CN106289271B - A kind of bend vehicle locating device and method - Google Patents
A kind of bend vehicle locating device and method Download PDFInfo
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- CN106289271B CN106289271B CN201610597703.6A CN201610597703A CN106289271B CN 106289271 B CN106289271 B CN 106289271B CN 201610597703 A CN201610597703 A CN 201610597703A CN 106289271 B CN106289271 B CN 106289271B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The present invention provides a kind of bend vehicle locating device and methods, wherein described device includes: laser scan unit and central processing unit；The laser scan unit, for acquiring curved areas ranging waveform in real time；The central processing unit, it is connect with the laser scan unit, the curved areas ranging waveform sent for receiving the laser scan unit, and coordinate conversion, interference elimination and local range search are carried out to present frame ranging waveform, determine the corresponding scanning dot position information of present frame vehicle region；Present frame vehicle region and former frame vehicle region are subjected to Region Matching, determine that the present frame vehicle region corresponds to bend newly into vehicle or curved areas traveling vehicle；According to the corresponding scanning dot position information of the present frame vehicle region, obtains and export the real-time positional parameter of vehicle.The problem of present invention positioning is in real time, positioning accuracy is high and location information is abundant, the safety bend being able to solve in assisting driving or being unmanned.
Description
Technical field
The present invention relates to field of computer technology more particularly to a kind of bend vehicle locating device and methods.
Background technique
Auxiliary drive and it is unmanned be in current automobile manufacture, traffic safety and intelligent transportation field primary study view
Topic.As the key technology-vehicle location assisted in driving and being unmanned, become the most important thing.
The positioning of vehicle in the process of running is broadly divided into straight way positioning and bend positions two kinds.Straight way is as most common
Road line style is kept by the straight way of vision or GPS positioning can be realized easily.Bend since it is there are the influence of curvature,
Positioning and lane keep aspect, and there are certain difficulty.Vehicle in bend when driving, either as auxiliary drive when it is pre-
Positioning service when police reminds or is unmanned, there are parameters as shown in Figure 1 to need to provide.Wherein, turning radius ρ=O ' P,
Headstock to go out curved stop line arc length distance beThe tailstock to go out curved stop line arc length distance beHeadstock and stop line
Between between angle α=∠ HO ' S, the tailstock and stop line angle β=∠ TO ' S, the linear velocity ν of Ackermann steer angle and vehicle body side with
The angle theta of Y direction.
Currently used technological means and method have: image vision technology, GPS positioning technology, wireless signal power method,
RFID positioning mode and map and differential navigation method.
Image vision method extracts lane boundary by acquiring the pavement strip of vehicle front using imaging sensor
Line, thus to determine that vehicle is generally in the position in lane away from boundary line.Such method does lane in straight way and keeps comparing
Properly, since limited view can not fast and accurately obtain turn curvature but in bend, and subsequent time distance cannot be predicted
The distance of bend outlet.
GPS positioning technology advantage in terms of automobile navigation is prominent, in terms of bend positioning there are positioning accuracy asking not enough
When the transformation of topic, especially bend curvature is larger, GPS positioning can only substantially determine whether vehicle enters bend and whether vehicle is sailed
From bend.
Wireless signal power method is to determine vehicle with apart from matching by mobile phone WIFI or other wireless network signal powers
Approximate location.Distance and the method that wireless signal power blends are opposite between vehicle and vehicle for determining in car networking field
There is certain practical value in position, and the positioning that road information is ignored in terms of bend positioning has little significance.
RFID positioning mode is to provide location information by placing passive electronic label on road key coordinate node.It should
Class method can only provide the position whether vehicle passes through key point and determine vehicle by several key points, then pass through key point
Information portrayal goes out vehicle driving trace.RFID positioning mode is big in library or supermarket's locating goods practical value, in bend
The key points for making vehicle location needs are more, and the bend location information provided is very few.
Map and differential navigation method are to improve positioning accuracy by increasing differential navigation module on vehicle, then with ground
Figure information matches determine that vehicle is in the position of bend.This method greatly improves in positioning accuracy compared with GPS positioning method, can be with
Determine vehicle in the specific coordinate value of bend.But differential navigation has that location information refresh rate is not prompt enough, and defeated
Out be also bend coordinate information, lack body gesture relative to elbow curve positional relationship and turning radius it is anti-
Feedback.
In above all multi-methods: image vision method does straight way lane and keeps on top protrusion；GPS positioning method is in bend positioning accurate
Degree is insufficient；Wireless signal power method do vehicle vehicle relative position detection it is feasible, have ignored the feedback of bus or train route information；RFID positioning mode exists
Bend needs more passive electronic label as key coordinate point on implementing, and the location information provided is single；Map is led with difference
Boat method is higher in straight way and bend practical value, and positioning accuracy is higher, but there are problems that positioning refreshes not in time, and can not give
The information such as vehicle pose out.
Therefore, be badly in need of finding one kind have both positioning in real time, precision is high, location information method abundant drives to solve auxiliary
Or it is unmanned in safety bend the problem of.
Summary of the invention
In view of the drawbacks of the prior art, the present invention provide one kind have both positioning in real time, precision is high, location information is abundant curved
The problem of road vehicle locating device and method, the safety bend being able to solve in assisting driving or being unmanned.
In a first aspect, the present invention provides a kind of bend vehicle locating device, described device include: laser scan unit and
Central processing unit；
The laser scan unit is fixed in installation upright bar, is located at curve inner side centre point or turning radius extension
It stretches at linear distance lane line pre-determined distance, for acquiring curved areas ranging waveform in real time；
The central processing unit is connect with the laser scan unit, is sent for receiving the laser scan unit
Curved areas ranging waveform, and coordinate conversion, interference elimination and local range search are carried out to present frame ranging waveform, determined current
The corresponding scanning dot position information of frame vehicle region；Present frame vehicle region and former frame vehicle region are subjected to Region Matching,
Determine that the present frame vehicle region corresponds to bend newly into vehicle or curved areas traveling vehicle；According to the present frame vehicle
The corresponding scanning dot position information in region obtains and exports the real-time positional parameter of vehicle.
