CN116946187A - Method, device, equipment and medium for determining speed direction of target vehicle - Google Patents
Method, device, equipment and medium for determining speed direction of target vehicle Download PDFInfo
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
- B60W60/00272—Planning or execution of driving tasks using trajectory prediction for other traffic participants relying on extrapolation of current movement
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- 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
- B60W40/10—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 vehicle motion
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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
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Abstract
The embodiment of the disclosure discloses a speed direction determining method, a speed direction determining device, electronic equipment and a storage medium of a target vehicle, wherein the method comprises the following steps: acquiring the current frame motion direction, the current frame running speed and the current frame steering angular speed of a target vehicle; when the turning radius of the current frame of the target vehicle is smaller than the turning radius threshold value, determining the speed direction of the target vehicle according to the current frame movement direction, the current frame running speed, the current frame steering angular speed and the length of the target vehicle, wherein the turning radius of the current frame is determined according to the current frame running speed and the current frame steering angular speed. The speed direction unstable condition that the reference point is unstable has been solved to this disclosure, has improved the accuracy of speed direction prediction of target vehicle and the security and the ride comfort of driving by oneself, and this disclosure does not rely on sensors such as camera, millimeter wave radar moreover, and does not have high to laser radar's performance and unmanned vehicles's hardware requirement, and the range of application is wider.
Description
Technical Field
The disclosure relates to the technical field of automatic driving, and in particular relates to a speed and direction determining method, device, equipment and medium of a target vehicle.
Background
In the unmanned process, the accuracy degree of the motion state estimation of the target vehicle is related to the safety and smoothness of the unmanned vehicle. The speed direction of the target vehicle is an important attribute, and the incorrect speed direction may cause safety risk due to lack of accurate prediction for short-distance overtaking, robbing or lane changing, and the like, and may also cause frequent false braking due to prediction errors, so as to affect the smoothness of driving.
Currently, existing speed direction predictions of a target vehicle typically use vector directions of multiple frame reference points to determine the speed direction of the target vehicle. For example, a target vehicle is tracked, a reference point which can be matched with the front and rear frame data is selected, and the vector direction of a connecting line of the reference point matched with the front and rear frame data is taken as the speed direction of the target vehicle. However, the reference point of each frame of data is sometimes unstable, so that the output speed direction is also unstable, and sometimes large deviation exists, thereby affecting the safety and smoothness of the bicycle.
Disclosure of Invention
In order to solve the above technical problems or at least partially solve the above technical problems, embodiments of the present disclosure provide a method, an apparatus, a device, and a medium for determining a speed direction of a target vehicle, which improve accuracy of speed direction prediction of the target vehicle and safety and smoothness of driving of a vehicle.
In a first aspect, an embodiment of the present disclosure provides a speed direction determining method of a target vehicle, the method including:
acquiring the current frame motion direction, the current frame running speed and the current frame steering angular speed of a target vehicle;
and when the turning radius of the current frame of the target vehicle is smaller than a turning radius threshold value, determining the speed direction of the target vehicle according to the current frame movement direction, the current frame running speed, the current frame steering angular speed and the length of the target vehicle, wherein the current frame turning radius is determined according to the current frame running speed and the current frame steering angular speed.
In a second aspect, an embodiment of the present disclosure further provides a speed direction determining apparatus of a target vehicle, including:
the acquisition module is used for acquiring the current frame motion direction, the current frame running speed and the current frame steering angular speed of the target vehicle;
and the determining module is used for determining the speed direction of the target vehicle according to the current frame movement direction, the current frame running speed, the current frame steering angular speed and the length of the target vehicle when the current frame turning radius of the target vehicle is smaller than a turning radius threshold value, wherein the current frame turning radius is determined according to the current frame running speed and the current frame steering angular speed.
In a third aspect, embodiments of the present disclosure further provide an electronic device, including: one or more processors; a storage means for storing one or more programs; the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the speed direction determination method of the target vehicle as described above.
In a fourth aspect, the presently disclosed embodiments also provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the speed direction determination method of a target vehicle as described above.
