CN110276952B - Traffic information simulation acquisition method and device - Google Patents
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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
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- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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Abstract
The embodiment of the invention discloses a traffic information simulation acquisition method and a traffic information simulation acquisition device. The method comprises the following steps: constructing motion equations of different driving track types of the vehicle based on the coordinate system; combining different types of driving tracks to simulate the vehicle driving track of a pre-collected road section, and setting the position of a traffic mark in the pre-collected road section, the view angle of a pre-collected vehicle and an observation distance; calculating the distance and the angle between a track point of a pre-collected vehicle and a traffic sign in real time according to motion equations of different running track types, and adding the observation distance and the observation angle of the pre-collected vehicle to the track point corresponding to the vehicle track to form a group of observation data when the traffic sign appears in the field of view of the pre-collected vehicle; and simulating the collection of traffic identification information and track information of the vehicle under any track based on the vehicle track and observation data of the vehicle which is collected in advance. By the technical scheme of the embodiment of the invention, the actual vehicle running track route is simulated, the traffic information is conveniently acquired, and the acquisition cost is reduced.
Description
Technical Field
The embodiment of the invention relates to the field of automatic driving, in particular to a traffic information simulation acquisition method and device.
Background
In the field of automatic driving, in order to accurately control vehicle running, drawing of a high-precision map is often involved, and the high-precision map is drawn after vehicle on-site collected data are optimized based on an s-lam algorithm, so that the high-precision map is long in manufacturing period and high in difficulty, and multiple vehicles are required for data collection. Traffic information in the existing crowdsourcing data is acquired through equipment based on computer vision and a laser SLAM algorithm, the cost of the used acquisition equipment is high, and the early-stage data acquisition period based on the algorithm is long and is difficult to widely use.
Therefore, it is necessary to provide a low-cost traffic information collecting method applicable to various devices.
Disclosure of Invention
The embodiment of the invention provides a traffic information simulation acquisition method and a traffic information simulation acquisition device, which are used for establishing a traffic information simulation acquisition model, effectively reducing crowdsourcing data acquisition and drawing cost in a high-precision map and simplifying a data processing algorithm.
In a first aspect of the embodiments of the present invention, a traffic information simulation acquisition method is provided, including:
constructing motion equations of different driving track types of the vehicle based on the coordinate system;
specifically, according to the driving directions of the vehicle in different track types, an acceleration equation is calculated through orthogonal decomposition of preset acceleration in the driving directions, and a speed equation and a displacement equation are constructed on the basis of the acceleration equation;
combining different types of driving tracks to simulate the vehicle driving track of a pre-collected road section, and setting the position of a traffic mark in the pre-collected road section, the view angle of a pre-collected vehicle and an observation distance;
calculating the distance and the angle between a track point of a pre-collected vehicle and a traffic sign in real time according to motion equations of different running track types, and adding the observation distance and the observation angle of the pre-collected vehicle to the track point corresponding to the vehicle track to form a group of observation data when the traffic sign appears in the field of view of the pre-collected vehicle;
and simulating the collection of traffic identification information and track information of the vehicle under any track based on the vehicle track and observation data of the vehicle which is collected in advance.
In a second aspect of the embodiments of the present invention, there is provided a traffic information simulation acquisition apparatus, including:
the building module is used for building motion equations of different driving track types of the vehicle based on the coordinate system; specifically, according to the driving directions of the vehicle in different track types, an acceleration equation is calculated through orthogonal decomposition of preset acceleration in the driving directions, and a speed equation and a displacement equation are constructed on the basis of the acceleration equation;
the combination module is used for combining different types of running tracks to simulate the vehicle running track of a pre-collected road section, and setting the traffic identification position, the view angle and the observation distance of the pre-collected vehicle in the pre-collected road section;
the pre-acquisition module is used for calculating the distance and the angle between a track point of a pre-acquired vehicle and a traffic mark in real time according to motion equations of different driving track types, and adding the observation distance and the observation angle of the pre-acquired vehicle to the track point corresponding to the vehicle track to form a group of observation data when the traffic mark appears in the field of view of the pre-acquired vehicle;
and the simulation module is used for simulating the collection of the traffic identification information and the track information of the vehicle under any track based on the vehicle track and the observation data of the vehicle which are collected in advance.
