TWI726810B - Obstacle tracking system and method combined with image data - Google Patents

Obstacle tracking system and method combined with image data Download PDF

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TWI726810B
TWI726810B TW109131029A TW109131029A TWI726810B TW I726810 B TWI726810 B TW I726810B TW 109131029 A TW109131029 A TW 109131029A TW 109131029 A TW109131029 A TW 109131029A TW I726810 B TWI726810 B TW I726810B
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obstacle
path
module
vehicle
map data
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TW202210869A (en
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陳盈仁
蕭翔民
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財團法人車輛研究測試中心
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Abstract

一種結合圖資之障礙物追蹤系統及方法,其安裝於一車輛上,利用一車輛動態定位模組取得車輛之位置,及利用一圖資模組取得車輛附近的圖資路徑資訊;接著將車輛之位置與圖資路徑資訊進行比對,找出車輛的前進方向上之複數候選路徑。另有一環境感測模組偵測車前方道路上的環境資訊,判斷是否有障礙物並進行追蹤。本系統接收一障礙物之追蹤結果後,判斷該障礙物在哪一條候選路徑上,並修正障礙物之移動路徑。最後,系統再依據障礙物之移動路徑,推估障礙物之位置並輸出。由於本發明結合了圖資路徑資訊,可獲得前方彎道的道路曲率、坡度等資訊,故可對障礙物位置進行更精確的修正,得到更穩定的障礙物偵測結果。An obstacle tracking system and method combined with map data, which is installed on a vehicle, uses a vehicle dynamic positioning module to obtain the position of the vehicle, and uses a map data module to obtain map information path information near the vehicle; The position of the vehicle is compared with the route information of the map to find out multiple candidate routes in the forward direction of the vehicle. Another environmental sensing module detects the environmental information on the road in front of the car, determines whether there is an obstacle, and tracks it. After the system receives the tracking result of an obstacle, it determines which candidate path the obstacle is on, and corrects the obstacle's moving path. Finally, the system estimates the position of the obstacle and outputs it based on the obstacle's moving path. Since the present invention combines the path information of the map and can obtain information such as the curvature and slope of the road ahead, the position of the obstacle can be corrected more accurately, and a more stable obstacle detection result can be obtained.

Description

結合圖資之障礙物追蹤系統及方法Obstacle tracking system and method combined with image data

本發明係有關一種車輛輔助駕駛之技術領域,特別是指一種結合圖資之障礙物追蹤系統及方法。The present invention relates to the technical field of vehicle assisted driving, in particular to an obstacle tracking system and method combined with image data.

車輛的輔助駕駛系統可用以判斷前方障礙物,並利用一濾波機制以過去時間點,去推估現在障礙物的位置。但在彎道跟車這個項目上仍有缺失,舉例而言,當前車未入彎或已入彎的情境時,系統會不確定該障礙物(即前車)在哪個時刻會入彎或再轉彎,進而所預估出的當下位置與它實際位置有較大的偏移量,造成彎道中偵測障礙物的結果並不穩定,例如障礙物會消失再出現。The driving assistance system of the vehicle can be used to determine the obstacle in front, and use a filtering mechanism to estimate the current obstacle position based on the past time point. However, there are still shortcomings in the project of following the car on the curve. For example, when the current car is not entering the corner or has entered the corner, the system will not be sure at which time the obstacle (ie the vehicle in front) will enter the corner or re-enter the corner. Turning, and then the estimated current position has a larger offset from its actual position, resulting in an unstable result of detecting obstacles in the curve, for example, the obstacle will disappear and reappear.

而目前各感測器在彎道偵測障礙物方面,造成不穩定的因素主要包括以下三項:一、攝影機可視角與可視距離有限,影響車道線與障礙物辨識;二、雷達易受鐵桿護欄影響造成誤判;三、障礙物於彎道上被(光達)偵測的外觀形變比直線道路段的形變更大。At present, in the detection of obstacles in bends, the factors that cause instability mainly include the following three factors: First, the camera's limited viewing angle and visible distance affect the recognition of lane lines and obstacles; Second, the radar is vulnerable to iron rods The influence of the guardrail causes misjudgment; 3. The appearance deformation of the obstacle detected by (Lidar) on the curve is larger than the shape change of the straight road section.

有鑑於此,本發明即提出一種結合圖資之障礙物追蹤系統及方法,以有效解決上述該等問題,具體架構及其實施方式將詳述於下:In view of this, the present invention proposes an obstacle tracking system and method combined with map data to effectively solve the above-mentioned problems. The specific architecture and implementation methods will be described in detail below:

本發明之主要目的在提供一種結合圖資之障礙物追蹤系統及方法,其利用圖資路徑資訊進行障礙物位置預估,可修正利用卡爾曼濾波偵測前方障礙物的當下位置的精度,進一步達到在彎道上更穩定的障礙物偵測效果。The main purpose of the present invention is to provide an obstacle tracking system and method combined with map data, which uses map data path information to estimate the position of obstacles, and can correct the accuracy of using Kalman filter to detect the current position of obstacles ahead. Achieve a more stable obstacle detection effect on bends.

本發明之另一目的在提供一種結合圖資之障礙物追蹤系統及方法,其將車輛動態定位結合圖資路徑資訊,以得到車輛位置及其附近的地圖,並找出車輛接下來可使用的候選路徑,精確度可包含同一條道路上的複數車道。Another object of the present invention is to provide an obstacle tracking system and method combined with map data, which combines dynamic vehicle positioning with map data path information to obtain a map of the location of the vehicle and its vicinity, and find out which vehicles can use next Candidate path, accuracy can include multiple lanes on the same road.

本發明之再一目的在提供一種結合圖資之障礙物追蹤系統及方法,其即使在障礙物超過感測器預設的注意區域(region of interest, ROI)時,藉由預估障礙物(前車)計畫行駛路線,仍可將障礙物與前方的候選路徑進行配對,預估出障礙物的移動路徑,而不會發生系統解離的問題。Another object of the present invention is to provide an obstacle tracking system and method combined with map data, which even when the obstacle exceeds the region of interest (ROI) preset by the sensor, by predicting the obstacle ( The vehicle ahead) plans the driving route, and the obstacle can still be matched with the candidate path ahead, and the moving path of the obstacle can be estimated without the problem of system dissociation.