The embodiment of the disclosure provides a speed direction determining method of a target vehicle, which determines the speed direction of the target vehicle through the current frame movement direction, the current frame driving speed, the current frame steering angular speed and the vehicle length of the target vehicle when the current frame turning radius of the target vehicle is smaller than a turning radius threshold value.
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The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.
FIG. 1 is a flow chart of a method of determining a speed direction of a target vehicle in an embodiment of the present disclosure;
FIG. 2 is a schematic illustration of an edge fitting straight line determining a first orientation and a second orientation of a target vehicle in an embodiment of the present disclosure;
FIG. 3 is a schematic illustration of a target vehicle turning in an embodiment of the present disclosure;
fig. 4 is a schematic structural view of a speed direction determining apparatus of a target vehicle in an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an electronic device in an embodiment of the disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure have been shown in the accompanying drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.
It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.
The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.
Fig. 1 is a flowchart of a speed direction determining method of a target vehicle in an embodiment of the present disclosure. The method provided by the embodiment of the disclosure can be suitable for determining the speed direction of the target vehicle according to the point cloud data detected by the self-vehicle laser radar, and can also be suitable for determining the speed direction of the target vehicle according to the image detected by the self-vehicle camera. The method may be performed by a speed direction determining device of the target vehicle, which may be implemented in software and/or hardware, which may be configured in an electronic device. As shown in fig. 1, the method specifically may include the following steps:
s110, acquiring the current frame motion direction, the current frame running speed and the current frame steering angular speed of the target vehicle.
It is understood that the target vehicle is another vehicle on the same road or environment as the host vehicle, such as a motor vehicle commonly found on public roads, e.g., a car, truck, bus, etc. The current frame motion orientation may be the direction angle of the head (forward) or tail (reverse) of the target vehicle in world coordinate system when the target vehicle is moving at the current time. The current frame running speed of the target vehicle can be obtained by calculating a multi-frame point cloud acquired by a sensor such as a laser radar arranged on the vehicle or a multi-frame image acquired by a sensor such as a camera arranged on the vehicle. For example, the current frame running speed is calculated by calculating the positions of the target vehicles in the previous frame point cloud and the current frame point cloud and the time acquired by the two frame point clouds, or the current frame running speed is calculated by calculating the positions of the target vehicles in the previous frame image and the current frame image and the time acquired by the two frame images.
Illustratively, the acquiring the current frame motion orientation of the target vehicle includes:
acquiring a vehicle pose and an edge fitting straight line of the target vehicle;
determining a first current frame direction and a second current frame direction of the target vehicle according to the vehicle pose and the edge fitting straight line, wherein the first current frame direction is used for describing a first included angle between an edge characteristic straight line and a coordinate axis under a world coordinate system, and the second current frame direction is opposite to the first current frame direction;
determining a first angle difference between a first direction of the current frame and a speed direction of a previous frame;
determining a second angle difference between a second direction of the current frame and a speed direction of a previous frame;
and determining a first absolute value of the first angle difference and a second absolute value of the second angle difference, and determining the motion orientation of the current frame according to the minimum absolute value of the first absolute value and the second absolute value.
Specifically, the vehicle pose generally refers to a position and a pose of the vehicle, and the present disclosure obtains the position and the pose of the vehicle under a world coordinate system by using sensors disposed on the vehicle, where the position of the vehicle may be represented as (x, y, z), and the pose of the vehicle may be represented as (Yaw, pitch, roll). The sensor can be a GPS, a laser radar and the like; the point cloud of the target vehicle can be acquired through the laser radar of the vehicle, an edge fitting straight line under the vehicle body coordinate system is obtained through point cloud calculation, the edge fitting straight line under the vehicle body coordinate system is converted into the world coordinate system through the vehicle position, and then a first included angle between the edge fitting straight line and a coordinate axis of the world coordinate system is determined, wherein the coordinate axis comprises an abscissa axis and an ordinate axis, and whether the first included angle is the included angle between the edge fitting straight line and the abscissa axis or the included angle between the edge fitting straight line and the ordinate axis is determined according to the course angle under the world coordinate system. Taking the ordinate axis as an example, referring to fig. 2, fig. 2 is a schematic diagram of determining a first direction and a second direction of a target vehicle by using an edge fitting line in an embodiment of the disclosure, where the edge fitting line includes a first direction of a current frame and a second direction of the current frame, and the first direction of the current frame may be represented by a first angle between the edge fitting line and the ordinate axis in a world coordinate system, and the second direction of the current frame is opposite to the first direction of the current frame, that is, the first direction of the current frame is complementary to the second direction of the current frame.