According to the embodiment of the invention, the track routes of the pre-simulated tracks are combined by establishing the motion models of different types of tracks, the observation of the traffic signs is simulated based on the track parameters and the set traffic signs, and the actual collection of traffic information is simulated according to the track data and the observation data, so that the data collection algorithm is simplified, and the collection cost is reduced. Meanwhile, based on the noise addition to the calculation process of the motion equation and the noise addition to the traffic sign observation data, a better simulation acquisition effect can be achieved, the cost of directly acquiring data through acquisition equipment is reduced, the difficulty in algorithm prototype development caused by less data samples and high cost is reduced, and the algorithm development of the crowd-sourced map updating is further facilitated.
Drawings
Fig. 1 is a schematic flow chart of a traffic information simulation acquisition method according to an embodiment of the present invention;
fig. 2 is another schematic flow chart of a traffic information simulation collection method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a traffic information simulation acquisition device according to a third embodiment of the present invention;
Detailed Description
The embodiment of the invention provides a traffic information simulation acquisition method and a traffic information simulation acquisition device, which are used for simulating vehicles to acquire track information and traffic sign information and reducing the acquisition cost of traffic information.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Fig. 1 is a schematic flow chart of a traffic information simulation collection method according to an embodiment of the present invention. The method specifically comprises the following steps:
s101, constructing motion equations of different running track types of the vehicle based on a coordinate system;
the method comprises the steps that an acceleration equation is calculated through orthogonal decomposition of preset acceleration in the driving direction according to the driving direction of a vehicle in different track types, a speed equation and a displacement equation are constructed on the basis of the acceleration equation, and vehicle driving parameters including position, speed and the like can be obtained in real time on the basis of the speed equation and the displacement equation;
specifically, the driving track types can be divided into three types, namely a straight line, a curve and an oblique line, motion models of the straight line and the curve are respectively established based on the directions of an X axis and a Y axis which are perpendicular to each other, and the oblique motion can be obtained by shifting at a certain angle based on the straight line motion.
In the straight running of the vehicle, the straight running is set to a uniform acceleration or uniform deceleration process with an initial acceleration, a straight running speed is given in the X direction or the Y direction, and the speed is 0 in the vertical direction thereof.
During the running of the curve, the tangential speed of the track running direction and the normal speed perpendicular to the tangential speed are established, the tangential speed is set to be continuously reduced to a first target value during the running process of the vehicle, the normal speed is continuously increased to a second target value, the first target value and the second target value are obtained by calculating the running speed of the curve and the turning angle, the running speed of the curve is the speed of the track tangential direction of the vehicle, and the curvature of the curve is controlled by the steering time of the vehicle.
Further, the predetermined acceleration value is defined by a linear bivariate equation ak＝ak-1+λk-1tk-1Given, where t isk-1Represents a time interval, ak-1Is the acceleration, lambda, of the last momentk-1Given acceleration parameters.
The speed during the driving is obtained from the initial speed and the acceleration,
the position of the driving process is obtained from the speed, acceleration and time,
and respectively calculating acceleration, speed and displacement in the direction X, Y to obtain the acceleration, speed and displacement characteristics of the vehicle on each track point, and obtain track parameters in the running process of the vehicle.
S102, combining different types of driving tracks to simulate a vehicle driving track of a pre-collected road section, and setting a traffic identification position, a view angle and an observation distance of a pre-collected vehicle in the pre-collected road section;
optionally, the traffic sign position in the pre-collected road section is set in a simulated manner according to the position of the traffic sign in the actual road, wherein the traffic sign position in the pre-collected road section takes the road intersection as a reference; and giving the view angle and the observation distance of the pre-collected vehicle according to the type of the pre-collected vehicle.
For a running vehicle, two types of road signs, namely a traffic signal lamp and a traffic sign board, are generally arranged on two sides of a road, the position of the traffic sign is set, the position of a word road junction of an actual traffic sign generally appears, the position of the traffic sign relative to the road junction or the relative or absolute position in a map is given, and the collection of unknown traffic signs is simulated by observing the traffic sign at the set position.
S103, calculating the distance and the angle between a track point of a pre-collected vehicle and a traffic sign in real time according to motion equations of different driving track types, and adding the observation distance and the observation angle of the pre-collected vehicle to the track point corresponding to the vehicle track to form a group of observation data when the traffic sign appears in the field of view of the pre-collected vehicle;
a group of observation data can be obtained by observing the traffic sign on the track points of the vehicle running track, and the position of the traffic sign can be optimized based on a plurality of groups of observations of a plurality of track points after optimization.
