CN110758381B - Method and device for generating steering track, storage medium and electronic equipment - Google Patents

Method and device for generating steering track, storage medium and electronic equipment Download PDF

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CN110758381B
CN110758381B CN201910882513.2A CN201910882513A CN110758381B CN 110758381 B CN110758381 B CN 110758381B CN 201910882513 A CN201910882513 A CN 201910882513A CN 110758381 B CN110758381 B CN 110758381B
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vehicle
point
obstacle
steering
control point
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CN110758381A (en
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彭程
陈新
李彪
纪明君
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Beijing Automotive Group Co Ltd
Beijing Automotive Research Institute Co Ltd
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Beijing Automotive Group Co Ltd
Beijing Automotive Research Institute Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration

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  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The present disclosure relates to a method, an apparatus, a storage medium, and an electronic device for generating a steering trajectory, including: acquiring a vehicle running image detected by a vehicle detection device; judging whether an obstacle exists in front of the vehicle according to the running image; if an obstacle exists in front of the vehicle in the driving process, selecting a control point from the point cloud data on the driving image; and generating a steering track of the vehicle according to the control point. Therefore, the generated vehicle steering track can be more accurate, and the safe steering driving of the vehicle is guaranteed.

Description

Method and device for generating steering track, storage medium and electronic equipment
Technical Field
The present disclosure relates to the field of automatic driving, and in particular, to a method and an apparatus for generating a steering trajectory, a storage medium, and an electronic device.
Background
Trajectory planning is a core problem in vehicle autopilot technology. For a vehicle automatically driving on a road, local path planning when the vehicle turns is very important, and the problems of shortest path, minimum energy consumption, safety and the like need to be considered in the turning process.
In the related art, image data on a road is acquired through a sensing module on a vehicle, and then a corresponding driving track is generated by using the acquired data based on a track model algorithm. However, during the steering driving, there is still a problem that the generated trajectory is not accurate enough, resulting in a collision of the vehicle.
Disclosure of Invention
The purpose of the present disclosure is to provide a method, an apparatus, a storage medium, and an electronic device for generating a steering trajectory, so that the generated steering trajectory of a vehicle is more accurate, and safe steering driving of the vehicle is ensured.
According to a first aspect of embodiments of the present disclosure, there is provided a method of generating a steering trajectory, the method comprising:
acquiring a vehicle running image detected by a vehicle detection device;
judging whether an obstacle exists in front of the vehicle according to the running image;
if an obstacle exists in front of the vehicle in the driving process, selecting a control point from the point cloud data on the driving image;
and generating a steering track of the vehicle according to the control point.
Optionally, the selecting a control point from the point cloud data on the driving image includes:
determining, in target point cloud data representing an obstacle ahead of the vehicle in the point cloud data, a first point on the obstacle that is most prominent on the same side as the vehicle's intended turning side, and a second point on a side of the obstacle that is most prominent toward the vehicle;
taking an intersection of a longitudinal extension of the first point and a transverse extension of the second point as a first control point, wherein the longitudinal direction is a traveling direction of the vehicle;
determining a second control point on a center line of the vehicle in the traveling direction of the vehicle based on a minimum safe distance between the vehicle and the obstacle;
determining the arch height and the radius of an arc according to the current speed of the vehicle, the lane width and the maximum lateral acceleration of the vehicle;
making an arc passing through the second control point according to the camber and the semiradial direction on the expected steering side of the vehicle, and taking two end points of the arc as a third control point and a fourth control point respectively, wherein the fourth control point is the end point close to one side of the vehicle and is on the central line of the vehicle in the driving direction of the vehicle;
a point at which a preset distance value from the obstacle is located toward an intended turning side of the vehicle at the obstacle in the lateral direction at which the center of mass point of the obstacle is located is taken as a fifth control point.
Optionally, the determining the camber and the radius of the circular arc according to the current speed of the vehicle, the lane width and the maximum lateral acceleration of the vehicle comprises:
taking the maximum width value of the lane as the arch height value;
determining the radius according to the following calculation:
R＝v2where v is the current vehicle speed of the vehicle and a is the maximum lateral acceleration of the vehicle.
