CN110379155B - Method and system for determining coordinates of road target - Google Patents
Method and system for determining coordinates of road target Download PDFInfo
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- CN110379155B CN110379155B CN201811153712.1A CN201811153712A CN110379155B CN 110379155 B CN110379155 B CN 110379155B CN 201811153712 A CN201811153712 A CN 201811153712A CN 110379155 B CN110379155 B CN 110379155B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
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Abstract
The invention relates to the field of intelligent transportation, and provides a method and a system for determining road target coordinates. The method for determining the coordinates of the road target comprises the following steps: constructing a driving coordinate system, wherein the driving coordinate system takes a road boundary line on one side of a road where the vehicle is located as a reference line and takes the direction of a road guide line as XFAn axis, Y, in a direction following the left-hand rule with the direction of the road guide lineFA shaft; and calculating the coordinates of the road target in the driving coordinate system. The invention utilizes the driving coordinate system to determine the coordinates of the road target, and the driving coordinate system can more truly express the distance between the vehicle and the road target compared with the conventional vehicle coordinate system.
Description
Technical Field
The invention relates to the field of intelligent transportation, in particular to a method and a system for determining road target coordinates.
Background
At present, vehicles with an Automatic Driving System (ADS) are gradually brought to the market, and the development of intelligent transportation is greatly promoted. The ADS collects lane line data around a vehicle and road target (for example, other vehicles ahead, also called as targets) data in real time by using various sensing devices installed on the vehicle, identifies static characteristics and dynamic characteristics of the target, determines the position of the target on the road, and accordingly enables an automatic driving computer to judge potential danger in the shortest time and take effective measures for preventing the danger.
Therefore, it is known that tracking of road targets is important for ADS, and one of the requirements for automatic driving is to avoid collision with road targets, which may cause danger. In the prior art, tracking of a road target depends on a vehicle coordinate system to represent coordinate information of the road target, and an automatic driving computer is further used for calculating and analyzing the determined coordinate information of the road target to determine a driving strategy of a vehicle.
However, the inventor of the present application finds in the course of implementing the present invention: under the condition that the road is curved, it is difficult to determine effective information (for example, which lane the road target is in, the effective longitudinal distance of the road target, and the like) of the road target mapped on the road depending on the vehicle coordinate system, so that the lane where the road target is located, the transverse distance of the road target, the longitudinal distance of the road target, and the like may have large deviations, and even a judgment error may occur.
Disclosure of Invention
In view of the above, the present invention aims to propose a method for determining coordinates of a road object, to at least partially solve the above technical problem, and in particular to solve the technical problem of determining a possible deviation of the road object depending on a vehicle coordinate system.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a method for determining road target coordinates, comprising: constructing a driving coordinate system, wherein the driving coordinate system takes a road boundary line on one side of a road where the vehicle is located as a reference line and takes the direction of a road guide line as XFAn axis, Y, in a direction following the left-hand rule with the direction of the road guide lineFA shaft; and calculating the coordinates of the road target in the driving coordinate system.
Further, the constructing the vehicle coordinate system includes: determining the reference line; determining the position of the vehicle and the position of the vehicle under a vehicle coordinate systemThe reference line point with the minimum reference line distance is used as the origin O of the travelling coordinate systemF(ii) a Based on the origin OFDetermining the direction of the road guide line as X of the driving coordinate systemFAn axis and determining a direction following a left-hand rule with the direction of the road guide line as Y of the driving coordinate systemFA shaft; and based on the origin OF、XFShaft and said YFAnd the axes form a corresponding travelling coordinate system.
Further, the reference line point with the minimum distance between the position of the vehicle and the reference line is determined as the origin O of the traveling coordinate systemFThe method comprises the following steps: arranging a plurality of datum line points with the same distance on the datum line; calculating the Euclidean distance between each datum line point and the position of the vehicle; taking the point with the shortest calculated Euclidean distance as the origin O of the travelling coordinate systemF。
Further, the calculating the coordinates of the road target in the driving coordinate system includes: from the origin OFStarting, traversing the reference line points towards the direction of the road target relative to the vehicle; calculating the Euclidean distance between the traversed datum line point and the road target, and taking the calculated shortest Euclidean distance as the abscissa of the road target under the driving coordinate system; and acquiring the point sequence number information of the reference line point corresponding to the calculated shortest Euclidean distance, and calculating the reference line point and the origin OFAnd taking the arc length as a longitudinal coordinate of the road target under the driving coordinate system.
