CN116215546A - Lane center line prediction method and related device - Google Patents
Lane center line prediction method and related device Download PDFInfo
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Abstract
The application discloses a prediction method of a lane center line, which relates to the technical field of intelligent driving assistance and comprises the following steps: when the left lane line and the right lane line meet a first preset condition, recording an original track curve of the lane center line and motion parameters of the vehicle; the original track curve is calculated according to the left lane line and the right lane line; when the left lane line and the right lane line meet a second preset condition, calculating according to the motion parameters of the vehicle to obtain the motion variation of the vehicle; and carrying out coordinate transformation according to the original track curve and the motion variation to obtain a new track curve of the lane center line under a new vehicle coordinate system after the vehicle moves. The method can solve the problem that the left lane line and the right lane line of the crossroad are lost and have no target track, and the problem that the vehicle moves forward along with the left lane line to be turned when the left lane is a straight lane and the left lane is a left lane and the left lane line to be turned is left. The application also discloses a lane center line prediction device, a lane center line prediction equipment and a computer readable storage medium, which have the technical effects.
Description
Technical Field
The application relates to the technical field of intelligent driving assistance, in particular to a lane center line prediction method; also relates to a lane center line prediction apparatus, a lane center line prediction device, and a lane center line prediction program.
Background
The intelligent driving assistance is to utilize various sensors on the vehicle to sense surrounding environment at any time in the running process of the vehicle, collect data, and combine with navigator map data to perform systematic operation and analysis, so that the comfort and safety of automobile driving are effectively improved. At present, when the left lane line and the right lane line of an intersection are lost and a proper target vehicle does not exist in front of the intersection and can carry out following control, the existing intelligent driving assistance scheme mainly adopts the following two solutions: 1. and reminding a driver to take over the vehicle according to the double-line loss information output by the visual sensor, and exiting the lane keeping function. 2. And prompting the driver to take over the vehicle after following a certain distance according to the predicted central line information output by the visual sensor, and exiting the lane keeping function.
However, the former directly exits the function after the left and right lane lines are recognized at the intersection to be lost, and the time reserved for the driver to react and control is short, so that the driver is provided with a tension feeling of prompting the takeover. The latter adopts the prediction central line that vision sensor output exists the lane and is the lane of going straight, and the left side lane is for the lane of turning left to have simultaneously and is waited to turn left when turning left the lane line, the vision sensor output prediction central line along with the circumstances that the lane line was drawn that turns left to turn, the vehicle will turn left when following this curve.
In view of this, how to solve the above technical defects has become a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The purpose of the application is to provide a prediction method of a lane center line, which can effectively solve the problem that no target track exists after the lane lines on the left side and the right side of an intersection are lost, and the problem that a vehicle moves forward along with the lane line to be turned left when the lane is a straight-going lane and the lane line to be turned left is turned left. Another object of the present application is to provide a lane center line prediction apparatus, a lane center line prediction device, and a lane center line prediction program, which have the above technical effects.
In order to solve the above technical problems, the present application provides a method for predicting a lane center line, including:
when the left lane line and the right lane line meet a first preset condition, recording an original track curve of the lane center line and motion parameters of the vehicle; the original track curve is calculated according to the left lane line and the right lane line;
when the left lane line and the right lane line meet a second preset condition, calculating according to the motion parameters of the vehicle to obtain the motion variation of the vehicle;
and carrying out coordinate transformation according to the original track curve and the motion variable quantity to obtain a new track curve of the lane center line under a new vehicle coordinate system after the vehicle moves.
Optionally, the calculating the motion variation of the vehicle according to the motion parameter of the vehicle includes:
according to the yaw rate of the vehicle, calculating to obtain the yaw rate variation of the vehicle;
and respectively calculating the transverse movement distance and the longitudinal movement distance of the vehicle according to the speed of the vehicle, the yaw rate and the yaw rate variation.