The speed direction of the previous frame refers to the previous frame of the current frame, for example, a target vehicle on tracking is used to obtain 1 to N frame point clouds, the nth frame is assumed to be the current frame, the nth-1 frame is assumed to be the previous frame, a reference point which can be matched on the front and back frame point clouds (can be the nth-1 frame point cloud and the nth-2 frame point cloud) is selected, and the vector direction of the connecting line of the reference point which can be matched on the nth-1 frame point cloud and the nth-2 frame point cloud is taken as the speed direction of the previous frame of the current frame, namely, the speed direction of the nth-1 frame. The speed direction of the previous frame of the current frame may also be determined by using the current frame motion direction, the current frame running speed, the current frame steering angular speed and the vehicle length of the target vehicle, and the speed direction of the previous frame may also be represented by using an included angle with a coordinate axis under a world coordinate system. It is understood that when the first absolute value is smaller than the second absolute value, the first direction of the current frame corresponding to the first absolute value is taken as the motion direction of the current frame, and conversely, the second direction of the current frame corresponding to the second absolute value is taken as the motion direction of the current frame.
In an embodiment, the obtaining the edge fitting line of the target vehicle includes:
acquiring a point cloud and a point cloud bounding box of the target vehicle;
projecting the point cloud and the point cloud bounding box to a two-dimensional plane to respectively obtain a two-dimensional point set and a two-dimensional point cloud bounding box;
and determining a target edge according to the self-vehicle pose and the two-dimensional point cloud bounding box, wherein the target edge is an edge in the two-dimensional point cloud bounding box.
Taking the two-dimensional point set and the point with the distance smaller than the preset distance from the target side as edge points, wherein the preset distance is determined based on the vehicle width of the target vehicle;
and fitting each edge point to obtain an edge fitting straight line.
Specifically, acquiring point clouds of a target vehicle by using a laser radar arranged on a self vehicle, inputting the point clouds into a deep learning target detection model to obtain a point cloud bounding box of the target vehicle, and projecting the point clouds and the point cloud bounding box onto an x-y plane of a vehicle body coordinate system to obtain a two-dimensional point set consisting of points in the point clouds and a two-dimensional point cloud bounding box; finding the edge, closest to the vehicle position, of the two-dimensional point cloud bounding box, namely a target edge, and taking the point, which falls into a preset distance corresponding to the target edge, in the two-dimensional point cluster as an edge point; in other words, a point in the two-dimensional point set having a distance from the target side smaller than the preset distance is taken as an edge point. And then carrying out straight line fitting on all edge points by adopting a least square method or a RANSAC algorithm to obtain an edge fitting straight line. The preset distance may be determined by the vehicle width of the target vehicle, and may be empirically 0.1 to 0.3 times the vehicle width, for example, 3 meters, and may be any value from 0.3 meters to 0.9 meters.
Because the number of the obtained edge points is large, if the number of the obtained edge points is large, the calculated amount is large, a downsampling method can be adopted to obtain sparse edge points, and the sparse edge points are used for carrying out least square method or RANSAC algorithm fitting to obtain an edge fitting straight line, so that the calculated amount of the edge points is reduced, the calculation force is improved, and the processing time is saved.
On the basis of the embodiment, the confidence of the current frame orientation corresponding to the current frame motion orientation of the target vehicle can be obtained while the current frame motion orientation is obtained.
The obtaining the confidence of the current frame motion direction of the target vehicle to the corresponding current frame direction comprises the following steps:
determining a point, of which the distance from the two-dimensional point set to the edge fitting straight line is smaller than a distance threshold, as a target point;
determining a first distance between the target points, and determining the maximum first distance as a target distance;
and determining the current frame orientation confidence based on the number of the two-dimensional point concentration points, the number of the target points, the target distance and the length of the target vehicle.
