left lane line point; calculating the distance between each lane center point and the first lane center point according to the abscissa and the ordinate of each lane center point; and respectively constructing a parameterization curve of the lane center guide line in the abscissa direction and a parameterization curve of the lane center guide line in the ordinate direction based on the distance between each lane center point and the first lane center point.
Further, the construction module 402 is specifically configured to construct an expression of a parameter vector of the lane center finger in the abscissa direction and an expression of a parameter vector of the lane center finger in the ordinate direction according to a predetermined parameterized curve type, respectively; and respectively constructing a parameterized curve of the lane center finger in the abscissa direction and a parameterized curve of the lane center finger in the ordinate direction based on the distance between each lane center point and the first lane center point, and the expression of the parameter vector of the lane center finger in the abscissa direction and the expression of the parameter vector of the lane center finger in the ordinate direction.
Further, the calculating module 403 is specifically configured to calculate a centering optimization index and a smoothness optimization index of the performance optimization indexes according to the parameterized curve of the lane center guide line in the abscissa direction and the parameterized curve of the lane center guide line in the ordinate direction, and the abscissa and the ordinate of each lane center point in the initial lane center point set; calculating the performance optimization index according to the centering optimization index, the smoothness optimization index and a predetermined smoothness weight value; and calculating a curve equation of the center guide line of the lane according to the performance optimization index.
Further, the calculating module 403 is specifically configured to multiply the centering optimization index by a centering weight value to obtain a weighted centering optimization index; multiplying the smoothness optimization index by a smoothness weight value to obtain a weighted smoothness optimization index; wherein the smoothness weight value is a value of 0 or more and 1 or less; the centering weight value is 1 minus the smoothness weight value; and taking the sum of the weighted centering optimization index and the weighted smoothness optimization index as the performance optimization index.
The lane center guide line generating device can execute the method provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects of executing the method. Technical details which are not described in detail in the present embodiment can be seen in the method for generating the lane center guide line provided in any embodiment of the present application.
Example five
According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.
Fig. 5 illustrates a schematic block diagram of an example electronic device 500 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 5, the apparatus 500 includes a computing unit 501 that can perform various suitable actions and processes according to a computer program stored in a Read Only Memory (ROM) 502 or a computer program loaded from a storage unit 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the device 500 can also be stored. The computing unit 501, ROM 502, and RAM 503 are connected to each other by a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
Various components in the device 500 are connected to the I/O interface 505, including: an input unit 506 such as a keyboard, a mouse, etc.; an output unit 507 such as various types of displays, speakers, and the like; a storage unit 508 such as a magnetic disk, an optical disk, or the like; and a communication unit 509 such as a network card, modem, wireless communication transceiver, etc. The communication unit 509 allows the device 500 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The computing unit 501 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 501 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The calculation unit 501 performs the respective methods and processes described above, for example, the lane center guide line generation method. For example, in some embodiments, the method of generating lane center guideline may be implemented as a computer software program, which is tangibly embodied on a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 500 via the ROM 502 and/or the communication unit 509. When the computer program is loaded into the RAM 503 and executed by the computing unit 501, one or more steps of the lane center guide line generation method described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the lane center leader generation method in any other suitable way (e.g., by means of firmware).
Various implementations of the systems and techniques described here above can be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the technical solutions disclosed in the present application are achieved, and are not limited herein. In the technical scheme of the disclosure, the acquisition, storage, application and the like of the related user personal information all conform to the regulations of related laws and regulations, and the public sequence is not violated.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (12)
1. A method of generating a lane center leader, the method comprising:
generating an initial lane center point set according to the left lane line and the right lane line;
respectively constructing a parameterized curve of a lane center guide line in the abscissa direction and a parameterized curve of the lane center guide line in the ordinate direction based on the initial lane center point set; the parameterized curve is a polynomial parameterized curve or a spline parameterized curve; the parameterized curve comprises a parameter vector to be solved;
Calculating a centering optimization index and a smoothness optimization index in the performance optimization index according to the parameterization curve of the lane center guide line in the abscissa direction, the parameterization curve of the lane center guide line in the ordinate direction and the abscissa and the ordinate of each lane center point in the initial lane center point set; wherein, the performance optimization index is defined as:
respectively f x (s,θ x )，f y (s,θ y ) For the second derivative of the variable s, 0 eta is less than or equal to 1 and is a smoothness weight value, the larger eta is, the smoother the curve is, and the larger the deviation distance fitting error between the curve and the road center is;
multiplying the centering optimization index by a centering weight value to obtain a weighted centering optimization index;
multiplying the smoothness optimization index by the smoothness weight value to obtain a weighted smoothness optimization index; wherein the centering weight value is 1 minus the smoothness weight value;
taking the sum of the weighted centering optimization index and the weighted smoothness optimization index as the performance optimization index;
and determining an analytic solution of the parameter vector according to the performance optimization index, and further calculating a curve equation of the lane center guide line based on the analytic solution of the parameter vector.
2. The method of claim 1, wherein the generating an initial set of lane center points from left and right lane lines comprises:
the left lane line and the right lane line are respectively scattered into a left lane line point set sequence and a right lane line point set sequence;
and generating the initial lane center point set based on the left lane line point set sequence and the right lane line point set sequence.
3. The method of claim 2, wherein the generating the initial lane center point set based on the left lane line point set sequence and the right lane line point set sequence comprises:
extracting a point from the left lane line point set sequence to serve as a current left lane line point;
acquiring a current right lane line point matched with the current left lane line point from the right lane line point set sequence; repeatedly executing the operation until right lane line points matched with each left lane line point in the left lane line point set sequence are obtained;
and generating the initial lane center point set according to the right lane line points matched with each left lane line point.