Optionally, the performing coordinate transformation according to the original track curve and the motion variation, and obtaining a new track curve of the lane center line in a new vehicle coordinate system after the vehicle moves includes:
selecting a preset number of points from the original track curve, and carrying out coordinate transformation on the points according to the motion variation to obtain points corresponding to the points on the original track curve under the new vehicle coordinate system;
and calculating the new track curve of the lane center line under the new coordinate system according to the corresponding points of the points on the original track curve under the new vehicle coordinate system.
Optionally, the method further comprises:
and outputting the new track curve after the left lane line and the right lane line meet a third preset condition.
Optionally, before outputting the new track curve, the method further includes:
judging whether a new track curve output condition is met;
and if so, outputting the new track curve.
Optionally, the determining whether the new trajectory curve output condition is satisfied includes:
judging whether the longitudinal movement distance of the vehicle is smaller than a first preset threshold value, whether the difference value between the first target parameter of the new track curve and the first target parameter of the original track curve is smaller than a second preset threshold value, and whether the difference value between the second target parameter of the new track curve and the second target parameter of the original track curve is smaller than a third preset threshold value;
and if the longitudinal movement distance of the vehicle is smaller than the first preset threshold value, the difference value between the first target parameter of the new track curve and the first target parameter of the original track curve is smaller than the second preset threshold value, and the difference value between the second target parameter of the new track curve and the second target parameter of the original track curve is smaller than the third preset threshold value, the new track curve output condition is met.
Optionally, the method further comprises:
calculating the confidence coefficient of the new track curve according to the longitudinal movement distance of the vehicle;
and if the confidence coefficient of the new track curve is lower than a preset threshold value, prompting the driver to take over the vehicle and exiting the lane centering function.
In order to solve the above technical problem, the present application further provides a lane center line prediction apparatus, including:
the recording module is used for recording an original track curve of the lane center line and motion parameters of the vehicle when the left lane line and the right lane line meet a first preset condition; the original track curve is calculated according to the left lane line and the right lane line;
the calculation module is used for calculating the motion variation of the vehicle according to the motion parameters of the vehicle after the left lane line and the right lane line meet a second preset condition;
and the conversion module is used for carrying out coordinate transformation according to the original track curve and the motion variation to obtain a new track curve of the lane center line under a new vehicle coordinate system after the vehicle moves.
In order to solve the above technical problem, the present application further provides a prediction apparatus for a lane center line, including:
a memory for storing a computer program;
a processor for implementing the steps of the lane center line prediction method according to any one of the above when executing the computer program.
To solve the above technical problem, the present application further provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the lane center line prediction method according to any one of the above.
The lane center line prediction method provided by the application comprises the following steps: when the left lane line and the right lane line meet a first preset condition, recording an original track curve of the lane center line and motion parameters of the vehicle; the original track curve is calculated according to the left lane line and the right lane line; when the left lane line and the right lane line meet a second preset condition, calculating according to the motion parameters of the vehicle to obtain the motion variation of the vehicle; and carrying out coordinate transformation according to the original track curve and the motion variable quantity to obtain a new track curve of the lane center line under a new vehicle coordinate system after the vehicle moves.
Therefore, the prediction method of the lane center line provided by the application is based on the effective original track curve before the lane line is lost, and the new track curve of the original track curve under the current vehicle coordinate system is obtained by coordinate conversion according to the motion change of the vehicle, so that the effect of extending and running along the original lane direction after the lane line is lost is realized, the problem that the lane line on the left side and the right side of the intersection is not provided with a target track after the lane line is lost is solved, and the problem that the lane line to be turned and driven to advance along the left turning lane is avoided.
The lane center line prediction device, the lane center line prediction equipment and the computer readable storage medium provided by the application have the technical effects.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly explain the drawings needed in the prior art and embodiments, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of a method for predicting a lane center line according to an embodiment of the present application;
fig. 2 is a schematic diagram of a lane center line prediction apparatus according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of a lane center line prediction apparatus according to an embodiment of the present application.