Further, the method further comprises: and in the running process of the vehicle, switching the datum line to adjust the running coordinate system, and calculating the coordinates of the road target in the adjusted running coordinate system.
Further, the switching the reference line includes: taking a preset default road boundary line as the datum line; acquiring navigation direction information about the vehicle, and switching the reference line to a road boundary line on the navigation direction side shown by the navigation direction information; judging the current road type when the navigation direction information does not exist; if the current road of the vehicle is a ramp, keeping the current reference line unchanged; and if the current road of the vehicle is the main road, switching the reference line to be the default road boundary line.
Compared with the prior art, the method for determining the coordinates of the road target has the following advantages: the invention utilizes the driving coordinate system to determine the coordinates of the road target, and the driving coordinate system can more truly express the distance between the vehicle and the road target relative to the conventional vehicle coordinate system, thereby being beneficial to well dividing the region of the road target.
Another object of the present invention is to propose a system for determining the coordinates of a road object that solves at least partially the technical problem of determining the possible deviations of the road object depending on the vehicle coordinate system.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a system for determining road target coordinates, comprising: the driving coordinate system construction system is used for constructing a driving coordinate system, wherein the driving coordinate system takes a side road boundary line of a road where the vehicle is located as a reference line and takes the direction of a road guide line as XFAn axis, Y, in a direction following the left-hand rule with the direction of the road guide lineFA shaft; and the target coordinate calculation module is used for calculating the coordinates of the road target in the driving coordinate system.
Further, the vehicle traveling coordinate system construction system includes: the datum line determining module is used for determining the datum line; an origin determining module, configured to determine, in a vehicle coordinate system, a reference line point where a distance between a vehicle position and the reference line is minimum as an origin O of the driving coordinate systemF(ii) a A coordinate axis determination module for determining the origin O based onFDetermining the direction of the road guide line as X of the driving coordinate systemFAn axis and determining a direction following a left-hand rule with the direction of the road guide line as Y of the driving coordinate systemFA shaft; and a coordinate system establishing module for establishing a coordinate system based on the origin OF、XFShaft and said YFShaft formed of a pairA corresponding travelling coordinate system. Wherein the origin determining module further comprises: the point setting submodule is used for setting a plurality of datum line points with the same distance on the datum line; the distance calculation submodule is used for calculating the Euclidean distance between each datum line point and the position of the vehicle; and an origin determining submodule for taking the point with the shortest calculated Euclidean distance as the origin O of the driving coordinate systemF。
Further, the target coordinate calculation module includes: a traversing module for O from the originFStarting, traversing the reference line points towards the direction of the road target relative to the vehicle; the horizontal coordinate calculation module is used for calculating the Euclidean distance between the traversed datum line and the road target, and the calculated shortest Euclidean distance is taken as the horizontal coordinate of the road target under the driving coordinate system; and a vertical coordinate calculation module for acquiring the point sequence number information of the reference line point corresponding to the calculated shortest euclidean distance, and calculating the reference line point and the origin OFAnd taking the arc length as a longitudinal coordinate of the road target under the driving coordinate system.
Further, the system further comprises: the datum line switching module is used for switching the datum line to adjust the driving coordinate system in the driving process of the vehicle; and the target coordinate calculation module is also used for calculating the coordinates of the road target in the adjusted driving coordinate system. Wherein the datum line switching module is configured to switch the datum line, and includes: taking a preset default road boundary line as the datum line; acquiring navigation direction information about the vehicle, and switching the reference line to a road boundary line on the navigation direction side shown by the navigation direction information; judging the current road type when the navigation direction information does not exist; if the current road of the vehicle is a ramp, keeping the current reference line unchanged; and if the current road of the vehicle is the main road, switching the reference line to be the default road boundary line.