為達上述目的,本發明提供一種結合圖資之障礙物追蹤系統,其裝設於一車輛上,包括:一車輛動態定位模組,用以取得該車輛之位置;一圖資模組,用以取得該車輛之位置附近的圖資路徑資訊;一道路路徑模組,將該車輛動態定位模組所取得之該車輛之位置,與該圖資模組所取得之該圖資路徑資訊進行比對,找出該車輛之複數候選路徑;一障礙物路徑模組,連接該道路路徑模組,接收至少一障礙物之追蹤結果,判斷該障礙物所在的該等候選路徑其中之一,並預估該障礙物之移動路徑;以及一障礙物資訊濾波模組,連接該障礙物路徑模組,依據該障礙物之移動路徑,推估該障礙物之位置並輸出。To achieve the above objective, the present invention provides an obstacle tracking system combined with map data, which is installed on a vehicle and includes: a vehicle dynamic positioning module to obtain the position of the vehicle; and a map data module to use To obtain the map data path information near the location of the vehicle; a road path module compares the location of the vehicle obtained by the vehicle dynamic positioning module with the map data path information obtained by the map data module Yes, find out a plurality of candidate paths of the vehicle; an obstacle path module, connected to the road path module, receive the tracking result of at least one obstacle, determine one of the candidate paths where the obstacle is located, and predict Estimate the movement path of the obstacle; and an obstacle information filtering module, connected to the obstacle path module, estimate the position of the obstacle and output it according to the movement path of the obstacle.

依據本發明之實施例,該車輛動態定位模組更可取得該車輛之狀態,包括速度、方位、位置與行進方向。According to the embodiment of the present invention, the vehicle dynamic positioning module can further obtain the state of the vehicle, including speed, orientation, position, and direction of travel.

依據本發明之實施例,該圖資路徑資訊包括道路之中心線、方向、車道線、標誌、道路曲率及坡度。According to an embodiment of the present invention, the map data path information includes the centerline, direction, lane line, signs, road curvature, and slope of the road.

依據本發明之實施例,更包括至少一環境感測裝置,擷取該車輛前方之道路資訊,以判斷該車輛之前方是否有障礙物。According to an embodiment of the present invention, it further includes at least one environment sensing device that captures road information in front of the vehicle to determine whether there is an obstacle in front of the vehicle.

依據本發明之實施例,該障礙物之追蹤結果包括該障礙物之縱向位置、行進方向及速度等障礙物參數。According to an embodiment of the present invention, the tracking result of the obstacle includes obstacle parameters such as the longitudinal position of the obstacle, the direction of travel, and the speed of the obstacle.

依據本發明之實施例,該障礙物路徑模組中更包括:一路徑配對模組,接收該障礙物之追蹤結果,並將該障礙物追蹤結果與該等候選路徑進行配對,找出該障礙物所在之該等候選路徑中的一障礙物路徑;以及一路徑預估模組,依據該障礙物之追蹤結果、利用一最佳路徑方程式預估該障礙物在該障礙物路徑上之移動路徑。According to an embodiment of the present invention, the obstacle path module further includes: a path matching module that receives the tracking result of the obstacle, and matches the obstacle tracking result with the candidate paths to find the obstacle An obstacle path among the candidate paths where the object is located; and a path estimation module that uses an optimal path equation to predict the obstacle's moving path on the obstacle path according to the tracking result of the obstacle .

依據本發明之實施例,更包括一障礙物追蹤模組,其與該路徑配對模組連接,用以提供該障礙物之追蹤結果。According to the embodiment of the present invention, an obstacle tracking module is further included, which is connected to the path matching module to provide a tracking result of the obstacle.

依據本發明之實施例,該路徑預估模組將該障礙物之移動路徑之預估結果提供給該障礙物資訊濾波模組,該障礙物資訊濾波模組將該預估結果作為濾波參數,以預估出該障礙物之位置。According to an embodiment of the present invention, the path estimation module provides the estimation result of the obstacle's movement path to the obstacle information filtering module, and the obstacle information filtering module uses the estimation result as the filtering parameter. To estimate the location of the obstacle.

依據本發明之實施例,更包括一坐標轉換模組,其連接該車輛動態定位模組、該圖資模組及該道路路徑模組,將該車輛之位置及該圖資路徑資訊之坐標系從世界坐標轉換為車輛坐標。According to the embodiment of the present invention, a coordinate conversion module is further included, which is connected to the vehicle dynamic positioning module, the map data module and the road path module, and the coordinate system of the position of the vehicle and the map data path information Convert from world coordinates to vehicle coordinates.

依據本發明之實施例,更包括一坐標轉換模組,其連接該環境感測裝置,用以將該至少一環境感測裝置之感測結果之坐標系從世界坐標轉換成車輛坐標,並輸出到一障礙物判斷模組中,判斷前方是否有該障礙物,或前方之一物體是否為該障礙物,接著再將判斷結果傳送到該障礙物資訊濾波模組。According to the embodiment of the present invention, it further includes a coordinate conversion module connected to the environment sensing device for converting the coordinate system of the sensing result of the at least one environment sensing device from world coordinates to vehicle coordinates, and outputting In an obstacle judgment module, it is judged whether there is the obstacle ahead, or whether an object in front is the obstacle, and then the judgment result is transmitted to the obstacle information filtering module.

本發明另提供一種結合圖資之障礙物追蹤方法,包括下列步驟:利用一車輛動態定位模組取得該車輛之位置,及利用一圖資模組取得該車輛之位置附近的圖資路徑資訊;將該車輛動態定位模組所取得之該車輛之位置,與該圖資模組所取得之該圖資路徑資訊進行比對,找出該車輛之複數候選路徑;接收一障礙物之追蹤結果,判斷該障礙物正在該等候選路徑的其中之一者,並預估該障礙物之移動路徑;以及依據該障礙物之移動路徑,推估該障礙物之位置並輸出。The present invention also provides an obstacle tracking method combined with map data, including the following steps: using a vehicle dynamic positioning module to obtain the location of the vehicle, and using a map data module to obtain map information near the location of the vehicle; Compare the position of the vehicle obtained by the vehicle dynamic positioning module with the path information of the map data obtained by the map data module to find a plurality of candidate paths of the vehicle; receive the tracking result of an obstacle, It is judged that the obstacle is in one of the candidate paths, and the movement path of the obstacle is estimated; and the position of the obstacle is estimated and output according to the movement path of the obstacle.