Detailed Description
The core of the application is to provide a prediction method of a lane center line, which can effectively solve the problem that no target track exists after the lane lines on the left side and the right side of an intersection are lost, and the problem that the vehicle moves forward along with the lane line to be turned left when the lane is a straight-going lane and the lane line to be turned left is turned left. Another core of the present application is to provide a lane center line prediction apparatus, and computer-readable storage medium, which all have the above technical effects.
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Referring to fig. 1, fig. 1 is a flowchart of a lane center line prediction method provided in an embodiment of the present application, and referring to fig. 1, the method includes:
s101, when left and right lane lines meet a first preset condition, recording an original track curve of a lane center line and motion parameters of a vehicle; the original track curve is calculated according to the left lane line and the right lane line;
the first preset condition may be that line quality of the left and right lane lines is greater than a preset threshold value and lasts for a preset duration. After the lane centering function is in an activated state and the activation duration exceeds 5s (can be calibrated in a differentiated mode), if the line quality of the left lane line and the right lane line of the lane is greater than a preset threshold value and lasts for a preset duration, the original track curve of the lane center line calculated according to the left lane line and the right lane line can be considered to be effective, and at the moment, the parameters of the original track curve and the current motion parameters of the vehicle are recorded. The motion parameters may include vehicle speed and yaw rate. The line quality is an index of the recognition definition and rationality of the lane lines, the range of the line quality is 0-1, 0 indicates that the lane lines are not recognized completely, and 1 indicates that the recognized lane lines are very clear and accurate.
The preset threshold and the preset duration can be calibrated differently. For example, after the lane centering function is in an activated state and the activation time is longer than 5s, if the line quality of the left and right lane lines of the own lane is greater than 0.75 and lasts for 3s, the original track curve of the lane center line calculated according to the left and right lane lines can be considered to be effective, and the parameters of the original track curve and the current speed and yaw rate of the vehicle are recorded.
The original track curve of the lane center line can be a cubic spline curve, a quintic spline curve or the like. Cubic spline curve expressed as y=y0+a x+b x 2 +c*x 3 . When the original trajectory curve is a cubic spline curve, parameters y0, a, b, c of the cubic spline curve are recorded.
In addition, the manner of calculating the cubic spline curve or the penta spline curve of the lane center line according to the left and right lane lines may refer to the prior art, and the description thereof is omitted herein.
S102, calculating the motion variation of the vehicle according to the motion parameters of the vehicle after the left lane line and the right lane line meet a second preset condition;
the second preset condition may be that the line quality of any one lane line is lower than a preset value and the recognition line of sight of any lane line is smaller than a preset distance value. For example, when the line quality of any lane line is lower than 0.5 and the recognition line of sight of any lane line is smaller than 20m, the parameters of the original track curve recorded at the last time (denoted as time t 0) are locked, and the movement variation of the vehicle from the last time is calculated.
In a specific embodiment, the calculating the motion variation of the vehicle according to the motion parameter of the vehicle includes:
according to the yaw rate of the vehicle, calculating to obtain the yaw rate variation of the vehicle;
and respectively calculating the transverse movement distance and the longitudinal movement distance of the vehicle according to the speed of the vehicle, the yaw rate and the yaw rate variation.
The yaw angle variation is calculated by the following steps:
Δθ＝yawrate*Δt；
Δθ represents the yaw rate variation, yawrate represents the yaw rate, and Δt represents the algorithm operation cycle.
The calculation mode of the longitudinal movement distance is as follows:
Δx represents the longitudinal movement distance, v represents the vehicle speed, Δθ represents the yaw rate variation, and yawrate represents the yaw rate.
The calculation mode of the transverse movement distance is as follows:
Δy represents the lateral movement distance, v represents the vehicle speed, Δθ represents the yaw rate variation, and yawrate represents the yaw rate.
And S103, carrying out coordinate transformation according to the original track curve and the motion variation to obtain a new track curve of the lane center line under a new vehicle coordinate system after the vehicle moves.