Optionally, the generating a steering trajectory of the vehicle according to the control point includes:
generating the steering trajectory by the following calculation formula for the first to fifth control points:
Figure BDA0002206318520000021
Figure BDA0002206318520000031
wherein p is0Characterizing a coordinate value, p, of the fourth control point in the point cloud data1A coordinate value, p, characterizing said second control point2A coordinate value, p, characterizing the third control point3A coordinate value, p, characterizing said first control point4A coordinate value characterizing said fifth control point, B (t) being a coordinate value of a point on said steering trajectory varying with t.
Optionally, the method further comprises:
continuously and limitedly constraining the generated steering trajectory, wherein the continuity constraint is performed on the steering trajectory by the following formula:
x '(t) ≠ 0, and y' (t) ≠ 0, where x '(t) characterizes a first derivative of a point on the turning trajectory corresponding to a value of t on a coordinate horizontal axis of the point cloud data, and y' (t) characterizes a first derivative of a point on the turning trajectory corresponding to a value of t on a coordinate vertical axis of the point cloud data;
performing the bounded constraint on the steering trajectory by:
Kmin<K(t)<Kmaxk (t) characterizing the curvature of an arbitrary point on the turning trajectory, KminCharacterizing a minimum value of said curvature, KmaxCharacterizing a maximum of the curvature;
the calculation formula of the curvature of any point on the steering track is as follows:
Figure BDA0002206318520000032
Figure BDA0002206318520000033
is the steering angle of the front wheels of the vehicle, and L is the track width of the front and rear wheels of the vehicle.
According to a second aspect of the embodiments of the present disclosure, there is provided an apparatus for generating a steering trajectory, the apparatus comprising:
the acquisition module is used for acquiring a vehicle running image detected by a detection device of a vehicle;
the judging module is used for judging whether an obstacle exists in front of the vehicle according to the running image;
the selection module is used for selecting a control point from the point cloud data on the driving image if an obstacle exists in front of the driving of the vehicle;
and the generating module is used for generating the steering track of the vehicle according to the control points.
Optionally, the selection module comprises:
a first determination submodule for determining, in target point cloud data representing an obstacle in front of the vehicle in the point cloud data, a first point on the obstacle which is most protruded on the same side as an intended turning side of the vehicle, and a second point on a side of the obstacle which is most protruded toward the vehicle;
a second determination submodule configured to take an intersection of a longitudinal extension line of the first point and a lateral extension line of the second point as a first control point, wherein the longitudinal direction is a traveling direction of the vehicle;
a third determination submodule for determining a second control point on a center line of the vehicle in the traveling direction of the vehicle based on a minimum safe distance between the vehicle and the obstacle;
the fourth determining submodule is used for determining the arch height and the radius of the circular arc according to the current speed of the vehicle, the lane width and the maximum transverse acceleration of the vehicle;
a fifth determining submodule, configured to make an arc passing through the second control point according to the camber and the radius to the expected steering side of the vehicle, and take two end points of the arc as a third control point and a fourth control point, respectively, where the fourth control point is an end point near one side of the vehicle and is on a center line of the vehicle in the traveling direction of the vehicle;
a sixth determination submodule for regarding a point, which is on a side of the obstacle toward an intended turning of the vehicle, from the obstacle by a preset distance value in a lateral direction where a centroid point of the obstacle is located, as a fifth control point.
Optionally, the fourth determining sub-module includes:
a setting submodule for setting a maximum width value of the lane to the camber value;
an execution submodule, configured to determine the radius according to the following calculation formula:
R＝v2where v is the current vehicle speed of the vehicle and a is the maximum lateral acceleration of the vehicle.