本發明提供一種結合圖資之障礙物追蹤系統及方法,其安裝於車輛上,透過圖資整合以獲悉道路前方彎道的道路曲率、坡度等資訊,來達到修正卡爾曼原先預估的障礙物當下位置,使預估結果更符合障礙物的實際位置。The present invention provides an obstacle tracking system and method combined with image data, which is installed on a vehicle, and obtains information such as the curvature and slope of the curve in front of the road through image data integration, so as to correct the obstacle originally estimated by Kalman The current position makes the estimated result more in line with the actual position of the obstacle.

請參考第1圖,其為本發明結合圖資之障礙物追蹤系統之方塊圖。本發明之系統10包括一前置處理模組11、一障礙物判斷模組13、一障礙物追蹤模組17、一障礙物路徑模組18及一障礙物資訊濾波模組20。其中,前置處理模組11中包括一車輛動態定位模組12、一圖資模組14及一道路路徑模組16,用以找出車輛的複數候選路徑。Please refer to Figure 1, which is a block diagram of the obstacle tracking system combined with image data of the present invention. The system 10 of the present invention includes a pre-processing module 11, an obstacle determination module 13, an obstacle tracking module 17, an obstacle path module 18, and an obstacle information filtering module 20. The pre-processing module 11 includes a vehicle dynamic positioning module 12, a map data module 14 and a road path module 16 for finding multiple candidate paths of the vehicle.

車輛動態定位模組12中包含一衛星定位系統(GPS),以取得車輛之位置,特別是指經緯度坐標位置;進一步而言,車輛動態定位模組12可取得車輛之狀態,包括速度、方位行進方向等車輛的動態資訊;圖資模組14用以取得車輛之位置附近的圖資路徑資訊,圖資為預先用攝影機擷取的三維影像的點雲圖,因此在圖資路徑資訊中會包括道路之中心線、方向、車道線、標誌、道路曲率、坡度等資訊;道路路徑模組16將車輛動態定位模組12所取得之車輛之位置,與圖資模組14所取得之圖資路徑資訊進行比對後,找出車輛之複數候選路徑。更細部而言,道路路徑模組16係找出在車輛附近可使用的路徑(包含同一條道路的複數車道),再根據車輛的動態資訊(如行進方向)從中找出候選路徑;障礙物路徑模組18連接道路路徑模組16,接收一障礙物之追蹤結果,判斷障礙物所在的候選路徑是哪一條,並預估障礙物之移動路徑;以及一障礙物資訊濾波模組20,連接障礙物路徑模組18,依據障礙物之移動路徑推估障礙物之位置,並將該位置資訊輸出。The vehicle dynamic positioning module 12 includes a satellite positioning system (GPS) to obtain the position of the vehicle, especially the longitude and latitude coordinates; further speaking, the vehicle dynamic positioning module 12 can obtain the state of the vehicle, including speed and direction. The dynamic information of the vehicle such as the direction; the map data module 14 is used to obtain the map data path information near the position of the vehicle. The map data is the point cloud image of the three-dimensional image captured by the camera in advance, so the road map data path information will be included in the map data path information. Information about the centerline, direction, lane line, signs, road curvature, gradient, etc.; the road path module 16 will dynamically position the vehicle position obtained by the vehicle dynamic positioning module 12 with the map data path information obtained by the map data module 14 After the comparison, find out the multiple candidate paths of the vehicle. In more detail, the road path module 16 finds the paths that can be used near the vehicle (including multiple lanes of the same road), and then finds candidate paths based on the vehicle's dynamic information (such as the direction of travel); obstacle paths The module 18 is connected to the road path module 16, receives the tracking result of an obstacle, determines which candidate path the obstacle is on, and predicts the movement path of the obstacle; and an obstacle information filtering module 20, which connects the obstacle The object path module 18 estimates the position of the obstacle according to the movement path of the obstacle, and outputs the position information.

本發明結合圖資之障礙物追蹤系統10中更包括至少一環境感測裝置22,其可為攝影機、雷達、光達等至少其中之一或其組合。環境感測裝置22與障礙物判斷模組13連接,擷取該車輛前方之道路資訊後,提供給障礙物判斷模組13判斷前方是否有障礙物,或前方之物體是否為障礙物,此部分關於障礙物判斷模組13判斷前方偵測的物體是否為障礙物之方法,並非本發明之技術特徵,於此不再贅述。障礙物判斷模組13與一障礙物追蹤模組17連接。此障礙物追蹤模組17接收障礙物判斷模組13所判定之前方障礙物,並進行障礙物追蹤,其追蹤結果包括障礙物之縱向位置、行進方向及速度等障礙物參數。此部分關於障礙物追蹤模組17追蹤前方障礙物軌跡之方法,並非本發明之技術特徵,於此不再贅述。障礙追蹤模組17所產生的障礙物追蹤結果會提供給障礙物路徑模組18。The obstacle tracking system 10 combined with image data of the present invention further includes at least one environment sensing device 22, which can be at least one of a camera, a radar, a LiDAR, or a combination thereof. The environment sensing device 22 is connected to the obstacle determination module 13, and after capturing the road information in front of the vehicle, it is provided to the obstacle determination module 13 to determine whether there is an obstacle in front, or whether the object in front is an obstacle, this part The method for the obstacle judging module 13 to judge whether the object detected in the front is an obstacle is not a technical feature of the present invention, and will not be repeated here. The obstacle judgment module 13 is connected to an obstacle tracking module 17. The obstacle tracking module 17 receives the preceding obstacle determined by the obstacle determination module 13 and performs obstacle tracking. The tracking result includes obstacle parameters such as the longitudinal position of the obstacle, the direction of travel, and the speed. This part of the method for the obstacle tracking module 17 to track the trajectory of the obstacle ahead is not a technical feature of the present invention, and will not be repeated here. The obstacle tracking result generated by the obstacle tracking module 17 is provided to the obstacle path module 18.