It will be appreciated that the distance threshold may be preset, with empirically acceptable values of 0.05 to 0.20m. In the process of obtaining the edge fitting straight line, the two-dimensional point set and the edge fitting straight line can be utilized to determine the corresponding current frame orientation confidence of the current frame motion orientation of the target vehicle, specifically, the point, namely the target point, of which the distance from the edge fitting straight line is smaller than the distance threshold is obtained from the two-dimensional point set, then the first distance between the target points is calculated, the largest first distance is determined as the target distance, and then the number of the two-dimensional point set points, the number of the target points, the target distance and the vehicle length of the target vehicle are utilized to determine the current frame orientation confidence, wherein the expression of the current frame orientation confidence is as follows:
wherein ρ is the confidence level of the current frame orientation, P in For the number of target points, P all The number of the two-dimensional point concentration points is d, the target distance is l, and the vehicle length of the target vehicle is l.
Further, the acquiring the current frame steering angular velocity of the target vehicle includes:
acquiring the current frame motion orientation confidence corresponding to the current frame motion orientation of the target vehicle, and acquiring each historical frame motion orientation of the target vehicle and each corresponding historical frame orientation confidence;
when the current frame orientation confidence is greater than a confidence threshold, the historical frame orientation confidence is greater than the confidence threshold, and the historical frame motion orientation closest to the current frame is used as a reference frame motion orientation;
the current frame steering angular velocity is determined based on the current frame motion orientation, the reference frame motion orientation, and a time difference between the current frame and the reference frame.
It can be appreciated that the confidence threshold is preset and can take on a value of 0.5 to 0.7; the obtaining manner of the historical frame motion orientation is the same as that of the current frame motion orientation, and the obtaining manner of the historical frame orientation confidence is the same as that of the current frame orientation confidence, and will not be repeated here. After the current frame orientation confidence is obtained, if the current frame orientation confidence exceeds a confidence threshold, taking the latest historical frame motion orientation of each historical frame orientation confidence tracked by the target vehicle exceeding the confidence threshold as a reference frame motion orientation, and then calculating the angle difference of the motion orientation between the current frame motion orientation and the reference frame motion orientation and the time difference between the current frame and the reference frame to obtain the current frame steering angular speed; and if the orientation confidence of the current frame is not greater than the confidence threshold, stopping using the method to perform subsequent calculation.
For example, assuming that 1 to m-1 frames are each historical frame orientation confidence, the mth frame is the current frame orientation confidence, if the mth frame orientation confidence is greater than the confidence threshold, traversing each historical frame orientation confidence from the mth frame based on the mth frame orientation confidence until the first occurrence historical frame orientation confidence is greater than the confidence threshold, taking a historical frame motion orientation corresponding to the historical frame orientation confidence of which the first occurrence historical frame orientation confidence exceeds the confidence threshold as a reference frame motion orientation, then calculating an angle difference of the motion orientation between the current frame motion orientation and the reference frame motion orientation and a time difference between the current frame and the reference frame, and taking a ratio of the angle difference of the motion orientation to the time difference as a current frame steering angular speed.
And S120, when the turning radius of the current frame of the target vehicle is smaller than a turning radius threshold value, determining the speed direction of the target vehicle according to the current frame movement direction, the current frame running speed, the current frame steering angular speed and the length of the target vehicle, wherein the current frame turning radius is determined according to the current frame running speed and the current frame steering angular speed.
It will be appreciated that the turning radius threshold is manually preset, for example, the turning radius threshold may be 30 meters to 60 meters for evaluating whether the target vehicle has a tendency to turn or lane change.
The current frame turning radius r can be directly determined by using a current frame steering angular speed ω and a current frame running speed v and adopting a formula r=v/ω, wherein the current frame steering angular speed ω and the current frame running speed v can be obtained by adopting a prior art method, can also be obtained by adopting an embodiment method of the present disclosure, and can also be determined based on an ackerman model, and the ackerman model comprises the formula r=v/ω. After determining the turning radius of the current frame, judging the magnitude relation between the turning radius of the current frame of the target vehicle and a turning radius threshold value, and when the turning radius of the current frame of the target vehicle is smaller than the turning radius threshold value, considering that the target vehicle has a turning trend, and determining the speed direction of the target vehicle by using the movement direction of the current frame, the running speed of the current frame, the steering angular speed of the current frame and the vehicle length of the target vehicle at the current moment; otherwise, the target vehicle is considered to have no turning trend, the target vehicle is in straight running at the current moment, and the current frame is moved towards the speed direction of the target vehicle.