The system for determining the coordinates of the road object has the same advantages as the method for determining the coordinates of the road object has over the prior art, and is not described herein again.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flow chart of a method for constructing a vehicle traveling coordinate system according to a first embodiment of the present invention;
FIG. 2 shows a vehicle coordinate system X according to an embodiment of the present inventionFOFYFAnd a global coordinate system XGOGYGAnd a vehicle coordinate system XHOHYHA schematic diagram of (a);
FIG. 3 is a diagram illustrating baseline switching rules in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a default road boundary line as a leftmost road boundary in an embodiment of the present invention;
FIG. 5 is a schematic diagram of determining a reference line based on a navigation direction in an embodiment of the present invention;
FIG. 6 is a schematic diagram of the embodiment of the present invention for switching the reference line under the traffic of the ramp;
FIG. 7 is a schematic diagram of calculating the origin of the vehicle coordinate system in the preferred embodiment of the present invention;
fig. 8 is a schematic structural diagram of a traveling crane coordinate system construction system according to a second embodiment of the present invention;
FIG. 9 is a flowchart illustrating a method for determining coordinates of a road object according to a third embodiment of the present invention;
FIG. 10 is a schematic diagram of a method for determining coordinates of a road target in a driving coordinate system according to an embodiment of the present invention; and
fig. 11 is a schematic structural diagram of a system for determining coordinates of a road object according to a fourth embodiment of the present invention.
Description of reference numerals:
810. a datum line determining module; 820. an origin determining module; 830. a coordinate axis determination module; 840. a coordinate system establishing module; 850. a datum line switching module; 860. a navigation direction information acquisition module; 870. a road type judgment module;
1110. constructing a system of a travelling coordinate system; 1120. a target coordinate calculation module; 1121. a traversing module; 1122. an abscissa calculation module; 1123. and a vertical coordinate calculation module.
Detailed Description
In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Example one
Fig. 1 is a schematic flow chart of a driving coordinate system construction method according to an embodiment of the present invention, where the driving coordinate system construction method is used to establish a new driving coordinate system suitable for various road conditions (especially curve conditions) and reflecting a mapping relationship between a vehicle, a target and a road. In order to more clearly describe the definition and construction method of the driving coordinate system of the embodiment of the present invention, a global coordinate system and a vehicle coordinate system commonly used in vehicle automatic driving are described first.
Wherein the global coordinate system XGOGYGBased on geodetic coordinates, XGPointing to north, YGPointing to east, clockwise with the angle being positive, within the range of [0, 360 ° ]]. Wherein the map lane line information and the like are given based on a global coordinate system.
Vehicle coordinate system XHOHYHBased on the vehicle, XHDirected in the longitudinal direction of the vehicle, YHThe vehicle is directed to the direction of the cross shaft of the vehicle, the counterclockwise direction is positive according to the right-hand rule, and the output information of the sensors of the camera, the laser radar and the millimeter wave radar on the vehicle and the like are given based on the vehicle coordinate system.
According to the definition of the global coordinate system and the vehicle coordinate system, the driving coordinate system of the embodiment of the invention can be correspondingly expressed as XFOFYFThe construction of the traveling coordinate system requires the determination of the origin OFAnd XFAxis and YFThe direction of the axis. Accordingly, as shown in fig. 1, the method for constructing a vehicle traveling coordinate system according to an embodiment of the present invention may include the following steps:
step S110, determining a boundary line of a road on which the vehicle is located as a reference line for establishing a driving coordinate system.
Step S120, under a vehicle coordinate system, determining a reference line point with the minimum distance between the position of the vehicle and the reference line as an origin O of the driving coordinate systemF。
Step S130, based on the origin OFDetermining the direction of the road guide line as X of the driving coordinate systemFAn axis and determining a direction following a left-hand rule with the direction of the road guide line as Y of the driving coordinate systemFA shaft.
Step S140, based on the origin OF、XFShaft and said YFAnd the axes form a corresponding travelling coordinate system.