Optionally, for the first to fifth control points, the steering trajectory is generated by the following calculation formula:
Figure BDA0002206318520000041
Figure BDA0002206318520000051
wherein p is0Characterizing a coordinate value, p, of the fourth control point in the point cloud data1A coordinate value, p, characterizing said second control point2A coordinate value, p, characterizing the third control point3A coordinate value, p, characterizing said first control point4A coordinate value characterizing said fifth control point, B (t) being a coordinate value of a point on said steering trajectory varying with t.
Optionally, the apparatus further comprises:
a constraint module, configured to perform continuity and bounded constraint on the generated steering trajectory, wherein the continuity constraint is performed on the steering trajectory through the following formula:
x '(t) ≠ 0, and y' (t) ≠ 0, where x '(t) characterizes a first derivative of a point on the turning trajectory corresponding to a value of t on a coordinate horizontal axis of the point cloud data, and y' (t) characterizes a first derivative of a point on the turning trajectory corresponding to a value of t on a coordinate vertical axis of the point cloud data;
performing the bounded constraint on the steering trajectory by:
Kmin<K(t)<Kmaxk (t) characterizing the curvature of an arbitrary point on the turning trajectory, KminCharacterizing a minimum value of said curvature, KmaxCharacterizing a maximum of the curvature;
the calculation formula of the curvature of any point on the steering track is as follows:
Figure BDA0002206318520000052
Figure BDA0002206318520000053
is the steering angle of the front wheels of the vehicle, and L is the track width of the front and rear wheels of the vehicle.
According to a third aspect of embodiments of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of the first aspect.
According to a fourth aspect of the embodiments of the present disclosure, there is provided an electronic apparatus including:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method of the first aspect.
Through the technical scheme, the following technical effects can be at least achieved:
the method comprises the steps of acquiring a vehicle running image detected by a vehicle detection device, judging whether an obstacle exists in front of the vehicle running from the running image, if so, selecting a control point from point cloud data on the running image, and generating a steering track of the vehicle according to the selected control point. By adopting the method, the point cloud data collected by the detection device can be used for accurately generating the driving image of the vehicle, and then the control point is accurately selected from the point cloud data in the image, so that the steering driving track of the vehicle is generated, the vehicle drives according to the steering track, the safe steering driving of the vehicle can be ensured, and the collision can be avoided.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
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The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating a method of generating a steering trajectory according to an exemplary embodiment of the present disclosure.
FIG. 2 is a schematic diagram illustrating a selected control point according to an exemplary embodiment of the present disclosure.
FIG. 3 is an exemplary diagram illustrating a generated trajectory according to an exemplary embodiment of the present disclosure.
Fig. 4 is an exemplary diagram illustrating the meaning of the parameter t according to an exemplary embodiment of the present disclosure.
Fig. 5 is a block diagram illustrating an apparatus for generating a steering trajectory according to an exemplary embodiment of the present disclosure.
Fig. 6 is a block diagram illustrating an electronic device according to an exemplary embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
It is noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The embodiment of the present disclosure provides a method for generating a steering trajectory, as shown in fig. 1, the method includes:
s101, acquiring a vehicle running image detected by a vehicle detection device.
The detection device can be a camera, an ultrasonic sensor, an infrared sensor, a radar sensor, a laser sensor and the like which are installed on the vehicle, and can also be a monitoring device on other remote terminals. The present disclosure is not limited thereto.
The detection device may illustratively be a device incorporating a lidar system. By installing the laser radar above the roof of the vehicle or around the vehicle and then using the laser radar to perform 360-degree periodic scanning on the vehicle and the environment around the vehicle, the laser radar can be 16-beam or 32-beam or 64-beam laser radar with different beams. And after the laser radar scans the surrounding environment of the vehicle, processing the collected point cloud data. Specifically, the point cloud data acquired by the laser radar may be subjected to coordinate conversion, preprocessing such as denoising, clustering processing or data modeling, and finally, image conversion is performed on the point cloud data to obtain a scanned image, so that a driving image in the driving process of the vehicle can be obtained.
In an implementable embodiment, the laser radar system can also be utilized in combination with a high-precision map to generate a driving image of the vehicle during driving.