Preferably, when the laser scan unit is located at extension linear distance lane line pre-determined distance outside turning radius,
The pre-determined distance is more than or equal to 2000mm；
The laser scan unit is more than or equal to 700mm apart from pavement-height and is less than or equal to 850mm；
The laser scan unit is with scan frequency f and scanning angle resolution ratioPlane where being parallel to road surface is swept
It retouches；Preferably, the scan frequency f=50Hz,
Scanning angular region of the laser scan unit in each scan period is 0-270 °.
Second aspect, the present invention provides a kind of bend vehicle positioning methods, which comprises
Laser scan unit acquires curved areas ranging waveform in real time；
Central processing unit receives the curved areas ranging waveform that the laser scan unit is sent, and to present frame ranging
Waveform carries out coordinate conversion, interference elimination and local range search, determines the corresponding scanning dot position information of present frame vehicle region；
Present frame vehicle region and former frame vehicle region are carried out Region Matching by the central processing unit, determine described in
Present frame vehicle region corresponds to bend newly into vehicle or curved areas traveling vehicle；
The central processing unit is obtained and is exported according to the corresponding scanning dot position information of the present frame vehicle region
The real-time positional parameter of vehicle.
Preferably, the method also includes:
The central processing unit newly carries out real-time tracking into vehicle to the bend, newly to sail into vehicle in the bend
The vehicle is removed when from curved areas.
Preferably, the coordinate conversion, comprising:
Coordinate conversion is carried out according to formula a pair of present frame ranging waveform:
Wherein, i is scanning element serial number, and L (i) is scanning element i to laser scan unit central point distance, n0For laser scanning
Emit the launch point serial number of light and ox overlapping of axles in unit,For the scanning angle resolution ratio of laser scan unit, x (i) is
Abscissa of the scanning element i in oxy rectangular coordinate system, y (i) are ordinate of the scanning element i in oxy rectangular coordinate system.
Preferably, the interference elimination, comprising:
Step 1: according to formula two be calculated scanning element i to the curve inner side center of circle distance L ' (i):
Step 2: radius where straight line where scanning element i and the curve inner side center of circle is calculated according to formula three and ox axis
Between angle Q (i):
Wherein, using laser scan unit central point as coordinate system dot o, laser scan unit side is reference axis oy, is hung down
It is ox axis that straight oy axis, which crosses o point straight line,；
Step 3: will be not in bend and the not scanning within the scope of bend lane using formula four according to Q (i) and L ' (i)
Point excludes:
Wherein, R1For the nearly center of circle boundary arc section radius of bend, R2For the remote center of circle boundary arc section radius of bend, Q1It is curved
Angle where straight line where road starting point and the curve inner side center of circle and ox axis between radius, Q2For in bend terminating point and bend
Angle where straight line where the center of circle of side and ox axis between radius.
Preferably, the local range search, comprising:
The corresponding boundary point of present frame vehicle region and the vehicle area are determined according to the scanning element coordinate after interference elimination
The affiliated point in domain:
If x (i-1)=0 and x (i) > 0 determine scanning element i for the start boundary point of vehicle region；
If x (i-1) > 0 and x (i) > 0, determine scanning element i for the affiliated point in the region scanning element i-1；
If x (i) > 0 and x (i+1)=0, determine that scanning element i terminates boundary point for vehicle region.
Preferably, described that present frame vehicle region and former frame vehicle region are subjected to Region Matching, it determines described current
Frame vehicle region corresponds to bend newly into vehicle or curved areas traveling vehicle, comprising:
According to the bounds relationship of present frame vehicle region and former frame vehicle region distinguish bend newly into vehicle or
Track curved areas traveling vehicle:
If present frame vehicle region (SQ(Qmin,Qmax),SL′(L ' min, L ' max)) and former frame vehicle region (S 'Q
(Qmin,Qmax),S′L′(L ' min, L ' max)) there are overlapping part, then Region Matching success determines present frame vehicle region pair
Answer traveling vehicle；Region Matching successfully presses the judgement of formula five:
If current vehicle region matches unsuccessful with former frame vehicle region, determine that present frame vehicle region corresponds to bend
Newly into vehicle；
Wherein, (Qmin, Qmax) indicates the range intervals that vehicle region scanning element angle minimax is constituted, (L ' min,
L ' max) indicate the range intervals that vehicle region scanning element is constituted to circle center distance minimax, SQ(Qmin, Qmax) expression is worked as
The range intervals that previous frame vehicle region scanning element angle minimax is constituted, SL′(L ' min, L ' max) indicates present frame vehicle area
The range intervals that domain scanning element is constituted to circle center distance minimax, S 'Q(Qmin, Qmax indicate the scanning of former frame vehicle region
The range intervals that point angle minimax is constituted, S 'L′(L ' min, L ' max indicates former frame vehicle region scanning element to distance of center circle
The range intervals constituted from minimax.
Preferably, the real-time positional parameter of the vehicle includes: turning radius ρ when vehicle passes through bend, headstock to curved out
The arc length distance of stop lineArc length distance of the tailstock to curved stop line outBody gesture angle θ, vehicle bend linear velocity
ν, headstock and the angle α between curved stop line and the tailstock and out the angle β between curved stop line out.