Namely, a traveling coordinate system X is constructedFOFYFWith the road boundary line (leftmost lane line or rightmost lane line) as a reference line, XFPointing in the direction of the road-guiding line, YFFollowing the left hand rule with the direction of the road guideline.
It should be noted that a vehicle coordinate system X is constructedFOFYFData sources involved and the in-vehicle coordinate system XFOFYFThe data involved in calculating the coordinates of the lane line, the road target, and the like, for example, the reference line coordinates and the like, may be global high-precision map data, local camera data, or other data capable of providing road-related information, and the data source is flexible, which is not limited in the embodiment of the present invention.
FIG. 2 shows a vehicle coordinate system X according to an embodiment of the present inventionFOFYFAnd a global coordinate system XGOGYGAnd a vehicle coordinate system XHOHYHSchematic representation of (a). As shown in fig. 2, the vehicle coordinate system XFOFYFThe coordinate system is established on the boundary line of the road and is completely consistent with the trend of the road. At the determined origin OF(XFo，YFo) Then, the origin O of the driving coordinate of each point on the road boundary line can be calculatedF(XFo，YFo) The arc length distance between the two is taken as the longitudinal coordinate X of the traveling crane at each pointFiThus the longitudinal axis X of the vehicle coordinate systemFThe horizontal coordinate of the driving coordinate of each datum line point is YFiThe vehicle position, the lane line, the target and the like can be given based on the driving coordinate system, and particularly under the curve working condition, the real curve arc length distance is used as the target distance information to be output, and the condition of target area attribute and effective distance error can be avoided relative to the lane coordinate system.
In addition, a travelling coordinate system X is constructedFOFYFThen, in the subsequent automatic driving data processing process, the lane line and the target have the dual attributes of the vehicle coordinate system and the driving coordinate system at the same time and can be selected according to the requirement.
In a preferred embodiment, the method for constructing a vehicle traveling coordinate system according to the embodiment of the present invention may further include:
and step S150, switching the reference line to adjust the driving coordinate system in the driving process of the vehicle.
For example, whether the driving coordinate system needs to be adjusted is determined according to the current road condition, the current driving condition and the like so that the driving coordinate system can be consistent with the road trend all the time, and the mapping relation among the vehicle, the target and the road is reflected more accurately.
Fig. 3 is a schematic diagram of a datum line switching rule in an embodiment of the present invention. As shown in fig. 3, switching the reference line may include:
in step S310, a preset default road boundary line is used as the reference line.
For example, the default road boundary line is the leftmost road boundary line, its position and the defined driving coordinate system XFOFYFAs shown in fig. 4.
In step S320, navigation direction information about the host vehicle is acquired, and the reference line is switched to a road boundary line on the navigation direction side indicated by the navigation direction information.
Specifically, when navigation direction information is available, the road boundary line on the navigation direction side is used as a reference line of a driving coordinate system, and when a navigation prompt is available, the driving reference line is switched (or maintained). For example, as shown in fig. 5, the navigation direction information indicates that the navigation direction is rightward, and the rightmost road boundary line is the reference line.
Referring again to fig. 3, in a preferred embodiment, switching the reference line may further include:
step S330, judging the type of the current road when the navigation direction information does not exist, and if the current road of the vehicle is a ramp, keeping the current reference line unchanged.
For example, as shown in fig. 6, when the road on which the host vehicle is currently located is a ramp, the current reference line is maintained, and the corresponding driving coordinate system can further maintain consistency with the trend of the road.
And step S340, if the current road of the vehicle is the main road, switching the reference line to be the default road boundary line.
The baseline switching scenario in this scenario may similarly refer to fig. 4, and the default road boundary line may likewise be, for example, the leftmost road boundary.
Further, as for step S120, which is the core of constructing the traveling coordinate system, as long as the origin of the coordinate system is determined, the coordinate axis direction in step S130 and the final traveling coordinate system in step S140 are more easily determined. Therefore, fig. 7 is a schematic diagram of calculating the origin of the vehicle coordinate system in the preferred embodiment of the present invention, which shows the reference line point with the minimum distance between the vehicle position and the reference line determined in step S120 as the origin O of the vehicle coordinate systemFThe method comprises the following specific steps:
1) and a plurality of datum line points with the same distance are arranged on the datum line.