In another example, the method further comprises: and when the turning radius of the current frame is not smaller than a turning radius threshold value, determining the movement direction of the current frame as the speed direction of the target vehicle.
Specifically, on the basis of the above embodiment, in the case where the turning radius of the current frame is not smaller than the turning radius threshold value, it is known that the target vehicle is turning-trend-free, and the target vehicle can be considered to be traveling straight at the current time, at this time, the current frame is moved toward the speed direction as the target vehicle.
According to the speed direction determining method of the target vehicle, when the turning radius of the current frame of the target vehicle is smaller than the turning radius threshold value, the speed direction of the target vehicle is determined according to the movement direction of the current frame, the running speed of the current frame, the steering angular speed of the current frame and the vehicle length of the target vehicle, the problem that the speed direction is unstable due to the fact that an unstable reference point is utilized in the prior art is solved, accuracy of speed direction prediction of the target vehicle and safety and smoothness of running of the vehicle are improved, in addition, the method does not depend on sensors such as a camera and a millimeter wave radar, and the requirements on performance of the laser radar and hardware of an unmanned vehicle are low, and application range is wide.
In an embodiment, when it is determined that the target vehicle is in turning driving at the current moment, the determining the speed direction of the target vehicle according to the current frame movement direction, the current frame driving speed, the current frame steering angular speed and the vehicle length of the target vehicle includes:
determining a compensation deviation based on the current frame travel speed, the current frame steering angular speed, and a length of the target vehicle;
and determining the speed direction of the target vehicle according to the current frame motion direction and the compensation deviation.
The compensation deviation is an acute angle value without a negative value, the sign of the compensation deviation is required to be determined by taking the heading of the target vehicle under a world coordinate system, the world coordinate system comprises a left-hand coordinate system and a right-hand coordinate system, the target vehicle turns clockwise by taking the left-hand coordinate system as an example, the compensation deviation is positive, the target vehicle turns anticlockwise, and the compensation deviation is negative; taking the right hand coordinate system as an example, the target vehicle turns clockwise, the compensation deviation is negative, the target vehicle turns anticlockwise, and the compensation deviation is positive.
For example, when it is determined that the target vehicle is turning, referring to fig. 3, fig. 3 is a schematic diagram of turning of the target vehicle in the embodiment of the disclosure, the target vehicle positions at two times t1 and t2 are described based on the ackerman steering model, the O steering center, θ is the speed direction of the target vehicle, γ is the current frame movement direction determined on the ordinate axis, l is the length of the target vehicle, r is the current frame turning radius of the target vehicle, a1 is the compensation deviation of the speed direction and the current frame movement direction of the target vehicle, and referring to fig. 3, the expression of the compensation deviation a1 can be derived based on the ackerman model:
using the above formula r=v/ω, the expression (2) of the compensation deviation a1 is derived:
taking the left-hand coordinate system as an example, if the target vehicle is turned clockwise, it may be determined that the compensation deviation is a positive value, the current frame movement direction is determined with the ordinate axis, the speed direction of the target vehicle is calculated from the compensation deviation, and the speed direction of the target vehicle is expressed as:
θ ＝ γ +a1 (3)
and then combining the expressions (2) and (3) to obtain the expression (4):
from this, it can be seen that, for example, the left hand coordinate system, when the target vehicle is turned clockwise, the direction of the speed of the target vehicle is obtained by deflecting the current frame movement direction by an angle a1 clockwise.