Preferably, the body gesture angle θ is calculated by formula six:
θ=arctan (κ) formula six；
Wherein, κ is the corresponding slope of body side section scanning element fitting a straight line；
The vehicle passes through turning radius ρ when bend, calculates by formula seven:
Wherein, pbFor the inflection point of vehicle body side and headstock or tail part, phFor headstock terminating point, ptFor headstock starting point,
L′(pb) it is vehicle body side at a distance from the inflection point to the center of circle of headstock or tail part, L ' (ph) it is that headstock terminating point arrives the center of circle
Distance, L ' (pt) it is distance of the vehicle starting point to the center of circle, Q (ph) be headstock terminating point angle, Q (pt) it is headstock starting point
Angle；
Angle α between the headstock and out curved stop line is calculated by formula eight:
Wherein, Qmax=max { Δ Q1,ΔQ2,ΔQ3…ΔQn, expression is that vehicle passes through vehicle in all frames of bend process
The difference maximum value of angle, Δ Q are put end to endi=| Q (ph)-Q(pt) | the difference of the i-th frame headstock tail point angle, Q2Represent curved stop line
Angle；
Arc length distance of the headstock to curved stop line outIt is calculated by formula nine:
Angle β between the tailstock and out curved stop line is calculated by formula ten:
Arc length distance of the tailstock to curved stop line outIt is calculated by formula 11:
The vehicle bend linear velocity ν is calculated by formula 12:
Wherein, ν (i) indicates the i-th frame vehicle bend linear velocity；Indicate that the i-th frame headstock stops to curved out when vehicle crosses bend
The only arc length distance of line, a definite value in n ∈ { 1,2,3,4,5 }, f indicate the scan frequency of laser scan unit.
As shown from the above technical solution, the present invention provides a kind of bend vehicle locating device and method, passes through laser scanning
Unit acquires curved areas ranging waveform in real time, and central processing unit then carries out coordinate conversion, interference to present frame ranging waveform
Exclusion and local range search, determine the corresponding scanning dot position information of present frame vehicle region, by present frame vehicle region with before
One frame vehicle region carries out Region Matching, determines that the present frame vehicle region corresponds to bend newly into vehicle or curved areas row
Into vehicle, and according to the corresponding scanning dot position information of the present frame vehicle region, obtains and export vehicle and position ginseng in real time
Number.It can be seen that the present invention can be realized the real-time positioning of vehicle in bend, it is scanned, is scanned using laser scan unit
Frequency is high；And laser ranging is not influenced by ambient light, range accuracy is high, substantially increases positioning accuracy；And it can obtain rich
Rich positional parameter, so that automatic driving vehicle does turning strategy or does the speed early warning in auxiliary driving procedure or disengaging bend
It reminds.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these figures.
Fig. 1 is the schematic diagram of existing bend positional parameter；
Fig. 2 is the structural schematic diagram of one of embodiment of the present invention 1 bend vehicle locating device；
Fig. 3 is the schematic diagram that laser scan unit is installed on curve inner side the center point in the embodiment of the present invention 1；
Fig. 4 is that laser scan unit is installed on the schematic diagram on the outer extension line of turning radius in the embodiment of the present invention 1；
Fig. 5 is the flow diagram of one of embodiment of the present invention 2 bend vehicle positioning method；
Fig. 6 is the schematic diagram of the crooked road distance waveform in the embodiment of the present invention 2；
Fig. 7 is the schematic diagram that coordinate is converted in the embodiment of the present invention 2；
Fig. 8 be in the embodiment of the present invention 2 scanning element to the schematic diagram of bend circle center distance；
Fig. 9 is the schematic diagram of curved road surface parameter in the embodiment of the present invention 2；
Figure 10 is the schematic diagram of range searching in the embodiment of the present invention 2；
Figure 11 is the schematic diagram at body gesture angle in the embodiment of the present invention 2；
Figure 12 is the schematic diagram that bend vehicle locating device is installed on bend outer diameter extension line in the embodiment of the present invention 3；
Figure 13 is the schematic diagram of crooked road distance waveform in the embodiment of the present invention 3；
Figure 14 is a kind of schematic diagram of the present frame vehicle region in the embodiment of the present invention 3 in situation；
Figure 15 is the schematic diagram of former frame vehicle region in the embodiment of the present invention 3；
Figure 16 is a kind of schematic diagram at the body gesture angle in the embodiment of the present invention 3 in situation；
Figure 17 is the schematic diagram of the present frame vehicle region in the embodiment of the present invention 3 in another case；
Figure 18 is the schematic diagram at the body gesture angle in the embodiment of the present invention 3 in another case；
Figure 19 is the schematic diagram that bend vehicle locating device is installed on curve inner side the center point in the embodiment of the present invention 4.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1
Fig. 2 is a kind of structural schematic diagram for bend vehicle locating device that the embodiment of the present invention 1 provides, as shown in Fig. 2, should
Device includes: laser scan unit 1 and central processing unit 2；
The laser scan unit 1 is fixed in installation upright bar 2, is located at outside curve inner side centre point or turning radius
Extension line is at lane line pre-determined distance, for acquiring curved areas ranging waveform in real time.Wherein, laser scan unit
1 be located at curve inner side centre point when, as shown in Figure 3；Laser scan unit 1, which is located at outside turning radius, extends linear distance lane boundary
When line pre-determined distance Dis, as shown in Figure 4.
The central processing unit 2 is connect with the laser scan unit 1, is sent out for receiving the laser scan unit 1
The curved areas ranging waveform sent, and coordinate conversion, interference elimination and local range search are carried out to present frame ranging waveform, determination is worked as
The corresponding scanning dot position information of previous frame vehicle region；Present frame vehicle region and former frame vehicle region are subjected to region
Match, determines that the present frame vehicle region corresponds to bend newly into vehicle or curved areas traveling vehicle；According to the present frame
The corresponding scanning dot position information of vehicle region obtains and exports the real-time positional parameter of vehicle.