For example, the reference line points can be obtained by discretizing the equation of the reference line in the vehicle coordinates, and the closer the reference line points are, the better the distance between the reference line points is, for example, 0.1 m.
2) And calculating the Euclidean distance between each datum line point and the position of the vehicle.
3) Taking the point with the shortest calculated Euclidean distance as the origin O of the travelling coordinate systemF。
Specifically, the euclidean distance between each reference line point on the reference line and the host vehicle position is calculated to find a reference line point (a point corresponding to D2 in fig. 7) at which the distance between the host vehicle position and the reference line is minimum, that is, a point corresponding to D2
At minimum, corresponding coordinates
Origin O as a coordinate system of a vehicleF。
Based on the calculated origin O of the traveling coordinate systemFDetermining the direction of the road guide line as X of the driving coordinate systemFAxis and determining the sum of XFThe direction of the axis following the left hand rule is Y of the driving coordinate systemFAxes, thus forming the final vehicle coordinate system XFOFYF。
In summary, through establishment of the driving coordinate system, the region division of the road target can be well performed, and meanwhile more accurate distance information can be obtained, particularly under the curve working condition, the longitudinal distance is expressed by using the longitudinal arc length, and compared with the linear distance under the vehicle coordinate system, the distance between the vehicle and the target can be more truly expressed.
Example two
Fig. 8 is a schematic structural diagram of a traveling crane coordinate system construction system according to a second embodiment of the present invention, and the traveling crane coordinate system construction system is based on the same inventive concept as the traveling crane coordinate system construction according to the first embodiment. As shown in fig. 8, the vehicle traveling coordinate system building system may include: the reference line determining module 810 is configured to determine a boundary line of a road on one side of a road where the vehicle is located as a reference line for establishing a driving coordinate system; an origin determining module 820 for determining the distance between the vehicle position and the reference line in the vehicle coordinate systemA small reference line point is used as an original point O of the travelling coordinate systemF(ii) a A coordinate axis determination module 830 for determining the axis based on the origin OFDetermining the direction of the road guide line as X of the driving coordinate systemFAn axis and determining a direction following a left-hand rule with the direction of the road guide line as Y of the driving coordinate systemFA shaft; and a coordinate establishing module 840 for establishing a coordinate based on the origin OF、XFShaft and said YFAnd the axes form a corresponding travelling coordinate system.
In a preferred embodiment, the vehicle traveling coordinate system construction system may further include: and a reference line switching module 850, configured to switch the reference line to adjust the driving coordinate system during the driving process of the host vehicle.
In a preferred embodiment, the vehicle traveling coordinate system construction system may further include: a navigation direction information acquisition module 860 for acquiring navigation direction information about the host vehicle; and the reference line switching module 850 switching the reference line includes: the reference line switching module 850 takes a preset default road boundary line as the reference line; and the reference line switching module 850 acquires the navigation direction information, and switches the reference line to a road boundary line on the navigation direction side shown by the navigation direction information.
In a preferred embodiment, the vehicle traveling coordinate system construction system may further include: a road type judging module 870 for judging the current road type; and the reference line switching module 850 switching the reference line further includes: if the current road of the vehicle is a ramp, keeping the current reference line unchanged; and if the current road of the vehicle is the main road, switching the reference line to be the default road boundary line.
In a preferred embodiment, the origin determining module 820 includes (not shown): the point setting submodule is used for setting a plurality of datum line points with the same distance on the datum line; the distance calculation submodule is used for calculating the Euclidean distance between each datum line point and the position of the vehicle; and an origin determining submodule for using the calculated point with the shortest Euclidean distance as the driving coordinate systemOrigin O ofF。
It should be noted that the concrete implementation details and effects of the vehicle coordinate system construction system according to the embodiment of the present invention and the vehicle coordinate system construction method according to the above embodiment are the same or similar, and are not described herein again.