And S104, simulating the collection of traffic identification information and track information of the vehicle under any track based on the vehicle track and observation data of the vehicle which is collected in advance.
The vehicle track and observation data of the pre-collected vehicle are simulation data, and the actual vehicle collection process is simulated by assigning track parameters and observation parameters and modifying specific parameter values.
Preferably, noise is added to the vehicle track parameters and the observation data of the pre-collected vehicle respectively, and the signal-to-noise ratio of the noise is randomly generated and given. Specifically, for vehicle trajectory data, noise of a given model and an SNR is added to an acceleration result calculated by a first-order linear equation, then speed and noise of the SNR corresponding to the speed are calculated by using the noisy acceleration, then displacement is calculated by using the noisy speed and acceleration, and noise is added to the displacement to obtain a displacement signal with noise. Similarly, noise of a given SNR can be added directly to the track coordinate position. And when the traffic sign appears in the visual field range of the track, the distance and angle observation information with the noise is given to obtain a group of observation data with the noise.
According to the technical scheme, vehicle tracks are simulated through different types of track combinations, track parameters are obtained through calculation according to a track motion equation, observation data can be obtained through the traffic signs, actual crowdsourcing data collection is simulated based on the track parameters and the observation data, noise is added in the calculation process, the simulation effect can be effectively improved, the number of sample data is guaranteed, and the actual collection cost is reduced.
Example two：
Fig. 2 is another schematic flow chart of a traffic information simulation acquisition method provided in the second embodiment of the present invention, and on the basis of the first embodiment, a simulation traffic information acquisition process is described in detail:
as shown in fig. 2, assuming that fig. 2 is a map of a certain area, wherein A, B, C, D, E, F, G, H, I all represent road intersections, 22 represent roads, 23 represent traffic lights, and 24 represent traffic signs, assuming that a vehicle departs from point a and the driving route is a-B-E-F-I-H-G, the vehicle goes straight to the right, turns right when meeting a triple intersection at point B, turns left when arriving at point E at the intersection, and then turns right at point F and arrives at point I, and then goes straight from H to G. In the travel along the above trajectory route, a straight travel path with zero speed in the Y direction is used for the horizontal straight line segment, and a travel path with zero speed in the X direction is used for the vertical segment. And in the corner section, a turning path with a corner of 90 degrees is used, and the equations of motion of straight lines and turning are combined to simulate the whole track in the driving process of the vehicle.
During the course of the trajectory, assume that the traffic sign: the positions of the traffic signal lamp 23 and the traffic sign board 24, the associated road signs in the current track section are calculated, the distance and the angle between the road signs and the track are calculated, the road signs in the vehicle visual field range, namely the distance and the angle between the road signs and the vehicle are within the limited threshold range, the track and the road signs are determined to form a group of observation, and a plurality of groups of observation data of different traffic signs are obtained. Furthermore, noise based on a Gaussian model is added in the forming process of the track and the observation, the noise term can be given according to other mathematical models or can be given through the test of actual data, and parameters in the actual vehicle running are simulated.
The collection of traffic information based on the vehicle track simulation of fig. 2 can actually change the vehicle driving route, the traffic sign position, or increase the oblique driving, and the like, and can also simulate the actual collection route by modifying specific parameters.
EXAMPLE III：
Fig. 3 is a schematic structural diagram of a traffic information simulation acquisition device according to a third embodiment of the present invention, including:
the building module 310 is used for building motion equations of different driving track types of the vehicle based on the coordinate system; specifically, according to the driving directions of the vehicle in different track types, an acceleration equation is calculated through orthogonal decomposition of preset acceleration in the driving directions, and a speed equation and a displacement equation are constructed on the basis of the acceleration equation;
optionally, the constructing motion equations of different driving track types of the vehicle based on the coordinate system includes:
for a curve running track, establishing a tangential speed in the running direction of the track and a normal speed perpendicular to the tangential speed, setting the tangential speed to be continuously reduced to a first target value and the normal speed to be continuously increased to a second target value in the running process of a vehicle, wherein the first target value and the second target value are obtained by calculating the curve running speed and the turning angle, and the curve curvature is controlled by the vehicle turning time.