It can be seen that the present embodiment acquires curved areas ranging waveform, central processing list by laser scan unit 1 in real time
Member 2 then carries out coordinate conversion, interference elimination and local range search to present frame ranging waveform, determines that present frame vehicle region is corresponding
Dot position information is scanned, present frame vehicle region and former frame vehicle region are subjected to Region Matching, determine the present frame
Vehicle region corresponds to bend newly into vehicle or curved areas traveling vehicle, and sweeps according to the present frame vehicle region is corresponding
Described point location information obtains and exports the real-time positional parameter of vehicle.It can be seen that the present embodiment can be realized vehicle in bend
Positioning in real time, is scanned using laser scan unit, and scan frequency is high；And laser ranging is not influenced by ambient light, ranging
Precision is high, substantially increases positioning accuracy；And positional parameter abundant can be obtained, so that automatic driving vehicle does turning strategy
Or speed early warning or the disengaging bend done in auxiliary driving procedure is reminded.
Further, the bend vehicle locating device in above-described embodiment further include: power supply unit 4, for being respectively to swash
Light scanning unit 1 and central processing unit 2 are powered.
Wherein, when the laser scan unit 1 is located at extension linear distance lane line pre-determined distance outside turning radius, institute
Pre-determined distance Dis is stated more than or equal to 2000mm；The laser scan unit is more than or equal to 700mm apart from the high H degree in road surface and is less than
Equal to 850mm.
The laser scan unit 1 is with scan frequency f and scanning angle resolution ratioPlane carries out where being parallel to road surface
Scanning.Preferably, the scan frequency f=50Hz,
Scanning angular region of the laser scan unit in each scan period is 0-270 °.
It should be noted that scan frequency f indicates the number of laser scan unit (1) completion scan period in the 1s time；
Scanning angle resolution ratioIndicate the angle interval between laser scan unit scanning element.If scanning angle resolution ratio0.5 ° is divided between angle i.e. between scanning element.
Embodiment 2
Fig. 5 is a kind of flow diagram for bend vehicle positioning method that the present invention real-time 2 provides, as shown in figure 5, this is curved
Road vehicle positioning method includes the following steps:
S1: laser scan unit acquires curved areas ranging waveform in real time.
For example, curved areas ranging waveform is as shown in Figure 6.
S2: central processing unit receives the curved areas ranging waveform that the laser scan unit is sent, and to present frame
Ranging waveform carries out coordinate conversion, interference elimination and local range search, determines the corresponding scanning element position letter of present frame vehicle region
Breath；
S3: present frame vehicle region and former frame vehicle region are carried out Region Matching by the central processing unit, are determined
The present frame vehicle region corresponds to bend newly into vehicle or curved areas traveling vehicle；
S4: the central processing unit obtains simultaneously according to the corresponding scanning dot position information of the present frame vehicle region
Export the real-time positional parameter of vehicle.
Wherein, the real-time positional parameter of vehicle includes: turning radius ρ when vehicle passes through bend, headstock to going out curved stop line
Arc length distanceArc length distance of the tailstock to curved stop line outBody gesture angle θ, vehicle bend linear velocity ν, headstock
Angle α and the tailstock between curved stop line out and out the angle β etc. between curved stop line.
Further, in an alternate embodiment of the present invention where, the bend vehicle positioning method further includes that Fig. 5 does not show
Following steps out:
S5: the central processing unit to the bend newly into vehicle carry out real-time tracking, in the bend newly into vehicle
The vehicle is removed when sailing out of curved areas.
Specifically, central processing unit carries out real-time tracking to the vehicle for entering bend, when the vehicle sails out of bend area
When domain, central processing unit understands the vehicle, even if then laser scan unit remains to scanning to the vehicle, central processing unit
The vehicle is not positioned and tracked.
Specifically, the coordinate conversion in step S2, specifically includes:
Coordinate conversion is carried out to present frame ranging waveform according to formula (1):
Wherein, i is scanning element serial number, and L (i) is scanning element i to laser scan unit central point distance, n0For laser scanning
Emit the launch point serial number of light and ox overlapping of axles in unit,For the scanning angle resolution ratio of laser scan unit, x (i) is
Abscissa of the scanning element i in oxy rectangular coordinate system, y (i) are ordinate of the scanning element i in oxy rectangular coordinate system.
It should be noted that as shown in fig. 7, using laser scan unit central point as coordinate system dot o, laser scan unit
Side is reference axis oy, and it is that ox axis establishes rectangular coordinate system oxy that vertical oy axis, which crosses o point straight line,.Scanning element n0The transmitting light at place
Line and ox overlapping of axles.It is for the angle where arbitrary scan point i between transmitting light and ox axisThen according to triangle
Geometrical relationship, scanning element i to laser scan unit central point distance L (i) meet above-mentioned coordinate transformation relation.
Specifically, the interference elimination in step S2, specifically comprises the following steps:
Step 1: according to formula (2) be calculated scanning element i to the curve inner side center of circle distance L ' (i):
Wherein, when being in the curve inner side center of circle for laser scan unit, laser scan unit center o and curve inner side circle
Heart point o ' coincidence, then the central point distance value L (i) of scanning element i to laser scan unit=L ' (i).
When being in outside turning radius on extension line for laser scan unit, as shown in figure 8, OM=Dis, O ' M=R2, then
Above-mentioned calculating can be derived according to the geometrical relationship between scanning element i, laser scan unit central point O and curve inner side center of circle o '
Formula.