EXAMPLE III
An embodiment three is an application of the solution of the embodiment one, which provides a method for determining coordinates of a road object. Fig. 9 is a flowchart illustrating a method for determining coordinates of a road object according to a third embodiment of the present invention, and as shown in fig. 9, the method may include the following steps:
and step S910, constructing a travelling coordinate system.
Wherein the driving coordinate system takes a boundary line of a road on one side of the road where the vehicle is positioned as a reference line and takes the direction of the road guide line as XFAn axis, Y, in a direction following the left-hand rule with the direction of the road guide lineFA shaft. That is, the vehicle coordinate system constructed here is the vehicle coordinate system X constructed by the vehicle coordinate system construction method of the first embodimentFOFYFFor specific construction method and implementation details, reference may be made to embodiment one, and details are not described herein.
And step S920, calculating the coordinates of the road target in the driving coordinate system.
Fig. 10 is a schematic diagram of a method for determining coordinates of a road target in a driving coordinate system according to an embodiment of the present invention, where the method is based on the method for determining the origin of the driving coordinate system based on the reference point according to the first embodiment, and may include the following steps:
step S921, from the origin OFInitially, the reference line points are traversed in the direction of the road target relative to the host vehicle.
As shown in FIG. 10, the reference line points are numbered d1, d2, d3 … … dn to be from the origin OFA traversal is initiated, wherein a forward traversal is possible and a backward traversal is possible depending on the direction of the road target relative to the host vehicle. In a preferred embodiment, the coordinates of the target and reference lines in the vehicle coordinate system are known and can then be taken from the origin OFAnd starting to traverse the map points under the vehicle coordinate system forwards or backwards, wherein the forward/backward traversal is mainly determined by the positive and negative coordinates of the road target under the vehicle coordinate system, when the longitudinal distance of the road target under the vehicle coordinate system is positive, the road target is traversed forwards, and when the longitudinal distance of the road target under the vehicle coordinate system is negative, the road target is traversed backwards.
Step S922, calculating an euclidean distance between the traversed reference line point and the road target, and taking the calculated shortest euclidean distance as an abscissa of the road target in the driving coordinate system.
For example, traversing the reference line points and the euclidean distance between each traversed reference line point and the target, when the distance is the smallest (the distance is D2 in fig. 10), stopping the traversal, and outputting the abscissa of the road target in the driving coordinate system (i.e. the euclidean distance D2 between the nearest point and the road target) and the serial number of the nearest point in the reference line.
Step S923, the point sequence number information of the reference line point corresponding to the calculated shortest euclidean distance is acquired, and the reference line point and the origin O are calculatedFAnd taking the arc length as a longitudinal coordinate of the road target under the driving coordinate system.
For example, through the previous calculation, the point sequence number information of the closest point of the corresponding reference line of the road target can be obtained, and the arc length between the point and the driving coordinate origin is calculated. As shown in fig. 10, the arc length is obtained by accumulating and calculating the euclidean distance between the point on the reference line and the point, that is, d is d1+ d2+ d3+ …, and d is the ordinate of the road object in the driving coordinate system.
Further, referring to the first embodiment, in the driving process of the host vehicle, the reference line may be switched, and accordingly, the method according to the third embodiment of the present invention may further include: and in the running process of the vehicle, switching the datum line to adjust the running coordinate system, and calculating the coordinates of the road target in the adjusted running coordinate system. In other words, the coordinates of the road target are adaptively changed according to the change of the driving coordinate system, so that the correct area of the road target relative to the vehicle under the working conditions such as a curve can be more accurately reflected.
For the manner of switching the reference line, reference may be made to the first embodiment, which is not described herein again.
In summary, the third embodiment of the present invention utilizes the driving coordinate system to determine the coordinates of the road target, and the driving coordinate system can more truly express the distance between the vehicle and the road target compared to the conventional vehicle coordinate system, which is helpful for well performing the area division of the road target.
Example four
Fig. 11 is a schematic structural diagram of a system for determining coordinates of a road object according to a fourth embodiment of the present invention, which is based on the same inventive concept as the method for determining coordinates of a road object according to a third embodiment and adopts a driving coordinate system construction system according to a second embodiment.