本發明第1圖之方塊圖應用流程係如第2圖之流程圖所示。首先在步驟S10中,利用一車輛動態定位模組12取得車輛之位置,此位置為衛星定位出的經緯度坐標,及利用一圖資模組14取得車輛之位置附近的圖資路徑資訊;步驟S12中,道路路徑模組16將車輛動態定位模組12所取得之車輛之位置,與圖資模組14所取得之圖資路徑資訊進行比對,找出車輛附近可使用的複數候選路徑有哪些;接著於步驟S14中,接收一障礙物之追蹤結果,依據該障礙物之追蹤結果去判斷障礙物正在哪一條候選路徑上,並預估障礙物之移動路徑,例如障礙物何時進入彎道、在彎道中的可能移動路徑等;最後,於步驟S16中,障礙物資訊濾波模組依據障礙物之移動路徑,推估該障礙物之位置並輸出。The application process of the block diagram in Fig. 1 of the present invention is shown in the flowchart in Fig. 2. First, in step S10, a vehicle dynamic positioning module 12 is used to obtain the position of the vehicle, which is the longitude and latitude coordinates located by satellites, and a map information module 14 is used to obtain map information near the location of the vehicle; step S12 In the example, the road path module 16 compares the position of the vehicle obtained by the vehicle dynamic positioning module 12 with the map information path information obtained by the map information module 14 to find out which multiple candidate paths can be used near the vehicle ; Then in step S14, receive the tracking result of an obstacle, determine which candidate path the obstacle is on according to the tracking result of the obstacle, and estimate the movement path of the obstacle, such as when the obstacle enters the curve, The possible movement path in the curve, etc.; finally, in step S16, the obstacle information filtering module estimates and outputs the position of the obstacle according to the movement path of the obstacle.

道路路徑模組16找出道路路徑之示意圖請參考第3A圖,依據圖資路徑資訊顯示,車輛30附近的道路上有三條道路路徑32,亦即有三線車道,經判斷後判定這三條道路路徑32皆為候選路徑。接著請參考第3B圖,障礙物路徑模組18利用已知的障礙物34的位置,與道路路徑32配對出一障礙物路徑36,亦即障礙物34目前正在行駛的路徑,並預估障礙物34之移動路徑38,因此第3B圖中的障礙物34之移動路徑38亦為預估的障礙物未來的位置。The road path module 16 finds a schematic diagram of the road path, please refer to Figure 3A. According to the map information, there are three road paths 32 on the road near the vehicle 30, that is, there are three lanes. The three road paths are determined after judgment. 32 are all candidate paths. Next, referring to Figure 3B, the obstacle path module 18 uses the known position of the obstacle 34 to pair with the road path 32 to create an obstacle path 36, that is, the path the obstacle 34 is currently traveling on, and estimate the obstacle The moving path 38 of the object 34, so the moving path 38 of the obstacle 34 in Figure 3B is also the estimated future position of the obstacle.

本發明之系統進一步請參考第4圖,其為本發明結合圖資之障礙物追蹤系統之細部方塊圖,在本發明之系統10中更包括一坐標轉換模組15,其連接車輛動態定位模組12、圖資模組14及道路路徑模組16,將車輛動態定位模組12所提供的車輛之位置及圖資模組14所提供的圖資路徑資訊之坐標系從世界坐標轉換為車輛坐標,以供道路路徑模組16以車輛為中心,找出車輛附近可使用的候選路徑。坐標轉換模組15更連接環境感測裝置22,將環境感測裝置22之感測結果之坐標系從世界坐標轉換成車輛坐標。Please further refer to Figure 4 for the system of the present invention, which is a detailed block diagram of the obstacle tracking system of the present invention combined with map data. The system 10 of the present invention further includes a coordinate conversion module 15 which is connected to the vehicle dynamic positioning module. Group 12, map data module 14 and road path module 16, convert the coordinate system of the vehicle position provided by the vehicle dynamic positioning module 12 and map data path information provided by the map data module 14 from world coordinates to the vehicle The coordinates are used for the road path module 16 to use the vehicle as the center to find candidate paths that are available near the vehicle. The coordinate conversion module 15 is further connected to the environment sensing device 22 to convert the coordinate system of the sensing result of the environment sensing device 22 from world coordinates to vehicle coordinates.

在障礙物路徑模組18中更包括一路徑配對模組182及一路徑預估模組184,其中,路徑配對模組182接收障礙物之追蹤結果後,將追蹤結果與候選路徑進行配對,找出障礙物所在之候選路徑,並設定此候選路徑為一障礙物路徑。路徑預估模組184則依據障礙物之追蹤結果、利用一最佳路徑方程式預估此障礙物在障礙物路徑上之移動路徑,並提供給障礙物資訊濾波模組20。障礙物資訊濾波模組20將該預估結果作為濾波參數,以預估出該障礙物之位置。The obstacle path module 18 further includes a path matching module 182 and a path estimation module 184. After receiving the obstacle tracking result, the path matching module 182 matches the tracking result with the candidate path to find Find the candidate path where the obstacle is located, and set the candidate path as an obstacle path. The path estimation module 184 uses an optimal path equation to predict the movement path of the obstacle on the obstacle path based on the obstacle tracking result, and provides the obstacle information filter module 20 to the path. The obstacle information filtering module 20 uses the estimation result as a filtering parameter to estimate the position of the obstacle.

環境感測裝置22之感測結果經過坐標轉換模組15轉換成車輛坐標後,再提供給障礙物判斷模組13進行判斷,並由障礙物追蹤模組產生障礙物之追蹤結果。障礙物追蹤模組17與路徑配對模組182連接,提供障礙物之追蹤結果給路徑配對模組182。The sensing result of the environment sensing device 22 is converted into vehicle coordinates by the coordinate conversion module 15 and then provided to the obstacle judgment module 13 for judgment, and the obstacle tracking module generates the obstacle tracking result. The obstacle tracking module 17 is connected to the path matching module 182 and provides the obstacle tracking result to the path matching module 182.