Step 2: radius where straight line where scanning element i and the curve inner side center of circle is calculated according to formula (3) and ox axis
Between angle Q (i):
Wherein, using laser scan unit central point as coordinate system dot o, laser scan unit side is reference axis oy, is hung down
It is ox axis that straight oy axis, which crosses o point straight line,；
Step 3: will be not in bend and the not scanning within the scope of bend lane using formula (4) according to Q (i) and L ' (i)
Point excludes:
Wherein, as shown in figure 9, R1For the nearly center of circle boundary arc section radius of bend, R2For the remote center of circle boundary arc section of bend half
Diameter, Q1For the angle where straight line where bend starting point and the curve inner side center of circle and ox axis between radius, Q2For bend terminating point
With the angle where straight line where the curve inner side center of circle and ox axis between radius.
Specifically, the local range search in step S2, specifically includes:
The corresponding boundary point of present frame vehicle region and the vehicle area are determined according to the scanning element coordinate after interference elimination
The affiliated point in domain determines present frame vehicle region boundary point and the affiliated point of vehicle region with specific reference to following method:
If x (i-1)=0 and x (i) > 0 determine scanning element i for the start boundary point of vehicle region；
If x (i-1) > 0 and x (i) > 0, determine scanning element i for the affiliated point in the region scanning element i-1；
If x (i) > 0 and x (i+1)=0, determine that scanning element i terminates boundary point for vehicle region.
For example, as shown in Figure 10, point 3 meets x (2)=0 and x (3) > 0, then 3 are put as the start boundary point in region；Point 4 is full
Sufficient x (3) > 0 and x (4) > 0 then put 4 and belong to the same area with point 3；Similarly point 5,6 and 7 belongs to the same area with point 3；Point 8 meets
X (8) > 0 and x (9)=0 then put 8 and terminate boundary point for region.It can search and a little 3,4,5,6,7,8 belong to the same region.
Specifically, described by present frame vehicle region and former frame vehicle region progress Region Matching in step S3, really
The fixed present frame vehicle region corresponds to bend newly into vehicle or curved areas traveling vehicle, specifically includes:
According to the bounds relationship of present frame vehicle region and former frame vehicle region distinguish bend newly into vehicle or
Track curved areas traveling vehicle:
If present frame vehicle region (SQ(Qmin,Qmax),SL′(L ' min, L ' max)) and former frame vehicle region (S 'Q
(Qmin,Qmax),S′L′(L ' min, L ' max)) there are overlapping part, then Region Matching success determines present frame vehicle region pair
Answer traveling vehicle；Region Matching successfully presses formula (5) judgement:
If current vehicle region matches unsuccessful with former frame vehicle region, determine that present frame vehicle region corresponds to bend
Newly into vehicle；
Wherein, (Qmin, Qmax) indicates the range intervals that vehicle region scanning element angle minimax is constituted, (L ' min,
L ' max) indicate the range intervals that vehicle region scanning element is constituted to circle center distance minimax, SQ(Qmin, Qmax) expression is worked as
The range intervals that previous frame vehicle region scanning element angle minimax is constituted, SL′(L ' min, L ' max) indicates present frame vehicle area
The range intervals that domain scanning element is constituted to circle center distance minimax, S 'Q(Qmin, Qmax indicate the scanning of former frame vehicle region
The range intervals that point angle minimax is constituted, S 'L′(L ' min, L ' max indicates former frame vehicle region scanning element to distance of center circle
The range intervals constituted from minimax.
Further, as shown in Figure 1, the real-time positional parameter of the vehicle includes: turning radius when vehicle passes through bend
θ, headstock to the arc length distance for going out curved stop lineArc length distance of the tailstock to curved stop line outBody gesture angle θ, vehicle
Bend linear velocity ν, headstock and the angle α between curved stop line and the tailstock and out the angle β between curved stop line out.
Wherein, the body gesture angle θ is calculated by formula (6):
θ=arctan (κ) (6)
Wherein, κ is the corresponding slope of body side section scanning element fitting a straight line.
For example, when calculating body gesture angle, as shown in figure 11, vehicle body side and vehicle are first found in vehicle region
The inflection point p of head or tail partb, headstock phWith tailstock pt, then pass through fitting vehicle body side section pt pbIt is straight where interior scanning element
Line, the slope κ of straight line=- 0.460 after being fitted, then (- 0.460)=- 24.7 ° θ=arctan.
Wherein, the turning radius ρ when vehicle passes through bend is calculated by formula (7):
Wherein, pbFor the inflection point of vehicle body side and headstock or tail part, phFor headstock terminating point, ptFor headstock starting point,
L′(pb) it is vehicle body side at a distance from the inflection point to the center of circle of headstock or tail part, L ' (ph) it is that headstock terminating point arrives the center of circle
Distance, L ' (pt) it is distance of the vehicle starting point to the center of circle, Q (ph) be headstock terminating point angle, Q (pt) it is headstock starting point
Angle；
Angle α between the headstock and out curved stop line is calculated by formula (8):
Wherein, Qmax=max { Δ Q1,ΔQ2,ΔQ3…ΔQn, expression is that vehicle passes through vehicle in all frames of bend process
The difference maximum value of angle, Δ Q are put end to endi=| Q (ph)-Q(pt) | the difference of the i-th frame headstock tail point angle, Q2Represent curved stop line
Angle；
Wherein, arc length distance of the headstock to curved stop line outIt is calculated by formula (9):
Angle β between the tailstock and out curved stop line is calculated by formula (10):
Arc length distance of the tailstock to curved stop line outIt is calculated by formula (11):
The vehicle bend linear velocity ν is calculated by formula 12:
Wherein, ν (i) indicates the i-th frame vehicle bend linear velocity；Indicate that the i-th frame headstock stops to curved out when vehicle crosses bend
The only arc length distance of line, a definite value in n ∈ { 1,2,3,4,5 }, f indicate the scan frequency of laser scan unit.