Optionally, the calculating an acceleration equation by orthogonal decomposition of the predetermined acceleration of the driving direction includes:
the predetermined acceleration value is defined by a linear dual-coefficient equation ak＝ak-1+λk-1tk-1Given, where t isk-1Represents a time interval, ak-1Is the acceleration, lambda, of the last momentk-1Given acceleration parameters.
The combination module 320 is used for combining different types of running tracks to simulate the vehicle running track of a pre-collected road section, and setting the traffic identification position, the view angle and the observation distance of a pre-collected vehicle in the pre-collected road section;
optionally, the combining module further includes:
the setting unit is used for simulating and setting the traffic identification position in the pre-acquisition road section according to the position of the traffic sign in the actual road, wherein the traffic identification position in the pre-acquisition road section takes a road intersection as a reference quantity;
and giving the view angle and the observation distance of the pre-collected vehicle according to the type of the pre-collected vehicle.
The pre-acquisition module 330 is configured to calculate distances and angles between a pre-acquired vehicle track point and a traffic identifier in real time according to motion equations of different driving track types, and when the traffic identifier appears in a pre-acquired vehicle field of view, add an observation distance and an observation angle of a pre-acquired vehicle to a track point corresponding to the vehicle track to form a set of observation data;
the simulation module 340 is configured to simulate, based on a vehicle track and observation data of a vehicle to be collected in advance, collection of traffic identification information and track information of the vehicle in any track.
Optionally, the simulation module further includes:
and the noise adding module is used for respectively adding noise to the vehicle track parameters and the observation data of the pre-collected vehicle, and the signal-to-noise ratio of the noise is randomly generated and given.
In the device, the track is simulated through the combination module, the observation data is acquired through the pre-acquisition module, the traffic data is acquired in a simulation mode based on the motion equation and the observation data in the track simulation, the data acquisition model is simplified, and the equipment cost is reduced.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A traffic information simulation acquisition method is characterized by comprising the following steps:
constructing motion equations of different driving track types of the vehicle based on the coordinate system;
specifically, according to the driving directions of the vehicle in different track types, an acceleration equation is calculated through orthogonal decomposition of preset acceleration in the driving directions, and a speed equation and a displacement equation are constructed on the basis of the acceleration equation;
combining different types of driving tracks to simulate the vehicle driving track of a pre-collected road section, and setting the position of a traffic mark in the pre-collected road section, the view angle of a pre-collected vehicle and an observation distance;
calculating the distance and the angle between a track point of a pre-collected vehicle and a traffic sign in real time according to motion equations of different running track types, and adding the observation distance and the observation angle of the pre-collected vehicle to the track point corresponding to the vehicle track to form a group of observation data when the traffic sign appears in the field of view of the pre-collected vehicle;
and simulating the collection of traffic identification information and track information of the vehicle under any track based on the vehicle track and observation data of the vehicle which is collected in advance.
2. The method of claim 1, wherein the constructing equations of motion for different travel trajectory types of the vehicle based on the coordinate system comprises:
for a curve running track, establishing a tangential speed in the running direction of the track and a normal speed perpendicular to the tangential speed, setting the tangential speed to be continuously reduced to a first target value and the normal speed to be continuously increased to a second target value in the running process of a vehicle, wherein the first target value and the second target value are obtained by calculating the curve running speed and the turning angle, and the curve curvature is controlled by the vehicle turning time.
3. The method of claim 1, wherein said calculating an acceleration equation by orthogonal decomposition of a predetermined acceleration for a direction of travel comprises:
the predetermined acceleration value is defined by a linear dual-coefficient equation ak＝ak-1+λk-1tk-1Given, where t isk-1Represents a time interval, ak-1Is the acceleration, lambda, of the last momentk-1Given acceleration parameters.
4. The method according to claim 1, wherein the setting of the traffic sign position, the view angle and the observation distance of the pre-collected vehicle in the pre-collected road section is specifically as follows:
simulating and setting the traffic identification position in the pre-acquisition road section according to the position of the traffic sign in the actual road, wherein the traffic identification position in the pre-acquisition road section takes a road intersection as a reference;
and giving the view angle and the observation distance of the pre-collected vehicle according to the type of the pre-collected vehicle.