第5圖為本發明結合圖資之障礙物追蹤方法中找出候選路徑之細部流程圖。首先,步驟S20流程開始,前置處理模組11啟動。步驟S22中,道路路徑模組16從車輛動態定位模組12中讀取資訊,包括車輛位置及車輛之狀態。步驟S24,道路路徑模組16從圖資模組14中讀取圖資路徑資訊。步驟S26中,坐標轉換模組15將車輛動態定位模組12所提供的車輛之位置及圖資模組所提供的圖資路徑資訊之坐標係從世界坐標轉換為三維的車輛坐標。接著如步驟S28~S38所述,道路路徑模組開始運作,將找到的道路路徑一一進行判斷。首先,步驟S28中,初始先假設道路路徑i為1,接著於步驟S30判斷i是否小於道路路徑的總數,若否,代表道路路徑為0,則於步驟S32將道路資訊輸出。反之,若步驟S30中判斷i小於道路路徑的總數,代表確實存在此路徑,則接著於步驟S36判斷該條道路路徑(i-th PATH)與車輛(host)之間的距離R是否小於一預設值。此預設值通常為常數,亦即道路的寬度。假設道路寬度為2公尺,若距離R小於2公尺,代表此道路路徑是車輛可使用的路徑。於步驟S38將該條道路路徑設為一候選路徑。若步驟S36判斷道路路徑與車輛之間的距離R大於預設值,代表該條道路路徑離車輛的距離太遠,並非車輛可使用的路徑。因此,若步驟S36之判斷結果為否,則進入步驟S34,i+1=2,開始對判斷第二條道路路徑進行判斷,並重複步驟S30~S36。直到步驟S30中判斷i大於路徑總數,亦即所有路徑都已判斷完成。舉例而言,假設道路路徑的總數為3,而i=4,i>4,代表三條道路路徑皆判斷完成,便於步驟S32輸出三條道路路徑的資訊。Figure 5 is a detailed flowchart of finding candidate paths in the obstacle tracking method combined with map data of the present invention. First, the process of step S20 starts, and the pre-processing module 11 is activated. In step S22, the road path module 16 reads information from the vehicle dynamic positioning module 12, including the position of the vehicle and the state of the vehicle. In step S24, the road path module 16 reads the map data path information from the map data module 14. In step S26, the coordinate conversion module 15 converts the coordinate system of the vehicle position provided by the vehicle dynamic positioning module 12 and the map data path information provided by the map data module from world coordinates to three-dimensional vehicle coordinates. Then, as described in steps S28 to S38, the road path module starts to operate and judges the road paths found one by one. First, in step S28, initially assume that the road path i is 1, and then determine whether i is less than the total number of road paths in step S30, if not, the road path is 0, and then the road information is output in step S32. Conversely, if it is determined in step S30 that i is less than the total number of road paths, it means that this path does exist. Then, in step S36, it is determined whether the distance R between the road path (i-th PATH) and the vehicle (host) is less than a predetermined value. Set value. This default value is usually a constant, that is, the width of the road. Assuming that the road width is 2 meters, if the distance R is less than 2 meters, it means that the road path is a path that can be used by vehicles. In step S38, the road path is set as a candidate path. If step S36 determines that the distance R between the road path and the vehicle is greater than the preset value, it means that the road path is too far away from the vehicle and is not a path that can be used by the vehicle. Therefore, if the judgment result of step S36 is no, go to step S34, i+1=2, start to judge the second road path, and repeat steps S30~S36. Until it is determined in step S30 that i is greater than the total number of paths, that is, all paths have been determined to be completed. For example, assuming that the total number of road paths is 3, and i=4, i>4, it means that all three road paths are judged to be completed, and it is convenient to output the information of the three road paths in step S32.

第6圖為本發明結合圖資之障礙物追蹤方法中進行路徑配對及路徑預估,得到較佳之障礙物位置偵測結果之細部流程圖。步驟S40開始。步驟S42中讀取環境感測裝置22所偵測到的前方障礙物資訊,並於步驟S44中,於坐標轉換模組15進行三維坐標轉換,轉換成車輛坐標。步驟S46中,障礙物資訊提供給障礙物判斷模組13,進行障礙物判定。步驟S48從第1個障礙物開始,對每一個障礙物逐一進行判斷。首先步驟S50判斷障礙物j是否小於障礙物數量,若否,代表已將所有障礙物判斷完成,並於步驟S52將結果輸出。若步驟S50判斷結果為是,則進行步驟S54,障礙物追蹤模組17判斷第j個障礙物是否在追蹤中,若否,設定其為新障礙物,如步驟S56所述。反之,若第j個障礙物已在追蹤中,則將該障礙物的追蹤結果提供給路徑配對模組182。接著進行步驟S58~S60,路徑配對模組182讀取道路路徑模組16中的候選路徑,並與第j個障礙物之追蹤結果進行路徑配對,以找出障礙物所在的該條障礙物路徑。接著於步驟S62中,將障礙物路徑加入到路徑預估模組18中,預估障礙物之移動路徑。最後,於步驟S64將障礙物之移動路徑加入到障礙物資訊濾波模組20中進行濾波,預估障礙物的位置。至此,第j個障礙物的資訊濾波已完成,進入步驟S66將j加1,並重複步驟S50~S64,進行第j+1個障礙物的路徑配對、路徑預估及濾波,找出第j+1個障礙物的位置。重複步驟S50~S66,直到步驟S50確認所有障礙物皆判斷完成,並將結果輸出,其輸出的結果即為濾波得到的障礙物位置。Figure 6 is a detailed flow chart of the path matching and path estimation in the obstacle tracking method combined with map data of the present invention to obtain a better obstacle position detection result. Step S40 starts. In step S42, the front obstacle information detected by the environment sensing device 22 is read, and in step S44, the coordinate conversion module 15 performs a three-dimensional coordinate conversion to convert it into vehicle coordinates. In step S46, the obstacle information is provided to the obstacle judgment module 13 for obstacle judgment. Step S48 starts from the first obstacle, and judges each obstacle one by one. First, in step S50, it is judged whether the obstacle j is less than the number of obstacles. If not, it means that the judgment of all obstacles has been completed, and the result is output in step S52. If the determination result of step S50 is yes, then step S54 is performed, and the obstacle tracking module 17 determines whether the j-th obstacle is being tracked, and if not, it is set as a new obstacle, as described in step S56. Conversely, if the j-th obstacle is already being tracked, the tracking result of the obstacle is provided to the path matching module 182. Next, in steps S58~S60, the path matching module 182 reads the candidate path in the road path module 16, and performs path matching with the tracking result of the j-th obstacle to find the obstacle path where the obstacle is. . Then in step S62, the obstacle path is added to the path estimation module 18 to estimate the movement path of the obstacle. Finally, in step S64, the movement path of the obstacle is added to the obstacle information filtering module 20 for filtering, and the position of the obstacle is estimated. At this point, the information filtering of the jth obstacle has been completed, go to step S66 to add 1 to j, and repeat steps S50~S64 to perform path matching, path estimation and filtering for the j+1th obstacle, and find the jth +1 the location of obstacles. Steps S50 to S66 are repeated until step S50 confirms that all obstacles are judged to be completed, and the result is output, and the output result is the obstacle position obtained by filtering.