It can be seen that being scanned in the present embodiment using laser scan unit, scan frequency is high, at least can be
Primary positioning is made in 20ms, therefore be can be realized bend and positioned in real time；Laser ranging is not influenced by ambient light etc., ranging essence
It spends high, substantially increases positioning accuracy.In addition the device and method are accomplished that curved areas using actual bend as foundation
Interior positioning can generate to avoid median error；Positional parameter in the present embodiment include speed in vehicle in lane,
Pose, distance go out the important parameters such as curved stop line distance, turning radius, and turning strategy can be done for automatic driving vehicle or is done auxiliary
The speed early warning or disengaging bend helped in driving procedure is reminded.
Embodiment 3
In the present embodiment, as shown in figure 12, bend vehicle locating device is installed on outside turning radius and extends linear distance vehicle
At the pre-determined distance of road boundary line.Wherein, the nearly center of circle boundary arc section radius R of bend1=10000mm, the remote center of circle border circle of bend
Segmental arc radius R2Angle Q where straight line where=14000mm, bend starting point and the curve inner side center of circle and ox axis between radius1
=-45 °, the angle Q where straight line where bend terminating point and the curve inner side center of circle and ox axis between radius2=45 °.
Wherein, bend vehicle locating device includes: laser scan unit 1, central processing unit 2, installation upright bar 3 and power supply
Unit 4 forms, and laser scan unit 1 is fixed in installation upright bar 3, extends linear distance lane line outside turning radius
It is H=700mm away from pavement-height, with scan frequency f=50HZ and scanning angle resolution ratio at Dis=2000mm distancePlane where being parallel to road surface is 0-180 ° of scanning, scanning element n0=180 transmitting light and ox overlapping of axles, for real-time
Vehicle body ranging waveform when acquisition vehicle passes through curved areas.
Wherein, central processing unit 2 are connect with laser scan unit 1, are adopted for receiving and handling laser scan unit 1
The ranging waveform of collection handles and exports the real-time positional parameter of vehicle.
Vehicle by installation the present apparatus bend when, using following bend vehicle positioning method provided in this embodiment into
The real-time detection and positioning of driving:
(1) laser scan unit acquires curved areas ranging waveform in real time；
(2) central processing unit carries out coordinate conversion, interference elimination and local range search to present frame ranging waveform；
(5) central processing unit realizes region according to present frame local range search result and former frame local range search Comparative result
Matching distinguishes newly into vehicle or tracking traveling vehicle；
(6) central processing unit carries out the calculating of real-time vehicle positional parameter and exports to determine in real time according to Region Matching result
Position result；
(7) central processing unit is according to the discrimination for newly sailing out of bend into vehicle tracking result progress vehicle, and removing is sailed out of
Vehicle.
Wherein, consistent in coordinate conversion, interference elimination, local range search and Region Matching and embodiment 2, it is no longer superfluous herein
It states.
When vehicle passes through bend, having headstock, 0 dotted line, headstock do not cross 0 dotted line, 2 kinds of situations excessively.
In one-time detection position fixing process, the case where encountering, 1 vehicle did not crossed 0 dotted line, what laser scan unit acquired in real time
Curved areas ranging waveform is as shown in figure 13.
After the conversion of central processing unit coordinate, interference elimination and local range search, obtained vehicle region such as Figure 14 institute
Show.
Central processing unit is right according to present frame local range search result and former frame local range search result (as shown in figure 15)
Than there are overlapping parts for two vehicle regions of discovery, obtain present frame vehicle region and former frame vehicle region successful match, judge
Current vehicle region is the vehicle being traveling at, and realizes the tracking of traveling vehicle.
Meanwhile as shown in figure 16, straight line fitting, straight line after being fitted are carried out by the scanning element to body side section
Slope κ=- 0.396, then the real-time body gesture angle θ=arctan (- 0.396)=- 21.6 ° calculated；
At this point, due to Q (ph)=- 4.63 ° < 0, turning radius ρ when by bend:
Angle α between headstock and stop line are as follows:
α=| Q (ph)-Q2- 4.63 ° -45 ° of |=| |=49.63 °；
Arc length distance of the headstock to curved stop line outAre as follows:
Angle β between the tailstock and stop line are as follows:
β=| Q (ph)-Qmax-Q2- 4.63 ° -16 ° -45 ° of |=| |=65.63 °；
Arc length distance of the tailstock to curved stop line outAre as follows:
Vehicle bend linear velocity ν are as follows:
2 headstock of the case where encountering has crossed 0 dotted line, carries out coordinate conversion, interference elimination, local range search through central processing unit
It is as shown in figure 17 with the vehicle region after Region Matching.
Straight line fitting is carried out by the scanning element to body side section, as shown in figure 18, straight line is oblique after being fitted
Rate κ=0.230, the then real-time body gesture angle θ=arctan (0.230)=12.95 ° calculated；
At this point, due to Q (phTurning radius ρ when bend is then passed through in)=21.17 ° > 0:
Angle α between headstock and stop line are as follows:
α=| Q (pt)+Qmax-Q24.74 °+16 ° -45 ° of |=| |=24.26 °；
Arc length distance of the headstock to curved stop line outAre as follows:
Angle β between the tailstock and stop line are as follows:
β=| Q (pt)-Q24.74 ° -45 ° of |=| |=40.26 °；
Arc length distance of the tailstock to curved stop line outAre as follows:
Vehicle bend linear velocity ν are as follows:
Embodiment 4
In the present embodiment, as shown in figure 19, bend vehicle locating device is installed at curve inner side centre point.Wherein,
The nearly center of circle boundary arc section radius R of bend1=6000mm, the remote center of circle boundary arc section radius R of bend2=10000mm, bend rise
Angle Q where straight line where initial point and the curve inner side center of circle and ox axis between radius1=-45 °, in bend terminating point and bend
Angle Q where straight line where the center of circle of side and ox axis between radius2=45 °.