5. The method of claim 1, wherein the simulating the collection of the traffic identification information and the trajectory information under any trajectory of the vehicle based on the vehicle trajectory and the observation data of the pre-collected vehicle further comprises:
and respectively adding noises to the vehicle track parameters and the observation data of the pre-collected vehicle, wherein the signal-to-noise ratio of the noises is randomly generated and given.
6. A traffic information simulation acquisition device, comprising:
the building module is used for building motion equations of different driving track types of the vehicle based on the coordinate system; specifically, according to the driving directions of the vehicle in different track types, an acceleration equation is calculated through orthogonal decomposition of preset acceleration in the driving directions, and a speed equation and a displacement equation are constructed on the basis of the acceleration equation;
the combination module is used for combining different types of running tracks to simulate the vehicle running track of a pre-collected road section, and setting the traffic identification position, the view angle and the observation distance of the pre-collected vehicle in the pre-collected road section;
the pre-acquisition module is used for calculating the distance and the angle between a track point of a pre-acquired vehicle and a traffic mark in real time according to motion equations of different driving track types, and adding the observation distance and the observation angle of the pre-acquired vehicle to the track point corresponding to the vehicle track to form a group of observation data when the traffic mark appears in the field of view of the pre-acquired vehicle;
and the simulation module is used for simulating the collection of the traffic identification information and the track information of the vehicle under any track based on the vehicle track and the observation data of the vehicle which are collected in advance.
7. The apparatus of claim 6, wherein the constructing equations of motion for different types of trajectories of the vehicle based on the coordinate system comprises:
for a curve running track, establishing a tangential speed in the running direction of the track and a normal speed perpendicular to the tangential speed, setting the tangential speed to be continuously reduced to a first target value and the normal speed to be continuously increased to a second target value in the running process of a vehicle, wherein the first target value and the second target value are obtained by calculating the curve running speed and the turning angle, and the curve curvature is controlled by the vehicle turning time.
8. The apparatus of claim 6, wherein said calculating an acceleration equation by orthogonal decomposition of a predetermined acceleration for a direction of travel comprises:
the predetermined acceleration value is defined by a linear dual-coefficient equation ak＝ak-1+λk-1tk-1Given, where t isk-1Represents a time interval, ak-1Is the acceleration, lambda, of the last momentk-1Given acceleration parameters.
9. The apparatus of claim 6, wherein the combining module further comprises:
the setting unit is used for simulating and setting the traffic identification position in the pre-acquisition road section according to the position of the traffic sign in the actual road, wherein the traffic identification position in the pre-acquisition road section takes a road intersection as a reference quantity; and giving the view angle and the observation distance of the pre-collected vehicle according to the type of the pre-collected vehicle.
10. The apparatus of claim 6, wherein the simulation module further comprises:
and the noise adding module is used for respectively adding noise to the vehicle track parameters and the observation data of the pre-collected vehicle, and the signal-to-noise ratio of the noise is randomly generated and given.
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| CN110986970A (en) * | 2019-12-21 | 2020-04-10 | 武汉中海庭数据技术有限公司 | Method and system for optimizing positions of track points and traffic signs |
| CN111610785B (en) * | 2020-05-26 | 2022-02-18 | 三一专用汽车有限责任公司 | Motion planning method and motion planning device for unmanned vehicle |
| CN112612825B (en) * | 2020-12-18 | 2024-05-14 | 北京锐安科技有限公司 | Method, device, equipment and storage medium for determining vehicles in the same row |
| CN112632208B (en) * | 2020-12-25 | 2022-12-16 | 际络科技(上海)有限公司 | Traffic flow trajectory deformation method and device |
| CN116238545B (en) * | 2023-05-12 | 2023-10-27 | 禾多科技（北京）有限公司 | Automatic driving track deviation detection method and detection system |
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| CN109597317A (en) * | 2018-12-26 | 2019-04-09 | 广州小鹏汽车科技有限公司 | A kind of Vehicular automatic driving method, system and electronic equipment based on self study |
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Denomination of invention: A method and device for simulating and collecting traffic information Granted publication date: 20201127 Pledgee: Productivity Promotion Center of Wuhan East Lake New Technology Development Zone Pledgor: WUHHAN KOTEL BIG DATE Corp. Registration number: Y2024980005100 |