Taking the left-hand coordinate system as an example, if the target vehicle turns counterclockwise, it is possible to determine that the compensation deviation is negative at this time, determine the current frame movement direction with the ordinate axis, calculate the speed direction of the target vehicle from the compensation deviation, and derive the following expression based on the above calculation process:
θ ＝ γ-a1 (5)
from this, it can be seen that, for example, the left-hand coordinate system, when the target vehicle is turning counterclockwise, the speed direction of the target vehicle is obtained by deflecting the current frame movement counterclockwise by an angle a 1.
In summary, the target vehicle is compensated in the turning direction, and the compensation deviation is determined based on the ackerman steering model by using the current frame running speed, the current frame steering angular speed and the target vehicle length; the compensation bias and current frame motion orientation can then solve for the speed direction of the target vehicle.
The current frame turning radius can be determined through the current frame steering angular speed, the current frame running speed and the ackerman model, and then the current frame turning radius and the turning radius threshold value are compared through the ackerman model, if the current frame turning radius is smaller than the turning radius threshold value, the target vehicle can be determined to be in a turning running working condition, otherwise, the target vehicle can be determined to be in a straight running working condition; further, under the condition that the target vehicle is determined to be in a turning running condition, the compensation deviation of the target vehicle can be determined through the Ackerman model, and then the speed direction of the target vehicle is determined by combining the compensation deviation and the current frame movement direction, and under the condition that the target vehicle is determined to be in a straight running condition, the current frame movement direction is directly used as the speed direction of the target vehicle.
According to the speed direction determining method of the target vehicle, the compensation deviation is determined based on the Ackerman steering model, the current frame movement direction is corrected through the compensation deviation, the speed direction of the target vehicle is further determined accurately, the accuracy of the speed direction of the target vehicle and the safety and smoothness of the self-vehicle driving are improved, and therefore obstacle avoidance and advanced planning are facilitated.
Fig. 4 is a schematic structural view of a speed direction determining apparatus of a target vehicle in an embodiment of the present disclosure; the device comprises: an acquisition module 310 and a determination module 320, wherein the acquisition module 310 is configured to acquire a current frame motion direction, a current frame traveling speed, and a current frame steering angular speed of the target vehicle; a determining module 320, configured to determine, when a turning radius of a current frame of the target vehicle is less than a turning radius threshold, a speed direction of the target vehicle according to the current frame movement direction, the current frame driving speed, the current frame steering angular speed, and a vehicle length of the target vehicle, where the turning radius is determined according to the current frame driving speed and the current frame steering angular speed.
In one embodiment, the determining module 320 includes a determining submodule for determining a compensation deviation based on the current frame travel speed, the current frame steering angular speed, and the length of the target vehicle;
and determining the speed direction of the target vehicle according to the current frame motion direction and the compensation deviation.
In an embodiment, the obtaining module 310 includes a current frame motion direction obtaining module, where the current frame motion direction obtaining module is configured to obtain a vehicle pose and an edge fitting line of the target vehicle, where the edge fitting line is configured to describe a line formed by fitting a point cloud of the target vehicle closest to the vehicle pose;
determining a first current frame direction and a second current frame direction of the target vehicle according to the vehicle pose and the edge fitting straight line, wherein the first current frame direction is used for describing a first included angle between the edge fitting straight line and a coordinate axis under a world coordinate system, and the second current frame direction is opposite to the first current frame direction;
determining a first angle difference between a first direction of the current frame and a speed direction of a previous frame;
determining a second angle difference between a second direction of the current frame and a speed direction of a previous frame;
and determining a first absolute value of the first angle difference and a second absolute value of the second angle difference, and determining the motion direction of the current frame according to the minimum absolute value of the first absolute value and the second absolute value.
In an embodiment, the current frame motion direction obtaining module includes an edge fitting straight line obtaining module, where the edge fitting straight line obtaining module is configured to obtain a point cloud and a point cloud bounding box of the target vehicle; projecting the point cloud and the point cloud bounding box to a two-dimensional plane to respectively obtain a two-dimensional point set and a two-dimensional point cloud bounding box;
determining a target edge according to the vehicle pose and the two-dimensional point cloud bounding box, wherein the target edge is an edge in the two-dimensional point cloud bounding box;
taking the two-dimensional point set and the point with the distance smaller than the preset distance from the target side as edge points, wherein the preset distance is determined based on the vehicle width of the target vehicle;
and fitting each edge point to obtain an edge fitting straight line.