Wherein, bend vehicle locating device includes: laser scan unit 1, central processing unit 2, installation upright bar 3 and power supply
Unit 4 forms, and laser scan unit 1 is fixed in installation upright bar 3, is in curve inner side the center point, is H=away from pavement-height
700mm, with scan frequency f=50HZ and scanning angle resolution ratioPlane where being parallel to road surface does 0-180 ° of scanning,
Scanning element n0=180 transmitting light and ox overlapping of axles, for acquiring vehicle body ranging waveform when vehicle passes through bend in real time.
Wherein, central processing unit 2 are connect with laser scan unit 1, are adopted for receiving and handling laser scan unit 1
The ranging waveform of collection handles and exports the real-time positional parameter of vehicle.
Vehicle by installation the present apparatus bend when, using following bend vehicle positioning method provided in this embodiment into
The real-time detection and positioning of driving:
(1) laser scan unit acquires curved areas ranging waveform in real time；
(2) central processing unit carries out coordinate conversion, interference elimination and local range search to present frame ranging waveform；
(5) central processing unit realizes region according to present frame local range search result and former frame local range search Comparative result
Matching distinguishes newly into vehicle or tracking traveling vehicle；
(6) central processing unit carries out the calculating of real-time vehicle positional parameter and exports to determine in real time according to Region Matching result
Position result；
(7) central processing unit is according to the discrimination for newly sailing out of bend into vehicle tracking result progress vehicle, and removing is sailed out of
Vehicle.
Wherein, consistent in coordinate conversion, interference elimination, local range search and Region Matching and embodiment 2, it is no longer superfluous herein
It states.
Embodiment 4 is that the installation site of laser scan unit is installed on curve inner side circle with the maximum difference of embodiment 3
At the heart, while in interference elimination, the distance value L ' (i) in calculating scanning element i to the curve inner side center of circle is different, other methods one
It causes, details are not described herein.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can be with
It is done through the relevant hardware of the program instructions.Program above-mentioned can be stored in a computer readable storage medium.It should
When being executed, execution includes the steps that above-mentioned each method embodiment to program；And storage medium above-mentioned includes: ROM, RAM, magnetic disk
Or the various media that can store program code such as CD.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to contain
Lid non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of bend vehicle locating device, which is characterized in that described device includes: laser scan unit and central processing list
Member；
The laser scan unit is fixed in installation upright bar, is located at curve inner side centre point or the outer extension line of turning radius
At lane line pre-determined distance, for acquiring curved areas ranging waveform in real time；
The central processing unit is connect with the laser scan unit, for receiving the curved of the laser scan unit transmission
Road region ranging waveform, and coordinate conversion, interference elimination and local range search are carried out to present frame ranging waveform, determine present frame vehicle
The corresponding scanning dot position information in region；Present frame vehicle region and former frame vehicle region are subjected to Region Matching, determined
The present frame vehicle region corresponds to bend newly into vehicle or curved areas traveling vehicle；According to the present frame vehicle region
Corresponding scanning dot position information obtains and exports the real-time positional parameter of vehicle.
2. the apparatus according to claim 1, which is characterized in that the laser scan unit is located at the outer extension line of turning radius
When apart from lane line pre-determined distance, the pre-determined distance is more than or equal to 2000mm；
The laser scan unit is more than or equal to 700mm apart from pavement-height and is less than or equal to 850mm；
The laser scan unit is with scan frequency f and scanning angle resolution ratioPlane where being parallel to road surface is scanned；
Scanning angular region of the laser scan unit in each scan period is 0-270 °.
3. a kind of bend vehicle positioning method, which is characterized in that the described method includes:
Laser scan unit acquires curved areas ranging waveform in real time；
Central processing unit receives the curved areas ranging waveform that the laser scan unit is sent, and to present frame ranging waveform
Coordinate conversion, interference elimination and local range search are carried out, determines the corresponding scanning dot position information of present frame vehicle region；
Present frame vehicle region and former frame vehicle region are carried out Region Matching by the central processing unit, are determined described current
Frame vehicle region corresponds to bend newly into vehicle or curved areas traveling vehicle；
The central processing unit obtains according to the corresponding scanning dot position information of the present frame vehicle region and exports vehicle
Real-time positional parameter.
4. according to the method described in claim 3, it is characterized in that, the method also includes:
The central processing unit newly carries out real-time tracking into vehicle to the bend, curved newly to sail out of into vehicle in the bend
The vehicle is removed when road region.
5. according to the method described in claim 3, it is characterized in that, the coordinate is converted, comprising:
Coordinate conversion is carried out according to formula a pair of present frame ranging waveform:
Wherein, i is scanning element serial number, and L (i) is scanning element i to laser scan unit central point distance, n0For laser scan unit
The launch point serial number of middle transmitting light and ox overlapping of axles,For the scanning angle resolution ratio of laser scan unit, x (i) is scanning
Abscissa of the point i in oxy rectangular coordinate system, y (i) are ordinate of the scanning element i in oxy rectangular coordinate system.