In some embodiments, the performing coordinate transformation according to the original track curve and the motion variation, to obtain a new track curve of the lane center line in a new vehicle coordinate system after the vehicle moves includes:
selecting a preset number of points from the original track curve, and carrying out coordinate transformation on the points according to the motion variation to obtain points corresponding to the points on the original track curve under the new vehicle coordinate system;
and calculating the new track curve of the lane center line under the new coordinate system according to the corresponding points of the points on the original track curve under the new vehicle coordinate system.
In the case where the original trajectory curve is a cubic spline curve, four points may be selected from the original trajectory curve. For example, four points with x values of 0, 5, 10 and 15 are selected from the original track curve, and corresponding y values can be calculated according to a cubic spline curve to obtain points (x 1, y 1), (x 2, y 2), (x 3, y 3) and (x 4, y 4).
The center of the rear axle of the bicycle is taken as the origin of coordinates. With the change of the vehicle position, the vehicle coordinate system can be considered to generate translational rotation of the coordinate system, and the calculation mode of the point under the new vehicle coordinate after translational rotation is as follows:
in the above expression, Δθ represents the yaw rate variation, Δx represents the longitudinal movement distance, Δy represents the lateral movement distance, x and y represent the abscissa of the point in the vehicle coordinate before the translational rotation, and x 'and y' represent the abscissa of the corresponding point in the new vehicle coordinate after the translational rotation.
According to the above formula, four corresponding points under the new vehicle coordinate system can be calculated:
(x1’,y1’)、(x2’,y2’)、(x3’,y3’)、(x4’,y4’)。
in the case where the original trajectory curve is a cubic spline curve, the following matrix can be listed according to the formula of the cubic spline curve:
for the above-mentioned shape, for example, X a = Y matrix, matrix a = X -1 *Y，Therefore, 4 parameters of the cubic spline curve under the new vehicle coordinate system after translation and rotation can be obtained, and the cubic spline curve of the lane center line under the new coordinate system can be obtained.
The continuous prediction of the lane center line can be realized by continuously running the corresponding algorithm, and a new track curve of the own vehicle at the current position is continuously calculated and obtained when the algorithm runs continuously.
On the basis of the above embodiments, in some embodiments, the method further includes:
and outputting the new track curve after the left lane line and the right lane line meet a third preset condition.
The third preset condition may be that the line quality of one lane line is lower than a first preset value, the line quality of the other lane line is lower than a second preset value, and the recognition line of sight of the two lane lines is smaller than the third preset value. For example, when the line quality of one of the left and right lane lines of the own lane is lower than 0.25, the line quality of the other lane line is lower than 0.75, and the two lane line recognition viewing distance is less than 20m, the predicted lane center line may be further output for use by the lane centering function. The time at which the left and right lane lines satisfy the third preset condition may be denoted as t1.
In order to ensure the reasonability of the track, in some embodiments, before outputting the new track curve, the method further includes:
judging whether a new track curve output condition is met;
and if so, outputting the new track curve.
Otherwise, if the predicted deviation is not satisfied, the predicted deviation is too large, the new track curve cannot be used, and the algorithm can be exited.
Wherein, the determining whether the new trajectory curve output condition is satisfied may include:
judging whether the longitudinal movement distance of the vehicle is smaller than a first preset threshold value, whether the difference value between the first target parameter of the new track curve and the first target parameter of the original track curve is smaller than a second preset threshold value, and whether the difference value between the second target parameter of the new track curve and the second target parameter of the original track curve is smaller than a third preset threshold value;
and if the longitudinal movement distance of the vehicle is smaller than the first preset threshold value, the difference value between the first target parameter of the new track curve and the first target parameter of the original track curve is smaller than the second preset threshold value, and the difference value between the second target parameter of the new track curve and the second target parameter of the original track curve is smaller than the third preset threshold value, the new track curve output condition is met. If the three conditions cannot be met at the same time, the new track curve output condition is not met.
For example, if the longitudinal movement distance of the vehicle at time t0 to time t1 is less than 10m, the difference between the parameter y0 of the new track curve and the parameter y0 of the original track curve is less than 0.1m, and the difference between the parameter a of the new track curve and the parameter a of the original track curve is less than 0.04, the new track curve output condition is satisfied, and a new track curve may be output.