In an embodiment, the obtaining module 310 includes a current frame steering angular velocity obtaining module, where the current frame steering angular velocity obtaining module is configured to obtain a corresponding current frame orientation confidence of a current frame motion orientation of the target vehicle, and each historical frame motion orientation of the target vehicle and each corresponding historical frame orientation confidence;
when the current frame orientation confidence is greater than a confidence threshold, the historical frame orientation confidence is greater than the confidence threshold, and the historical frame motion orientation closest to the current frame is used as a reference frame motion orientation;
the current frame steering angular velocity is determined based on the current frame motion orientation, the reference frame motion orientation, and a time difference between the current frame and the reference frame.
In an embodiment, the current frame steering angular velocity obtaining module includes a current frame orientation confidence obtaining module, where the current frame orientation confidence obtaining module is configured to determine, as the target point, a point in the two-dimensional point set having a distance from the edge fitting line less than a distance threshold;
determining a first distance between the target points, and determining the maximum first distance as a target distance;
and determining the current frame orientation confidence based on the number of the two-dimensional point concentration points, the number of the target points, the target distance and the length of the target vehicle.
In an embodiment, the determining module 320 is further configured to determine the current frame movement direction as the speed direction of the target vehicle when the current frame turning radius is not less than a turning radius threshold.
The speed direction determining device of the target vehicle provided by the embodiment of the present disclosure may perform the steps in the speed direction determining method of the target vehicle provided by the embodiment of the present disclosure, so that the same beneficial effects may be obtained, which will not be described herein.
Fig. 5 is a schematic structural diagram of an electronic device in an embodiment of the disclosure. Referring now in particular to fig. 5, a schematic diagram of an electronic device 500 suitable for use in implementing embodiments of the present disclosure is shown. The electronic device shown in fig. 5 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
As shown in fig. 5, an electronic device 500 may include a processing means (e.g., a central processor, a graphics processor, etc.) 501 that may perform various suitable actions and processes to implement the methods of embodiments as described in the present disclosure according to a program stored in a Read Only Memory (ROM) 502 or a program loaded from a storage means 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic apparatus 500 are also stored. The processing device 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a non-transitory computer readable medium, the computer program comprising program code for performing the method shown in the flowchart, thereby implementing the method of labeling a 3D detection box of a vehicle as described above. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means 509, or from the storage means 508, or from the ROM 502. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 501.
It should be noted that the computer readable medium described in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having 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. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to:
acquiring the current frame motion direction, the current frame running speed and the current frame steering angular speed of a target vehicle;
and when the turning radius of the current frame of the target vehicle is smaller than a turning radius threshold value, determining the speed direction of the target vehicle according to the current frame movement direction, the current frame running speed, the current frame steering angular speed and the length of the target vehicle, wherein the current frame turning radius is determined according to the current frame running speed and the current frame steering angular speed.
Alternatively, the electronic device may perform other steps described in the above embodiments when the above one or more programs are executed by the electronic device.
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.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by persons skilled in the art that the scope of the disclosure referred to in this disclosure is not limited to the specific combinations of features described above, but also covers other embodiments which may be formed by any combination of features described above or equivalents thereof without departing from the spirit of the disclosure. Such as those described above, are mutually substituted with the technical features having similar functions disclosed in the present disclosure (but not limited thereto).
Claims (10)
1. A speed direction determining method of a target vehicle, characterized by comprising:
acquiring the current frame motion direction, the current frame running speed and the current frame steering angular speed of a target vehicle;
and when the turning radius of the current frame of the target vehicle is smaller than a turning radius threshold value, determining the speed direction of the target vehicle according to the current frame movement direction, the current frame running speed, the current frame steering angular speed and the length of the target vehicle, wherein the current frame turning radius is determined according to the current frame running speed and the current frame steering angular speed.
2. The method of claim 1, wherein the determining the speed direction of the target vehicle based on the current frame motion orientation, the current frame travel speed, the current frame steering angular speed, and the length of the target vehicle comprises:
determining a compensation deviation based on the current frame travel speed, the current frame steering angular speed, and a length of the target vehicle;
and determining the speed direction of the target vehicle according to the current frame motion direction and the compensation deviation.