As shown in fig. 11, the system for determining coordinates of a road object according to the fourth embodiment may include: a driving coordinate system construction system 1110 for constructing a driving coordinate system, wherein the driving coordinate system uses a boundary line of a road on which the vehicle is located as a reference line and a direction of a road guide line as XFAn axis, Y, in a direction following the left-hand rule with the direction of the road guide lineFA shaft; and a target coordinate calculation module 1120, configured to calculate coordinates of the road target in the driving coordinate system.
The driving coordinate system construction system 1110 is the driving coordinate system construction system 1110 described in the second embodiment, and is not described herein again.
In a preferred embodiment, the target coordinate calculation module 1120 may include: a traversing module 1121 for traversing from the origin OFStarting, traversing the reference line points towards the direction of the road target relative to the vehicle; an abscissa calculating module 1122, configured to calculate an euclidean distance between the traversed reference line and the road target, where the calculated shortest euclidean distance is an abscissa of the road target in the driving coordinate system; and a vertical coordinate calculation module 1123, configured to obtain the point sequence number information of the reference line point corresponding to the calculated shortest euclidean distanceCalculating the reference line point and the origin OFAnd taking the arc length as a longitudinal coordinate of the road target under the driving coordinate system.
In addition, in the case that the driving target coordinate construction system 1110 includes the reference line switching module in the second embodiment, the target coordinate calculation module 1120 is further configured to calculate the coordinates of the road target in the adjusted driving coordinate system, that is, the coordinates of the road target are adaptively changed along with the change of the driving coordinate system, so as to more accurately reflect the correct area of the road target relative to the vehicle under the working conditions such as a curve.
For details and advantages of the fourth embodiment of the present invention, reference may be made to the third embodiment of the present invention, and further description is omitted here.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention, such as adapting the execution sequence of steps and adjusting the connection relationship between functional modules, should be included in the protection scope of the present invention.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, various different embodiments of the present invention may be combined arbitrarily, and as long as the idea of the embodiments of the present invention is not violated, the same should be regarded as the disclosure of the embodiments of the present invention.
Claims (9)
1. A method for determining coordinates of a road object, characterized in that the method for determining coordinates of a road object comprises:
constructing a travelling crane coordinate system, comprising:
determining a boundary line of a road on one side of a road where the vehicle is located as a reference line;
under a vehicle coordinate system, determining a reference line point with the minimum distance between the position of the vehicle and the reference line as an origin O of the driving coordinate systemF；
Based on the origin OFDetermining the direction of the road guide line as X of the driving coordinate systemFAn axis and determining a direction following a left-hand rule with the direction of the road guide line as Y of the driving coordinate systemFA shaft; and
based on the origin OF、XFShaft and said YFThe axes form a corresponding travelling coordinate system; and
calculating the coordinates of the road target under the driving coordinate system, including:
from the origin OFStarting, traversing the reference line points towards the direction of the road target relative to the vehicle;
calculating the Euclidean distance between the traversed datum line point and the road target, and taking the calculated shortest Euclidean distance as the abscissa of the road target under the driving coordinate system; and
acquiring the point sequence number information of the reference line point corresponding to the calculated shortest Euclidean distance, and calculating the reference line point and the origin OFAnd taking the arc length as a longitudinal coordinate of the road target under the driving coordinate system.
2. The method according to claim 1, wherein the reference line point at which the distance between the position of the vehicle and the reference line is the smallest is determined as an origin O of the vehicle coordinate systemFThe method comprises the following steps:
arranging a plurality of datum line points with the same distance on the datum line;
calculating the Euclidean distance between each datum line point and the position of the vehicle;
taking the point with the shortest calculated Euclidean distance as the origin O of the travelling coordinate systemF。
3. The method for determining road target coordinates of claim 1, further comprising:
and in the running process of the vehicle, switching the datum line to adjust the running coordinate system, and calculating the coordinates of the road target in the adjusted running coordinate system.