By reasonably judging the predicted new track curve, the problem that the vehicle is deviated due to the fact that the track change is large and the unreasonable track is used for extending in the process of recording the original track curve until the lane line completely disappears can be avoided.
Further, in some embodiments, further comprising:
calculating the confidence coefficient of the new track curve according to the longitudinal movement distance of the vehicle;
and if the confidence coefficient of the new track curve is lower than a preset threshold value, prompting the driver to take over the vehicle and exiting the lane centering function.
The present embodiment aims to calculate the confidence of the new track curve according to the longitudinal movement distance of the vehicle after the time t1. The confidence coefficient is calculated in the following way:
confidence＝1-distance/10，distance<10；
confidence＝0，distance>＝10。
confidence means confidence and distance means longitudinal movement distance.
If the calculated confidence level is lower than 0.5, the confidence level of the predicted new track curve is considered lower, and the driver is prompted to take over the vehicle and exit the lane centering function.
The confidence coefficient is calculated according to the running distance of the vehicle, the situation that the confidence coefficient of the actual predicted central line is reduced along with the increase of the running distance is more met, and the problem that the vehicle is deviated for a long time due to the fact that the opposite lanes of the intersection are not corresponding can be avoided.
In addition, when the line quality of the left lane line and the right lane line of the own lane is larger than 0.7 (can be calibrated differently), the algorithm can be exited, and the confidence coefficient of the lane center line output by the algorithm can be set to 0.
In summary, the method for predicting the lane center line provided by the application is based on the effective original track curve before the lane line is lost, and the new track curve of the original track curve under the current vehicle coordinate system is obtained by coordinate conversion according to the motion change of the vehicle, so that the effect of extending and running along the original lane direction after the lane line is lost is realized, the problem that no target track exists after the lane line on the left side and the right side of the intersection is lost is solved, and the problem that the lane line to be turned and moved forwards along the left turning lane is avoided.
The present application also provides a lane center line prediction apparatus, which may be referred to in correspondence with the above-described method. Referring to fig. 2, fig. 2 is a schematic diagram of a lane center line prediction apparatus according to an embodiment of the present application, and in combination with fig. 2, the apparatus includes:
the recording module 10 is used for recording an original track curve of the lane center line and motion parameters of the vehicle when the left lane line and the right lane line meet a first preset condition; the original track curve is calculated according to the left lane line and the right lane line;
the calculating module 20 is configured to calculate a motion variation of the vehicle according to the motion parameter of the vehicle after the left and right lane lines meet a second preset condition;
and the conversion module 30 is used for carrying out coordinate transformation according to the original track curve and the motion variation to obtain a new track curve of the lane center line under a new vehicle coordinate system after the vehicle moves.
Based on the above embodiment, as a specific implementation manner, the calculation module 20 includes:
a first calculation unit, configured to calculate a yaw rate variation of a vehicle according to a yaw rate of the vehicle;
and the second calculation unit is used for calculating the transverse movement distance and the longitudinal movement distance of the vehicle according to the speed of the vehicle, the yaw rate and the yaw angle variation respectively.
Based on the above embodiment, as a specific implementation manner, the scaling module 30 includes:
the coordinate transformation unit is used for selecting a preset number of points from the original track curve, and carrying out coordinate transformation on the points according to the motion variation to obtain points corresponding to the points on the original track curve under the new vehicle coordinate system;
and the curve calculation unit is used for calculating the new track curve of the lane center line under the new coordinate system according to the corresponding points of the points on the original track curve under the new vehicle coordinate system.
On the basis of the above embodiment, as a specific implementation manner, the method further includes:
and the output module is used for outputting the new track curve after the left lane line and the right lane line meet a third preset condition.
On the basis of the above embodiment, as a specific implementation manner, the method further includes:
the judging module is used for judging whether the new track curve output condition is met;
and if so, the output module outputs the new track curve.