It should be noted that the point cloud data refers to a set of vectors in a three-dimensional coordinate system. The single point cloud data includes the offset of the three-dimensional coordinates X, Y, Z and the reflection intensity, wherein the offset of X, Y, Z direction is calculated by using the position of the detecting device as the origin. In an implementation mode, the point cloud data acquired by the laser radar is subjected to coordinate conversion to obtain a driving data model of the vehicle, and then the driving data model is combined with a high-precision map to obtain an accurate driving image of the vehicle. In the obtained driving image, each pixel point represents point cloud data, each pixel point has an accurate three-dimensional coordinate value, and the driving image contains vehicles and environment information around the vehicles.
And S102, judging whether an obstacle exists in the front of the vehicle or not according to the running image.
In a possible case, during automatic travel of the vehicle, there may be a case where an obstacle exists in front of the travel of the vehicle, and the automatically traveling vehicle needs to avoid the obstacle. In order to avoid the obstacle, the vehicle may be stopped or steered. Specifically, for example, during automatic travel, the vehicle may encounter a situation where a traffic accident occurs ahead of a currently traveling lane, or where lane maintenance, construction, or the like is being performed on a road ahead, and in these cases, the automatically traveling vehicle needs to stop traveling or change the lane. For another example, when a vehicle that is automatically driven needs to change lanes to overtake, the vehicle overtaking in front may be regarded as an obstacle.
And S103, if an obstacle exists in front of the vehicle in the running process, selecting a control point from the point cloud data on the running image.
If an obstacle exists in front of an automatically traveling vehicle, the vehicle selects lane-changing traveling, and then key control points are selected from point cloud data in a traveling image of the vehicle based on principles such as safety, shortest path, minimum energy consumption and the like of the vehicle during steering. Specifically, if there is an obstacle ahead of the vehicle, a control point is selected from point cloud data on the driving image according to an expected steering of the vehicle, a current driving speed of the vehicle, a width of a lane where the vehicle is located, a maximum lateral acceleration of the vehicle, and a condition of the obstacle ahead.
And S104, generating a steering track of the vehicle according to the control points.
According to the control points selected from the point cloud data in the driving image, the steering driving track of the vehicle is generated, and as any point in the generated driving image has accurate three-dimensional coordinates, the selected control points are also accurate, and similarly, the steering track generated according to the selected control points is also accurate.
By adopting the method, the vehicle running image detected by the vehicle detection device is obtained, whether an obstacle exists in the front of the vehicle running can be judged from the running image, if the obstacle exists in the front of the vehicle running, a control point is selected from the point cloud data on the running image, and the steering driving track of the vehicle is generated according to the selected control point. Therefore, the collision of the vehicle with the obstacle in the steering process can be avoided, and the safe steering driving of the vehicle can be further ensured.
Optionally, the selecting a control point from the point cloud data on the driving image may further include:
in target point cloud data representing an obstacle in front of the vehicle in the point cloud data, a first point on the obstacle that is most prominent on the same side as the vehicle's intended turning side and a second point on the side of the obstacle that is most prominent toward the vehicle are determined.
Specifically, when the vehicle needs lane change driving, the vehicle may perform a steering operation to a lane on the left side of the vehicle along the current driving direction, and may also perform steering driving to a lane on the right side of the vehicle.
Depending on the intended steering of the vehicle, it may be determined from which of the two sides of the front obstacle the first and second points described above are selected. For example, if the intended steering of the vehicle is to the left of the driving direction of the vehicle, the side of the obstacle in front that is the same as the intended steering of the vehicle is the left side of the obstacle in front; if the intended steering of the vehicle is to the right in the direction of travel of the vehicle, the side of the obstacle ahead that is the same as the intended steering of the vehicle is the right side of the obstacle ahead. The side of the front obstacle that faces the vehicle is the rear side of the obstacle regardless of whether the intended steering of the vehicle is to the left or to the right. Further, if the intended steering of the vehicle is to the left, then a first point is determined on the left side of the front obstacle and a second point is determined on the rear side of the obstacle; if the intended steering of the vehicle is to the right, a first point is determined on the right side of the obstacle in front and a second point is determined on the rear side of the obstacle.