3. The method of claim 1, wherein the obtaining a current frame motion orientation of the target vehicle comprises:
acquiring a vehicle pose and an edge fitting straight line of the target vehicle, wherein the edge fitting straight line is used for describing a straight line formed by fitting a point cloud of the target vehicle closest to the vehicle pose;
determining a first current frame direction and a second current frame direction of the target vehicle according to the vehicle pose and the edge fitting straight line, wherein the first current frame direction is used for describing a first included angle between the edge fitting straight line and a coordinate axis under a world coordinate system, and the second current frame direction is opposite to the first current frame direction;
determining a first angle difference between a first direction of the current frame and a speed direction of a previous frame;
determining a second angle difference between a second direction of the current frame and a speed direction of a previous frame;
and determining a first absolute value of the first angle difference and a second absolute value of the second angle difference, and determining the motion orientation of the current frame according to the minimum absolute value of the first absolute value and the second absolute value.
4. The method of claim 3, wherein the obtaining an edge fit line for the target vehicle comprises:
acquiring a point cloud and a point cloud bounding box of the target vehicle;
projecting the point cloud and the point cloud bounding box to a two-dimensional plane to respectively obtain a two-dimensional point set and a two-dimensional point cloud bounding box;
determining a target edge according to the vehicle pose and the two-dimensional point cloud bounding box, wherein the target edge is an edge in the two-dimensional point cloud bounding box;
taking the two-dimensional point set and the point with the distance smaller than the preset distance from the target side as edge points, wherein the preset distance is determined based on the vehicle width of the target vehicle;
fitting each edge point to obtain the edge fitting straight line.
5. The method of claim 4, wherein the obtaining the current frame steering angular velocity of the target vehicle comprises:
acquiring the current frame motion orientation confidence corresponding to the current frame motion orientation of the target vehicle, and acquiring each historical frame motion orientation of the target vehicle and each corresponding historical frame orientation confidence;
when the current frame orientation confidence is greater than a confidence threshold, the historical frame orientation confidence is greater than the confidence threshold, and the historical frame motion orientation closest to the current frame is used as a reference frame motion orientation;
the current frame steering angular velocity is determined based on the current frame motion orientation, the reference frame motion orientation, and a time difference between the current frame and the reference frame.
6. The method of claim 5, wherein the obtaining the current frame motion towards corresponding current frame orientation confidence of the target vehicle comprises:
determining a point, of which the distance from the two-dimensional point set to the edge fitting straight line is smaller than a distance threshold, as a target point;
determining a first distance between the target points, and determining the maximum first distance as a target distance;
and determining the current frame orientation confidence based on the number of the two-dimensional point concentration points, the number of the target points, the target distance and the length of the target vehicle.
7. The method according to claim 1, characterized in that the method further comprises:
and when the turning radius of the current frame is not smaller than a turning radius threshold value, determining the movement direction of the current frame as the speed direction of the target vehicle.
8. A speed direction determining apparatus of a target vehicle, characterized by comprising:
the acquisition module is used for acquiring the current frame motion direction, the current frame running speed and the current frame steering angular speed of the target vehicle;
and the determining module is used for determining the speed direction of the target vehicle according to the current frame movement direction, the current frame running speed, the current frame steering angular speed and the length of the target vehicle when the current frame turning radius of the target vehicle is smaller than a turning radius threshold value, wherein the current frame turning radius is determined according to the current frame running speed and the current frame steering angular speed.
9. An electronic device, the electronic device comprising:
one or more processors;
a storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-7.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any of claims 1-7.
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| CN202310970988.3A CN116946187A (en) | 2023-08-03 | 2023-08-03 | Method, device, equipment and medium for determining speed direction of target vehicle |
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| CN202310970988.3A CN116946187A (en) | 2023-08-03 | 2023-08-03 | Method, device, equipment and medium for determining speed direction of target vehicle |
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| CN202310970988.3A Pending CN116946187A (en) | 2023-08-03 | 2023-08-03 | Method, device, equipment and medium for determining speed direction of target vehicle |
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