On the basis of the foregoing embodiment, as a specific implementation manner, the judging module is specifically configured to:
judging whether the longitudinal movement distance of the vehicle is smaller than a first preset threshold value, whether the difference value between the first target parameter of the new track curve and the first target parameter of the original track curve is smaller than a second preset threshold value, and whether the difference value between the second target parameter of the new track curve and the second target parameter of the original track curve is smaller than a third preset threshold value;
and if the longitudinal movement distance of the vehicle is smaller than the first preset threshold value, the difference value between the first target parameter of the new track curve and the first target parameter of the original track curve is smaller than the second preset threshold value, and the difference value between the second target parameter of the new track curve and the second target parameter of the original track curve is smaller than the third preset threshold value, the new track curve output condition is met.
On the basis of the above embodiment, as a specific implementation manner, the method further includes:
the confidence coefficient calculating module is used for calculating the confidence coefficient of the new track curve according to the longitudinal movement distance of the vehicle;
and the prompting module is used for prompting a driver to take over the vehicle and quit the lane centering function if the confidence coefficient of the new track curve is lower than a preset threshold value.
According to the prediction device for the lane center line, provided by the application, the new track curve of the original track curve under the current vehicle coordinate system is obtained based on the effective original track curve before the lane line is lost through coordinate conversion according to the motion change of the vehicle, the effect that the lane line is lost and runs along the original lane direction is achieved, the problem that the lane line on the left side and the right side of the intersection is lost and has no target track is solved, and the problem that the lane line is to be turned along with the left turn lane is avoided.
The present application also provides a lane center line prediction apparatus, which includes a memory 1 and a processor 2, as shown with reference to fig. 3.
A memory 1 for storing a computer program;
a processor 2 for executing a computer program to perform the steps of:
when the left lane line and the right lane line meet a first preset condition, recording an original track curve of the lane center line and motion parameters of the vehicle; the original track curve is calculated according to the left lane line and the right lane line; when the left lane line and the right lane line meet a second preset condition, calculating according to the motion parameters of the vehicle to obtain the motion variation of the vehicle; and carrying out coordinate transformation according to the original track curve and the motion variable quantity to obtain a new track curve of the lane center line under a new vehicle coordinate system after the vehicle moves.
For the description of the apparatus provided in the present application, reference is made to the above method embodiments, and the description is omitted herein.
The present application also provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor, performs the steps of:
when the left lane line and the right lane line meet a first preset condition, recording an original track curve of the lane center line and motion parameters of the vehicle; the original track curve is calculated according to the left lane line and the right lane line; when the left lane line and the right lane line meet a second preset condition, calculating according to the motion parameters of the vehicle to obtain the motion variation of the vehicle; and carrying out coordinate transformation according to the original track curve and the motion variable quantity to obtain a new track curve of the lane center line under a new vehicle coordinate system after the vehicle moves.
The computer readable storage medium may include: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
For the description of the computer-readable storage medium provided in the present application, reference is made to the above method embodiments, and the description is omitted herein.
In the description, each embodiment is described in a progressive manner, and each embodiment is mainly described by the differences from other embodiments, so that the same similar parts among the embodiments are mutually referred. For the apparatus, device and computer readable storage medium of the embodiment disclosure, since it corresponds to the method of the embodiment disclosure, the description is relatively simple, and the relevant points refer to the description of the method section.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The method, apparatus, device and computer readable storage medium for predicting the lane center line provided by the present application are described in detail above. Specific examples are set forth herein to illustrate the principles and embodiments of the present application, and the description of the examples above is only intended to assist in understanding the methods of the present application and their core ideas. It should be noted that it would be obvious to those skilled in the art that various improvements and modifications can be made to the present application without departing from the principles of the present application, and such improvements and modifications fall within the scope of the claims of the present application.
Claims (10)
1. A method for predicting a lane center line, comprising:
when the left lane line and the right lane line meet a first preset condition, recording an original track curve of the lane center line and motion parameters of the vehicle; the original track curve is calculated according to the left lane line and the right lane line;
when the left lane line and the right lane line meet a second preset condition, calculating according to the motion parameters of the vehicle to obtain the motion variation of the vehicle;
and carrying out coordinate transformation according to the original track curve and the motion variable quantity to obtain a new track curve of the lane center line under a new vehicle coordinate system after the vehicle moves.