An intersection of a longitudinal extension of the first point and a lateral extension of the second point, wherein the longitudinal direction is a traveling direction of the vehicle, is taken as a first control point.
Specifically, after the first point and the second point are obtained, the first point is extended in the traveling direction of the vehicle, the second point is extended in the direction perpendicular to the traveling direction of the vehicle, and the intersection of the two extended lines is selected as the first control point, for example, as shown in fig. 2.
Determining a second control point on a center line of the vehicle in the traveling direction of the vehicle based on a minimum safe distance between the vehicle and the obstacle.
The minimum safe distance is a safe distance for preventing the rear-end collision of the vehicle, and can be determined according to the speed of the vehicle and the distance from the front obstacle. When the obstacle in front is a traveling vehicle, it may be determined according to the relative vehicle speeds of the two vehicles, and may be determined, for example, by the following calculation formula: smin＝(v1-v2) t, wherein SminCharacterizing a minimum safety distance, v1Characterizing the speed, v, of the vehicle to be steered2The speed of the obstacle or vehicle ahead is characterized, and t is the minimum time from the start to the end of the lane change. In another realizable mode, the minimum safe distance can be set according to the minimum vehicle distance of 50 meters specified in the relevant implementation regulations of the traffic safety law in China.
The second control point is determined according to the minimum safe distance on the center line of the vehicle in the traveling direction of the vehicle, that is, a point that is the minimum safe distance from the front obstacle on the center line of the vehicle in the traveling direction of the vehicle is set as the second control point, for example, as shown in fig. 2.
And determining the arch height and the radius of the circular arc according to the current speed of the vehicle, the lane width and the maximum lateral acceleration of the vehicle.
Optionally, the maximum width value of the lane is taken as the arch height value;
determining the radius according to the following calculation:
R＝v2where v is the current vehicle speed of the vehicle and a is the maximum lateral acceleration of the vehicle.
The maximum width value of the lane is set as the arch height value, for example, the road in China is generally 3.5 meters wide, and then 3.5 meters can be set as the arch height value. In one possible case, the width of the lane may be expanded to obtain the camber value, for example, 1.5 times the width of the lane.
According to the deformation formula of the centripetal acceleration formula of uniform motion, when the speed and the acceleration in the formula are known variables, a radius value can be obtained. Specifically, the current vehicle speed of the vehicle needing to be steered can be used as the value of the variable v in the formula, and the maximum anti-skid or anti-drift lateral acceleration of the vehicle can be used as the value of the variable a in the formula. In an implementable embodiment, the value of the variable v in the formula may also be set according to the sideslip constraints of the vehicle during steering.
Making an arc passing through the second control point according to the camber and the semiradial direction on the expected steering side of the vehicle, and taking two end points of the arc as a third control point and a fourth control point respectively, wherein the fourth control point is the end point close to one side of the vehicle and is on the central line of the vehicle in the driving direction of the vehicle;
specifically, after determining the arch height and radius, a fan of the shape can be uniquely drawn, resulting in a unique arc. And controlling the arc to pass through the obtained second control point, wherein the second control point is not positioned on the end point of the arc. Of the two end points of the circular arc, a point that is located behind the second control point in the traveling direction of the vehicle is selected as the fourth control point, and the other end point is selected as the third control point. The fourth control point is controlled to be on a center line of the vehicle in the traveling direction of the vehicle. It is then determined whether the third control point on the arc is to the left or to the right in the direction of travel of the vehicle, depending on the intended steering of the vehicle. In this manner, the position of the arc, and thus the position of a set of fourth and third control points, may be uniquely determined, for example, as shown in FIG. 2.
And taking a point which is away from the obstacle by a preset distance value toward the expected turning side of the vehicle at the obstacle in the transverse direction of the center of mass point of the obstacle as a fifth control point.