障礙物路徑配對會使用到一最佳路徑方程式。由障礙物之追蹤結果

Figure 02_image001
進行最佳路徑比對,
Figure 02_image003
,其中
Figure 02_image005
為最佳路徑方程式,
Figure 02_image007
為最大可能路徑,
Figure 02_image009
為路徑方程式。換言之,本發明選取在障礙物縱向位置、行進方向、速度…等各項參數皆最符合之路徑作為路徑配對的結果,將配對成功之路徑設為障礙物路徑,並將之加入為障礙物參數。此外,利用障礙物路徑及障礙物之動態進行障礙物路徑預估,並將預估結果作為濾波參數。最終,障礙物資訊濾波模組20會利用障礙物參數及濾波參數,計算出較佳的偵測結果,使預估的障礙物位置更符合實際位置。 Obstacle path pairing will use an optimal path equation. Tracking results by obstacles
Figure 02_image001
Compare the best path,
Figure 02_image003
,among them
Figure 02_image005
Is the best path equation,
Figure 02_image007
Is the maximum possible path,
Figure 02_image009
Is the path equation. In other words, the present invention selects the path that best matches the obstacle longitudinal position, direction of travel, speed, etc. as the result of path pairing, sets the path that is successfully paired as the obstacle path, and adds it as the obstacle parameter . In addition, the obstacle path is estimated by using the obstacle path and the dynamics of the obstacle, and the estimated result is used as the filter parameter. Finally, the obstacle information filtering module 20 uses the obstacle parameters and the filtering parameters to calculate a better detection result, so that the estimated obstacle position is more in line with the actual position.

綜上所述,本發明所提供之一種結合圖資之障礙物追蹤系統及方法係將車輛動態定位結合圖資路徑資訊,以得到車輛位置及其附近的地圖,並找出車輛接下來可使用的候選路徑。候選路徑的精確度可包含同一條道路上的複數車道。本發明利用圖資路徑資訊進行障礙物位置預估,找出障礙物所在的路徑(車道),可修正利用卡爾曼濾波偵測前方障礙物的當下位置的精度,進一步使彎道上的障礙物偵測效果更穩定。更甚者,應用本發明之系統及方法,即使在障礙物超過感測器預設的偵測範圍(ROI)時,藉由預估障礙物計畫移動的路線,仍可將障礙物與候選路徑進行配對,預估障礙物的移動路徑,而不會發生系統解離的問題。In summary, the obstacle tracking system and method combined with map data provided by the present invention combines dynamic vehicle positioning with map data path information to obtain a map of the location of the vehicle and its vicinity, and find out which vehicles can be used next. Candidate path. The accuracy of the candidate path can include multiple lanes on the same road. The present invention uses the map data path information to estimate the position of the obstacle, finds the path (lane) where the obstacle is, and can correct the accuracy of the Kalman filter to detect the current position of the obstacle ahead, and further enable the obstacle detection on the curve. The test effect is more stable. Furthermore, by applying the system and method of the present invention, even when the obstacle exceeds the preset detection range (ROI) of the sensor, by predicting the obstacle’s planned movement route, the obstacle can still be separated from the candidate. The paths are paired to estimate the movement path of obstacles without the problem of system dissociation.

唯以上所述者,僅為本發明之較佳實施例而已,並非用來限定本發明實施之範圍。故即凡依本發明申請範圍所述之特徵及精神所為之均等變化或修飾,均應包括於本發明之申請專利範圍內。Only the above are only preferred embodiments of the present invention, and are not used to limit the scope of implementation of the present invention. Therefore, all equivalent changes or modifications made in accordance with the characteristics and spirit of the application scope of the present invention shall be included in the patent application scope of the present invention.

10:結合圖資之障礙物追蹤系統 11:前置處理模組 12:車輛動態定位模組 13:障礙物判斷模組 14:圖資模組 15:坐標轉換模組 16:道路路徑模組 17:障礙物追蹤模組 18:障礙物路徑模組 182:路徑配對模組 184:路徑預估模組 20:障礙物資訊濾波模組 22:環境感測模組 30:車輛 32:道路路徑 34:障礙物 36:障礙物路徑 38:障礙物之移動路徑10: Obstacle tracking system combined with picture materials 11: Pre-processing module 12: Vehicle dynamic positioning module 13: Obstacle judgment module 14: Graphics module 15: Coordinate conversion module 16: Road path module 17: Obstacle tracking module 18: Obstacle Path Module 182: Path matching module 184: Path Estimation Module 20: Obstacle Information Filtering Module 22: Environmental Sensing Module 30: Vehicle 32: road path 34: Obstacles 36: Obstacle Path 38: Movement path of obstacles