2. The method according to claim 1, wherein the calculating the motion variation of the vehicle from the motion parameter of the vehicle includes:
according to the yaw rate of the vehicle, calculating to obtain the yaw rate variation of the vehicle;
and respectively calculating the transverse movement distance and the longitudinal movement distance of the vehicle according to the speed of the vehicle, the yaw rate and the yaw rate variation.
3. The method according to claim 1, wherein the performing coordinate transformation according to the original trajectory profile and the motion variation amount to obtain a new trajectory profile of the lane center line in a new vehicle coordinate system after the movement of the vehicle comprises:
selecting a preset number of points from the original track curve, and carrying out coordinate transformation on the points according to the motion variation to obtain points corresponding to the points on the original track curve under the new vehicle coordinate system;
and calculating the new track curve of the lane center line under the new coordinate system according to the corresponding points of the points on the original track curve under the new vehicle coordinate system.
4. The method for predicting a lane center line according to claim 1, further comprising:
and outputting the new track curve after the left lane line and the right lane line meet a third preset condition.
5. The method of predicting a lane centerline according to claim 4, wherein the outputting the new trajectory profile further comprises:
judging whether a new track curve output condition is met;
and if so, outputting the new track curve.
6. The method of predicting a lane centerline according to claim 5, wherein the determining whether a new trajectory profile output condition is satisfied comprises:
judging whether the longitudinal movement distance of the vehicle is smaller than a first preset threshold value, whether the difference value between the first target parameter of the new track curve and the first target parameter of the original track curve is smaller than a second preset threshold value, and whether the difference value between the second target parameter of the new track curve and the second target parameter of the original track curve is smaller than a third preset threshold value;
and if the longitudinal movement distance of the vehicle is smaller than the first preset threshold value, the difference value between the first target parameter of the new track curve and the first target parameter of the original track curve is smaller than the second preset threshold value, and the difference value between the second target parameter of the new track curve and the second target parameter of the original track curve is smaller than the third preset threshold value, the new track curve output condition is met.
7. The method for predicting a lane center line according to claim 1, further comprising:
calculating the confidence coefficient of the new track curve according to the longitudinal movement distance of the vehicle;
and if the confidence coefficient of the new track curve is lower than a preset threshold value, prompting the driver to take over the vehicle and exiting the lane centering function.
8. A lane center line prediction apparatus, comprising:
the recording module is used for recording an original track curve of the lane center line and motion parameters of the vehicle when the left lane line and the right lane line meet a first preset condition; the original track curve is calculated according to the left lane line and the right lane line;
the calculation module is used for calculating the motion variation of the vehicle according to the motion parameters of the vehicle after the left lane line and the right lane line meet a second preset condition;
and the conversion module is used for carrying out coordinate transformation according to the original track curve and the motion variation to obtain a new track curve of the lane center line under a new vehicle coordinate system after the vehicle moves.
9. A lane center line prediction apparatus, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the lane center line prediction method according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the lane center line prediction method according to any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211666197.3A CN116215546A (en) | 2022-12-23 | 2022-12-23 | Lane center line prediction method and related device |
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| CN202211666197.3A CN116215546A (en) | 2022-12-23 | 2022-12-23 | Lane center line prediction method and related device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116834729A (en) * | 2023-08-28 | 2023-10-03 | 常州星宇车灯股份有限公司 | Transverse and longitudinal combined control system and control method for vehicle auxiliary driving |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116834729A (en) * | 2023-08-28 | 2023-10-03 | 常州星宇车灯股份有限公司 | Transverse and longitudinal combined control system and control method for vehicle auxiliary driving |
| CN116834729B (en) * | 2023-08-28 | 2023-11-17 | 常州星宇车灯股份有限公司 | Transverse and longitudinal combined control system and control method for vehicle auxiliary driving |
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