Specifically, a transverse straight line is made through the center of mass point of the front obstacle, the transverse straight line being perpendicular to the traveling direction of the vehicle, and then, according to the expected steering direction of the vehicle, a point at a preset distance value from the obstacle is selected as the fifth control point on the straight line. The preset distance value can be set according to the lateral safety distance value of the vehicle, for example, the lateral safety distance of the vehicle is generally 1 meter to 1.8 meters.
According to the method, five control points are selected from the point cloud data of the driving image of the vehicle according to the motion state of the vehicle needing to be steered, the motion state situation of the front obstacle, the lane information of the vehicle and the like, and the vehicle needing to be steered can be controlled to safely steer and drive.
Optionally, the generating a steering trajectory of the vehicle according to the control point further includes:
generating the steering trajectory by the following calculation formula for the first to fifth control points:
Figure BDA0002206318520000121
wherein p is0Characterizing a coordinate value, p, of the fourth control point in the point cloud data1A coordinate value, p, characterizing said second control point2A coordinate value, p, characterizing the third control point3A coordinate value, p, characterizing said first control point4A coordinate value characterizing said fifth control point, B (t) being a coordinate value of a point on said steering trajectory varying with t.
The five control points selected from the point cloud data in the driving image are respectively used as five control points in an algorithm formula of a fourth-order Bezier curve, and a unique steering track can be generated through a unique group of control points.
By adopting the method, the selected first to fifth control points are used as the control points of the fourth-order Bezier curve to generate the steering track with the characteristics of the fourth-order Bezier curve, so that the generated steering track can be feasible and safe. In addition, because the algorithm of the fourth-order Bezier curve is simple to implement, the data calculation amount is small when the steering track is generated by adopting the method. In addition, because the motion states of the steering vehicle and the front obstacle are changed in real time, the steering driving track can be generated quickly in real time according to the real-time point cloud data by adopting the method.
Optionally, the method for generating a turning trajectory further includes the following steps:
continuously and limitedly constraining the generated steering trajectory, wherein the continuity constraint is performed on the steering trajectory by the following formula:
x '(t) ≠ 0, and y' (t) ≠ 0, where x '(t) characterizes a first derivative of a point on the turning trajectory corresponding to a value of t on a coordinate horizontal axis of the point cloud data, and y' (t) characterizes a first derivative of a point on the turning trajectory corresponding to a value of t on a coordinate vertical axis of the point cloud data;
performing the bounded constraint on the steering trajectory by:
Kmin<K(t)<Kmaxk (t) characterizing the curvature of an arbitrary point on the turning trajectory, KminCharacterizing a minimum value of said curvature, KmaxCharacterizing a maximum of the curvature;
the calculation formula of the curvature of any point on the steering track is as follows:
Figure BDA0002206318520000131
Figure BDA0002206318520000132
is the steering angle of the front wheels of the vehicle, and L is the track width of the front and rear wheels of the vehicle.
By adopting the method, the generated steering track is continuously restrained to ensure that the curvature of the generated track is continuous everywhere, so that the vehicle can be ensured to successfully drive from the initial position of steering to the target position of steering. And performing bounded constraint on the generated steering track, and controlling the maximum value and the minimum value of the curvature of the generated steering track according to the limited value range of the turning angle value of the front wheel of the vehicle, so as to further ensure that the generated driving track is feasible. Therefore, by adopting the method, the generated steering track is ensured to be feasible, and the vehicle runs according to the track, and the stability of the vehicle can be ensured.
FIG. 2 is a schematic diagram illustrating a selected control point according to an exemplary embodiment of the present disclosure. In fig. 2, the left side of the traveling direction is taken as the expected steering direction, and then five control points as shown in fig. 2 can be derived according to the above-described control point selection method. By adopting the method for generating the steering track, which is disclosed by the disclosure, the track graph shown in FIG. 3 is generated according to the selected five control points.
The parameter t in the fourth-order bezier curve formula is explained here, and the meaning of the parameter t is exemplarily explained here by taking the second-order bezier curve as an example.