第1圖為本發明結合圖資之障礙物追蹤系統之方塊圖。 第2圖為本發明結合圖資之障礙物追蹤方法之流程圖。 第3A圖為本發明中道路路徑模組找出道路路徑之示意圖。 第3B圖為本發明中障礙物路徑模組配對出一障礙物路徑及預估障礙物之移動路徑之示意圖。 第4圖為本發明結合圖資之障礙物追蹤系統之細部方塊圖。 第5圖為本發明結合圖資之障礙物追蹤方法中找出候選路徑之細部流程圖。 第6圖為本發明結合圖資之障礙物追蹤方法中進行路徑配對及路徑預估,得到較佳之障礙物位置偵測結果之細部流程圖。 Figure 1 is a block diagram of an obstacle tracking system combined with image data of the present invention. Figure 2 is a flowchart of the obstacle tracking method combined with image data of the present invention. Figure 3A is a schematic diagram of the road path module of the present invention finding a road path. FIG. 3B is a schematic diagram of an obstacle path and an estimated movement path of the obstacle generated by the obstacle path module of the present invention. Figure 4 is a detailed block diagram of the obstacle tracking system combined with image data of the present invention. Figure 5 is a detailed flowchart of finding candidate paths in the obstacle tracking method combined with map data of the present invention. Figure 6 is a detailed flow chart of the path matching and path estimation in the obstacle tracking method combined with map data of the present invention to obtain a better obstacle position detection result.

10:結合圖資之障礙物追蹤系統 10: Obstacle tracking system combined with picture materials

11:前置處理模組 11: Pre-processing module

12:車輛動態定位模組 12: Vehicle dynamic positioning module

13:障礙物判斷模組 13: Obstacle judgment module

14:圖資模組 14: Graphics module

15:坐標轉換模組 15: Coordinate conversion module

16:道路路徑模組 16: Road path module

17:障礙物追蹤模組 17: Obstacle tracking module

18:障礙物路徑模組 18: Obstacle Path Module

182:路徑配對模組 182: Path matching module

184:路徑預估模組 184: Path Estimation Module

20:障礙物資訊濾波模組 20: Obstacle Information Filtering Module

22:環境感測裝置 22: Environmental sensing device

Claims (19)