4. The method of claim 3, wherein the constructing a parameterized curve of a lane center leader line in an abscissa direction and a parameterized curve of the lane center leader line in an ordinate direction based on the initial lane center point set, respectively, comprises:
According to right lane line points matched with the left lane line points, calculating the abscissa and the ordinate of each lane center point in the initial lane center point set;
calculating the distance between each lane center point and the first lane center point according to the abscissa and the ordinate of each lane center point;
and respectively constructing a parameterization curve of the lane center guide line in the abscissa direction and a parameterization curve of the lane center guide line in the ordinate direction based on the distance between each lane center point and the first lane center point.
5. The method of claim 4, wherein the constructing the parameterized curve of the lane-center leader line in the abscissa direction and the parameterized curve of the lane-center leader line in the ordinate direction based on the distance between each lane center point and the first lane center point, respectively, comprises:
respectively constructing an expression of a parameter vector of the lane center guide line in the abscissa direction and an expression of a parameter vector of the lane center guide line in the ordinate direction according to a predetermined parameterized curve type;
and respectively constructing a parameterized curve of the lane center finger in the abscissa direction and a parameterized curve of the lane center finger in the ordinate direction based on the distance between each lane center point and the first lane center point, and the expression of the parameter vector of the lane center finger in the abscissa direction and the expression of the parameter vector of the lane center finger in the ordinate direction.
6. A lane center leader line generation apparatus, the apparatus comprising: the device comprises a generation module, a construction module and a calculation module; wherein, the liquid crystal display device comprises a liquid crystal display device,
the generating module is used for generating an initial lane center point set according to the left lane line and the right lane line;
the construction module is used for respectively constructing a parameterized curve of the lane center guide line in the abscissa direction and a parameterized curve of the lane center guide line in the ordinate direction based on the initial lane center point set; the parameterized curve is a polynomial parameterized curve or a spline parameterized curve; the parameterized curve comprises a parameter vector to be solved;
the computing module is used for:
calculating a centering optimization index and a smoothness optimization index in the performance optimization index according to the parameterization curve of the lane center guide line in the abscissa direction, the parameterization curve of the lane center guide line in the ordinate direction and the abscissa and the ordinate of each lane center point in the initial lane center point set; wherein, the performance optimization index is defined as:
respectively f x (s,θ x )，f y (s,θ y ) For the second derivative of the variable s, 0 eta is less than or equal to 1 and is a smoothness weight value, the larger eta is, the smoother the curve is, and the larger the deviation distance fitting error between the curve and the road center is;
Multiplying the centering optimization index by a centering weight value to obtain a weighted centering optimization index;
multiplying the smoothness optimization index by the smoothness weight value to obtain a weighted smoothness optimization index; wherein the centering weight value is 1 minus the smoothness weight value;
taking the sum of the weighted centering optimization index and the weighted smoothness optimization index as the performance optimization index;
and determining an analytic solution of the parameter vector according to the performance optimization index, and further calculating a curve equation of the lane center guide line based on the analytic solution of the parameter vector.
7. The apparatus of claim 6, the generation module being specifically configured to discrete the left lane line and the right lane line into a left lane line set of points sequence and a right lane line set of points sequence, respectively; and generating the initial lane center point set based on the left lane line point set sequence and the right lane line point set sequence.
8. The apparatus of claim 7, the generating module being specifically configured to extract a point in the left lane line point set sequence as a current left lane line point; acquiring a current right lane line point matched with the current left lane line point from the right lane line point set sequence; repeatedly executing the operation until right lane line points matched with each left lane line point in the left lane line point set sequence are obtained; and generating the initial lane center point set according to the right lane line points matched with each left lane line point.
9. The apparatus of claim 8, the construction module being specifically configured to calculate an abscissa and an ordinate of each lane center point in the initial lane center point set from right lane line points for which each left lane line point matches; calculating the distance between each lane center point and the first lane center point according to the abscissa and the ordinate of each lane center point; and respectively constructing a parameterization curve of the lane center guide line in the abscissa direction and a parameterization curve of the lane center guide line in the ordinate direction based on the distance between each lane center point and the first lane center point.
10. The apparatus according to claim 9, the construction module being specifically configured to construct an expression of a parameter vector of the lane-center leader in an abscissa direction and an expression of a parameter vector of the lane-center leader in an ordinate direction, respectively, according to a predetermined parameterized curve type; and respectively constructing a parameterized curve of the lane center finger in the abscissa direction and a parameterized curve of the lane center finger in the ordinate direction based on the distance between each lane center point and the first lane center point, and the expression of the parameter vector of the lane center finger in the abscissa direction and the expression of the parameter vector of the lane center finger in the ordinate direction.
11. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.
12. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-5.
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| US20200377087A1 (en) * | 2019-05-28 | 2020-12-03 | Sf Motors, Inc. | Lane keep control of autonomous vehicle |
| CN112441022B (en) * | 2019-09-02 | 2023-02-03 | 华为技术有限公司 | Lane center line determining method and device |
| CN111027423B (en) * | 2019-11-28 | 2023-10-17 | 北京百度网讯科技有限公司 | Automatic driving lane line detection method and device and electronic equipment |
| CN112785844B (en) * | 2020-12-28 | 2022-03-15 | 东软睿驰汽车技术（沈阳）有限公司 | Curve coordinate system establishing method and device and electronic equipment |
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