6. according to the method described in claim 5, it is characterized in that, the interference elimination, comprising:
Step 1: according to formula two be calculated scanning element i to the curve inner side center of circle distance L ' (i):
Step 2: where straight line where scanning element i and the curve inner side center of circle is calculated according to formula three and ox axis between radius
Angle Q (i):
Wherein, using laser scan unit central point as coordinate system dot o, laser scan unit side is reference axis oy, vertical oy
It is ox axis that axis, which crosses o point straight line,；
Step 3: the scanning element not in bend and not within the scope of bend lane is arranged using formula four according to Q (i) and L ' (i)
It removes:
Wherein, R1For the nearly center of circle boundary arc section radius of bend, R2For the remote center of circle boundary arc section radius of bend, Dis sweeps for laser
It retouches unit and is located at the pre-determined distance for extending linear distance lane line outside turning radius, Q1For bend starting point and curve inner side circle
Angle where straight line where the heart and ox axis between radius, Q2For straight line and ox axis where bend terminating point and the curve inner side center of circle
Angle between the radius of place.
7. according to the method described in claim 6, it is characterized in that, the local range search, comprising:
The corresponding boundary point of present frame vehicle region and vehicle region institute are determined according to the scanning element coordinate after interference elimination
Belong to point:
If x (i-1)=0 and x (i) > 0 determine scanning element i for the start boundary point of vehicle region；
If x (i-1) > 0 and x (i) > 0, determine scanning element i for the affiliated point in the region scanning element i-1；
If x (i) > 0 and x (i+1)=0, determine that scanning element i terminates boundary point for vehicle region.
8. according to the method described in claim 3, it is characterized in that, described by present frame vehicle region and former frame vehicle region
Region Matching is carried out, determines that the present frame vehicle region corresponds to bend newly into vehicle or curved areas traveling vehicle, comprising:
Distinguish bend newly into vehicle or tracking according to the bounds relationship of present frame vehicle region and former frame vehicle region
Curved areas traveling vehicle:
If present frame vehicle region (SQ(Qmin,Qmax),SL′(L ' min, L ' max)) and former frame vehicle region (S 'Q(Qmin,
Qmax),S′L' (L ' min, L ' max)) there are overlapping part, then Region Matching success determines that present frame vehicle region corresponds to row
Into vehicle；Region Matching successfully presses the judgement of formula five:
If current vehicle region matched with former frame vehicle region it is unsuccessful, determine present frame vehicle region correspond to bend newly into
Vehicle；
Wherein, (Qmin, Qmax) indicates the range intervals that vehicle region scanning element angle minimax is constituted, (L ' min, L '
Max the range intervals that vehicle region scanning element is constituted to circle center distance minimax, S) are indicatedQ(Qmin, Qmax) indicates current
The range intervals that frame vehicle region scanning element angle minimax is constituted, SL′(L ' min, L ' max) indicates present frame vehicle region
The range intervals that scanning element is constituted to circle center distance minimax, S 'Q(Qmin, Qmax) indicates former frame vehicle region scanning element
The range intervals that angle minimax is constituted, S 'L′(L ' min, L ' max) indicates former frame vehicle region scanning element to circle center distance
The range intervals that minimax is constituted.
9. according to the method described in claim 3, it is characterized in that, the real-time positional parameter of the vehicle includes: vehicle by curved
Turning radius ρ, headstock to the arc length distance HS of curved stop line out, the tailstock to arc length distance TS, the vehicle for going out curved stop line when road
Body attitude angle θ, vehicle bend linear velocity ν, headstock and the angle α between curved stop line and the tailstock and the out angle between curved stop line out
β。
10. according to the method described in claim 9, it is characterized in that,
The body gesture angle θ is calculated by formula six:
θ=arctan (κ) formula six；
Wherein, κ is the corresponding slope of body side section scanning element fitting a straight line；
The vehicle passes through turning radius ρ when bend, calculates by formula seven:
Wherein, pbFor the inflection point of vehicle body side and headstock or tail part, phFor headstock terminating point, ptFor headstock starting point, L '
(pb) it is vehicle body side at a distance from the inflection point to the center of circle of headstock or tail part, L ' (ph) be headstock terminating point to the center of circle away from
From L ' (pt) it is distance of the vehicle starting point to the center of circle, Q (ph) be headstock terminating point angle, Q (pt) be headstock starting point angle
Degree；
Angle α between the headstock and out curved stop line is calculated by formula eight:
Wherein, Qmax=max { Δ Q1,ΔQ2,ΔQ3…ΔQn, expression is that vehicle passes through headstock tail in all frames of bend process
The difference maximum value of point angle, Δ Qi=| Q (ph)-Q(pt) | the difference of the i-th frame headstock tail point angle, Q2Represent the angle of curved stop line
Degree；
The headstock is calculated to the arc length distance HS for going out curved stop line by formula nine:
Angle β between the tailstock and out curved stop line is calculated by formula ten:
The tailstock is calculated to the arc length distance TS for going out curved stop line by formula 11:
The vehicle bend linear velocity ν is calculated by formula 12:
Wherein, ν (i) indicates the i-th frame vehicle bend linear velocity；HSiIndicate vehicle when crossing bend the i-th frame headstock to curved stop line out
Arc length distance, a definite value in n ∈ { 1,2,3,4,5 }, f indicates the scan frequency of laser scan unit.
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| CN107704821B (en) * | 2017-09-29 | 2020-06-09 | 河北工业大学 | Vehicle pose calculation method for curve |
| CN109801503B (en) * | 2017-11-17 | 2020-10-20 | 武汉万集信息技术有限公司 | Vehicle speed measuring method and system based on laser |
| CN109991968B (en) * | 2017-12-29 | 2022-05-10 | 深圳市优必选科技有限公司 | Method for controlling robot to circle, robot and computer readable storage medium |
| CN110379155B (en) * | 2018-09-30 | 2021-01-26 | 长城汽车股份有限公司 | Method and system for determining coordinates of road target |
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