As shown in fig. 4, where the points P0, P1, and P2 are control points, a curve shown by a dotted line is generated according to the control points P0, P1, and P2, and a tangent is drawn at an arbitrary point X on the curve to obtain a segment AB, where the segment AB intersects with the segment P0P1 at a point a and the segment AB intersects with the segment P1P2 at a point B. In fig. 4, the following proportions exist according to the parabolic three-tangent theorem:
Figure BDA0002206318520000141
when P0 and P2 are fixed, the parameter t is introduced so that the ratio of the ratios is
Figure BDA0002206318520000142
Then the following three equations can be obtained:
the first formula is as follows: a ═ (1-t) P0+ tP 1; the second formula is: b ═ 1-t) P1+ tP 2; the third formula is: x ═ 1-t) a + tB; substituting the first formula and the second formula into the third formula to obtain the formula: x ═ 1-t)2P0+2t(1-t)P1+t2P2, when t changes from 0 to 1, the curve formed by the point x is the second order bezier curve shown in fig. 4.
Based on the same inventive concept, the present disclosure further provides an apparatus for generating a turning trajectory, for implementing the steps of the method for generating a turning trajectory provided in the foregoing method embodiment, as shown in fig. 5, where the apparatus 300 includes:
an obtaining module 310, configured to obtain a vehicle driving image detected by a detection device of a vehicle;
a judging module 320, configured to judge whether an obstacle exists in front of the vehicle according to the driving image;
a selection module 330, configured to select a control point from the point cloud data on the driving image if an obstacle exists in front of the vehicle;
a generating module 340, configured to generate a steering trajectory of the vehicle according to the control point.
By adopting the device, the vehicle running image detected by the vehicle detection device is obtained, whether an obstacle exists in front of the vehicle running can be judged from the running image, if the obstacle exists in front of the vehicle running, a control point is selected from point cloud data on the running image, and a steering track of the vehicle is generated according to the selected control point. Therefore, the collision of the vehicle with the obstacle in the steering process can be avoided, and the safe steering driving of the vehicle can be further ensured.
Optionally, the selecting module 330 includes:
a first determination submodule for determining, in target point cloud data representing an obstacle in front of the vehicle in the point cloud data, a first point on the obstacle which is most protruded on the same side as an intended turning side of the vehicle, and a second point on a side of the obstacle which is most protruded toward the vehicle;
a second determination submodule configured to take an intersection of a longitudinal extension line of the first point and a lateral extension line of the second point as a first control point, wherein the longitudinal direction is a traveling direction of the vehicle;
a third determination submodule for determining a second control point on a center line of the vehicle in the traveling direction of the vehicle based on a minimum safe distance between the vehicle and the obstacle;
the fourth determining submodule is used for determining the arch height and the radius of the circular arc according to the current speed of the vehicle, the lane width and the maximum transverse acceleration of the vehicle;
a fifth determining submodule, configured to make an arc passing through the second control point according to the camber and the radius to the expected steering side of the vehicle, and take two end points of the arc as a third control point and a fourth control point, respectively, where the fourth control point is an end point near one side of the vehicle and is on a center line of the vehicle in the traveling direction of the vehicle;
a sixth determination submodule for regarding a point, which is on a side of the obstacle toward an intended turning of the vehicle, from the obstacle by a preset distance value in a lateral direction where a centroid point of the obstacle is located, as a fifth control point.
According to the device, five control points are selected from the point cloud data of the driving image of the vehicle according to the motion state of the vehicle needing to be steered, the motion state situation of the front obstacle, the lane information of the vehicle and the like, and the vehicle needing to be steered can be controlled to safely drive in a steering mode.
Optionally, the fourth determining sub-module includes:
a setting submodule for setting a maximum width value of the lane to the camber value;
an execution submodule, configured to determine the radius according to the following calculation formula:
R＝v2where v is the current vehicle speed of the vehicle and a is the maximum lateral acceleration of the vehicle.