4. The method for determining coordinates of a road target according to claim 3, wherein the switching the reference line comprises:
taking a preset default road boundary line as the datum line;
acquiring navigation direction information about the vehicle, and switching the reference line to a road boundary line on the navigation direction side shown by the navigation direction information;
judging the current road type when the navigation direction information does not exist;
if the current road of the vehicle is a ramp, keeping the current reference line unchanged; and
and if the current road of the vehicle is the main road, switching the reference line to be the default road boundary line.
5. A system for determining coordinates of a road object, characterized in that the system for determining coordinates of a road object comprises:
the traveling crane coordinate system construction system is used for constructing a traveling crane coordinate system and comprises:
the datum line determining module is used for determining the datum line;
an origin determining module, configured to determine, in a vehicle coordinate system, a reference line point where a distance between a vehicle position and the reference line is minimum as an origin O of the driving coordinate systemF；
A coordinate axis determination module for determining the origin O based onFDetermining the direction of the road guideline asX of the travelling coordinate systemFAn axis and determining a direction following a left-hand rule with the direction of the road guide line as Y of the driving coordinate systemFA shaft; and
a coordinate system establishing module for establishing a coordinate system based on the origin OF、XFShaft and said YFThe axes form a corresponding travelling coordinate system; and
the target coordinate calculation module is used for calculating the coordinates of the road target under the driving coordinate system and comprises:
a traversing module for O from the originFStarting, traversing the reference line points towards the direction of the road target relative to the vehicle;
the horizontal coordinate calculation module is used for calculating the Euclidean distance between the traversed datum line and the road target, and the calculated shortest Euclidean distance is taken as the horizontal coordinate of the road target under the driving coordinate system; and
a vertical coordinate calculation module for obtaining the point sequence number information of the reference line point corresponding to the calculated shortest Euclidean distance, and calculating the reference line point and the origin OFAnd taking the arc length as a longitudinal coordinate of the road target under the driving coordinate system.
6. The system for determining coordinates of a road object according to claim 5, wherein said origin determining module comprises:
the point setting submodule is used for setting a plurality of datum line points with the same distance on the datum line;
the distance calculation submodule is used for calculating the Euclidean distance between each datum line point and the position of the vehicle; and
an origin determining submodule for using the point with the shortest calculated Euclidean distance as the origin O of the driving coordinate systemF。
7. The system for determining coordinates of a road object according to claim 5, further comprising:
the datum line switching module is used for switching the datum line to adjust the driving coordinate system in the driving process of the vehicle; and is
The target coordinate calculation module is also used for calculating the coordinates of the road target in the adjusted driving coordinate system.
8. System for determining road object coordinates according to claim 7,
the datum line switching module is configured to switch the datum line, and includes: taking a preset default road boundary line as the datum line;
acquiring navigation direction information about the vehicle, and switching the reference line to a road boundary line on the navigation direction side shown by the navigation direction information;
judging the current road type when the navigation direction information does not exist;
if the current road of the vehicle is a ramp, keeping the current reference line unchanged; and
and if the current road of the vehicle is the main road, switching the reference line to be the default road boundary line.
9. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the method for determining coordinates of a roadway target as recited in any one of claims 1 to 4.
Priority Applications (6)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811153712.1A CN110379155B (en) | 2018-09-30 | 2018-09-30 | Method and system for determining coordinates of road target |
| US17/281,554 US11926339B2 (en) | 2018-09-30 | 2019-09-27 | Method for constructing driving coordinate system, and application thereof |
| JP2021517851A JP7234354B2 (en) | 2018-09-30 | 2019-09-27 | Construction method of traveling coordinate system and its use |
| EP19865031.9A EP3859273B1 (en) | 2018-09-30 | 2019-09-27 | Method for constructing driving coordinate system, and application thereof |
| PCT/CN2019/108402 WO2020063816A1 (en) | 2018-09-30 | 2019-09-27 | Method for constructing driving coordinate system, and application thereof |
| KR1020217013025A KR102442230B1 (en) | 2018-09-30 | 2019-09-27 | Construction method and application of driving coordinate system |
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| CN201811153712.1A CN110379155B (en) | 2018-09-30 | 2018-09-30 | Method and system for determining coordinates of road target |
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