一種結合圖資之障礙物追蹤系統,其裝設於一車輛上,包括: 一車輛動態定位模組,用以取得該車輛之位置; 一圖資模組,用以取得該車輛之位置附近的圖資路徑資訊; 一道路路徑模組,將該車輛動態定位模組所取得之該車輛之位置,與該圖資模組所取得之該圖資路徑資訊進行比對,找出該車輛之複數候選路徑; 一障礙物路徑模組,連接該道路路徑模組,接收至少一障礙物之追蹤結果,判斷該障礙物所在該等候選路徑其中之一,並預估該障礙物之移動路徑;以及 一障礙物資訊濾波模組,連接該障礙物路徑模組,依據該障礙物之移動路徑,推估該障礙物之位置並輸出。 An obstacle tracking system combined with map data, which is installed on a vehicle and includes: A vehicle dynamic positioning module for obtaining the location of the vehicle; A map data module for obtaining map data path information near the location of the vehicle; A road path module, which compares the position of the vehicle obtained by the vehicle dynamic positioning module with the path information of the map data obtained by the map data module to find multiple candidate paths of the vehicle; An obstacle path module connected to the road path module, receiving the tracking result of at least one obstacle, determining one of the candidate paths where the obstacle is located, and predicting the moving path of the obstacle; and An obstacle information filtering module is connected to the obstacle path module, and the position of the obstacle is estimated and output according to the movement path of the obstacle. 如請求項1所述之結合圖資之障礙物追蹤系統,其中該車輛動態定位模組更可取得該車輛之狀態,包括速度、方位、位置及行進方向。The obstacle tracking system combined with map data as described in claim 1, wherein the vehicle dynamic positioning module can further obtain the state of the vehicle, including speed, orientation, position and direction of travel. 如請求項1所述之結合圖資之障礙物追蹤系統,其中該圖資路徑資訊包括道路之中心線、方向、車道線、標誌、道路曲率及坡度。The obstacle tracking system combined with map data as described in claim 1, wherein the map data path information includes the centerline, direction, lane line, signs, road curvature and slope of the road. 如請求項1所述之結合圖資之障礙物追蹤系統,更包括至少一環境感測裝置,擷取該車輛前方之道路資訊,以判斷該車輛之前方是否有該障礙物。The obstacle tracking system combined with map data as described in claim 1 further includes at least one environmental sensing device that captures road information in front of the vehicle to determine whether there is an obstacle in front of the vehicle. 如請求項1所述之結合圖資之障礙物追蹤系統,其中該障礙物之追蹤結果包括該障礙物之縱向位置、行進方向及速度等障礙物參數。The obstacle tracking system combined with map data according to claim 1, wherein the tracking result of the obstacle includes obstacle parameters such as the longitudinal position, travel direction, and speed of the obstacle. 如請求項1所述之結合圖資之障礙物追蹤系統,其中該障礙物路徑模組中更包括: 一路徑配對模組,接收該障礙物之追蹤結果,並將該障礙物之追蹤結果與該等候選路徑進行配對,找出該障礙物所在之該等候選路徑中的一障礙物路徑;以及 一路徑預估模組,依據該障礙物之追蹤結果、利用一最佳路徑方程式預估該障礙物在該障礙物路徑上之移動路徑。 The obstacle tracking system combined with map data as described in claim 1, wherein the obstacle path module further includes: A path matching module, receiving the tracking result of the obstacle, and matching the tracking result of the obstacle with the candidate paths to find an obstacle path among the candidate paths where the obstacle is located; and A path estimation module uses an optimal path equation to predict the movement path of the obstacle on the obstacle path according to the tracking result of the obstacle. 如請求項6所述之結合圖資之障礙物追蹤系統,更包括一障礙物追蹤模組,其與該路徑配對模組連接,用以提供該障礙物之追蹤結果。The obstacle tracking system combined with map data as described in claim 6 further includes an obstacle tracking module connected to the path matching module to provide a tracking result of the obstacle. 如請求項6所述之結合圖資之障礙物追蹤系統,其中該路徑預估模組將該障礙物之移動路徑之一預估結果提供給該障礙物資訊濾波模組,該障礙物資訊濾波模組將該預估結果作為濾波參數,以預估出該障礙物之位置。The obstacle tracking system combined with map data according to claim 6, wherein the path estimation module provides an estimation result of the movement path of the obstacle to the obstacle information filtering module, and the obstacle information filtering The module uses the estimated result as a filter parameter to estimate the position of the obstacle. 如請求項1所述之結合圖資之障礙物追蹤系統,更包括一坐標轉換模組,其連接該車輛動態定位模組、該圖資模組及該道路路徑模組,將該車輛之位置及該圖資路徑資訊之坐標系從世界坐標轉換為車輛坐標。The obstacle tracking system combined with map data as described in claim 1, further comprising a coordinate conversion module, which connects the vehicle dynamic positioning module, the map data module and the road path module to determine the position of the vehicle And the coordinate system of the route information of the map is converted from world coordinates to vehicle coordinates. 如請求項4所述之結合圖資之障礙物追蹤系統,更包括一坐標轉換模組,其連接該環境感測裝置,用以將該至少一環境感測裝置之感測結果之坐標系從世界坐標轉換成車輛坐標,並輸出到一障礙物判斷模組中,判斷前方是否有該障礙物,或前方之一物體是否為該障礙物,接著再將判斷結果傳送到該障礙物資訊濾波模組。According to claim 4, the obstacle tracking system combined with map data further includes a coordinate conversion module connected to the environment sensing device to convert the sensing result of the at least one environment sensing device from the coordinate system The world coordinates are converted into vehicle coordinates and output to an obstacle judgment module to judge whether there is an obstacle in front or whether an object in front is the obstacle, and then the judgment result is sent to the obstacle information filtering module group. 一種結合圖資之障礙物追蹤方法,包括下列步驟: 利用一車輛動態定位模組取得一車輛之位置,及利用一圖資模組取得該車輛之位置附近的圖資路徑資訊; 將該車輛動態定位模組所取得之該車輛之位置,與該圖資模組所取得之該圖資路徑資訊進行比對,找出該車輛之複數候選路徑; 接收一障礙物之追蹤結果,判斷該障礙物正在該等候選路徑的其中之一者,並預估該障礙物之移動路徑;以及 依據該障礙物之移動路徑,推估該障礙物之位置並輸出。 An obstacle tracking method combined with image data includes the following steps: Use a vehicle dynamic positioning module to obtain the location of a vehicle, and use a map data module to obtain map data path information near the location of the vehicle; Compare the position of the vehicle obtained by the vehicle dynamic positioning module with the information on the route of the map obtained by the map module to find out a plurality of candidate routes for the vehicle; Receiving the tracking result of an obstacle, judging that the obstacle is in one of the candidate paths, and predicting the moving path of the obstacle; and According to the movement path of the obstacle, estimate the position of the obstacle and output it. 如請求項11所述之結合圖資之障礙物追蹤方法,其中該車輛動態定位模組更可取得該車輛之狀態,包括速度、方位、位置及行進方向。The obstacle tracking method combined with map data according to claim 11, wherein the vehicle dynamic positioning module can further obtain the state of the vehicle, including speed, orientation, position, and direction of travel. 如請求項11所述之結合圖資之障礙物追蹤方法,其中該圖資路徑資訊包括道路之中心線、方向、車道線、標誌、道路曲率及坡度。The obstacle tracking method combined with map data according to claim 11, wherein the map data path information includes the centerline, direction, lane line, signs, road curvature and slope of the road. 如請求項11所述之結合圖資之障礙物追蹤方法,更包括利用至少一環境感測裝置擷取該車輛前方之道路資訊,用以判斷該車輛之前方是否有該障礙物。According to claim 11, the obstacle tracking method combined with map data further includes using at least one environmental sensing device to capture road information in front of the vehicle to determine whether there is the obstacle in front of the vehicle. 如請求項11所述之結合圖資之障礙物追蹤方法,其中該障礙物之追蹤結果包括該障礙物之縱向位置、行進方向及速度等障礙物參數。The obstacle tracking method combined with map data according to claim 11, wherein the tracking result of the obstacle includes obstacle parameters such as the longitudinal position, travel direction, and speed of the obstacle. 如請求項11所述之結合圖資之障礙物追蹤方法,其中該預估該障礙物之移動路徑之步驟更包括: 接收該障礙物之追蹤結果後,將該障礙物之追蹤結果與該等候選路徑進行配對,找出該障礙物所在之該等候選路徑中的一障礙物路徑;以及 再依據該障礙物之追蹤結果,並利用一最佳路徑方程式預估該障礙物在該障礙物路徑上之移動路徑。 The obstacle tracking method combined with map data according to claim 11, wherein the step of estimating the movement path of the obstacle further includes: After receiving the tracking result of the obstacle, match the tracking result of the obstacle with the candidate paths to find an obstacle path among the candidate paths where the obstacle is located; and Then, according to the tracking result of the obstacle, an optimal path equation is used to estimate the moving path of the obstacle on the obstacle path. 如請求項16所述之結合圖資之障礙物追蹤方法,更包括利用一障礙物追蹤模組提供該障礙物之追蹤結果。The obstacle tracking method combined with map data as described in claim 16 further includes using an obstacle tracking module to provide a tracking result of the obstacle. 如請求項16所述之結合圖資之障礙物追蹤方法,其中該障礙物之移動路徑之預估結果係作為濾波參數使用,以供預估出該障礙物之位置。The obstacle tracking method combined with map data according to claim 16, wherein the estimated result of the moving path of the obstacle is used as a filter parameter to estimate the position of the obstacle. 如請求項11所述之結合圖資之障礙物追蹤方法,更包括利用一坐標轉換模組將該車輛之位置及該圖資路徑資訊之坐標系從世界坐標轉換為車輛坐標。The obstacle tracking method combined with map data as described in claim 11 further includes using a coordinate conversion module to convert the position of the vehicle and the coordinate system of the map data path information from world coordinates to vehicle coordinates.
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