Optionally, for the first to fifth control points, the steering trajectory is generated by the following calculation formula:
Figure BDA0002206318520000151
Figure BDA0002206318520000161
wherein p is0Characterizing the point cloud dataCoordinate value of the fourth control point, p1A coordinate value, p, characterizing said second control point2A coordinate value, p, characterizing the third control point3A coordinate value, p, characterizing said first control point4A coordinate value characterizing said fifth control point, B (t) being a coordinate value of a point on said steering trajectory varying with t.
By adopting the device, the selected first to fifth control points are used as the control points of the fourth-order Bezier curve to generate the steering track with the characteristics of the fourth-order Bezier curve, so that the generated steering track can be feasible and safe. In addition, because the algorithm of the fourth-order Bezier curve is simple to implement, the data calculation amount when the steering track is generated is small by adopting the device. In addition, the motion states of the steering vehicle and the front obstacle are changed in real time, so that the steering driving track can be generated quickly in real time according to the real-time point cloud data by adopting the device.
Optionally, the apparatus 300 further comprises:
a constraint module, configured to perform continuity and bounded constraint on the generated steering trajectory, wherein the continuity constraint is performed on the steering trajectory through the following formula:
x '(t) ≠ 0, and y' (t) ≠ 0, where x '(t) characterizes a first derivative of a point on the turning trajectory corresponding to a value of t on a coordinate horizontal axis of the point cloud data, and y' (t) characterizes a first derivative of a point on the turning trajectory corresponding to a value of t on a coordinate vertical axis of the point cloud data;
performing the bounded constraint on the steering trajectory by:
Kmin<K(t)<Kmaxk (t) characterizing the curvature of an arbitrary point on the turning trajectory, KminCharacterizing a minimum value of said curvature, KmaxCharacterizing a maximum of the curvature;
the calculation formula of the curvature of any point on the steering track is as follows:
Figure BDA0002206318520000162
Figure BDA0002206318520000163
is the steering angle of the front wheels of the vehicle, and L is the track width of the front and rear wheels of the vehicle.
By adopting the device, the generated steering track is continuously restrained to ensure that the curvature of the generated track is continuous everywhere, so that the vehicle can be ensured to successfully drive from the initial position of steering to the target position of steering. And performing bounded constraint on the generated steering track, and controlling the maximum value and the minimum value of the curvature of the track according to the limitation of the steering angle of the front wheel of the vehicle, so as to further ensure that the generated driving track is feasible. By adopting the device, the generated steering track is ensured to be feasible, and the vehicle can run according to the track, and the stability of the vehicle can be ensured.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the method of generating a steering trajectory provided by the present disclosure.
Fig. 6 is a block diagram illustrating an electronic device 700 according to an example embodiment. As shown in fig. 6, the electronic device 700 may include: a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input/output (I/O) interface 704, and a communication component 705.
The processor 701 is configured to control the overall operation of the electronic device 700, so as to complete all or part of the steps in the above-described method for generating a steering trajectory. The memory 702 is used to store various types of data to support operation at the electronic device 700, such as instructions for any application or method operating on the electronic device 700 and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and the like. The Memory 702 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia components 703 may include screen and audio components. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in the memory 702 or transmitted through the communication component 705. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 704 provides an interface between the processor 701 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, which is not limited herein. The corresponding communication component 705 may thus include: Wi-Fi module, Bluetooth module, NFC module, etc.
In an exemplary embodiment, the electronic Device 700 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above-described method of generating the turn tracks.
In another exemplary embodiment, a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the above-described method of generating a steering trajectory is also provided. For example, the computer readable storage medium may be the memory 702 described above comprising program instructions executable by the processor 701 of the electronic device 700 to perform the method of generating a steering trajectory described above.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims (8)

1. A method of generating a steering trajectory, the method comprising:
acquiring a vehicle running image detected by a vehicle detection device;
judging whether an obstacle exists in front of the vehicle according to the running image;
if an obstacle exists in front of the vehicle in the driving process, selecting a control point from the point cloud data on the driving image;
generating a steering track of the vehicle according to the control points;
the selecting a control point from point cloud data on the driving image comprises:
determining, in target point cloud data representing an obstacle ahead of the vehicle in the point cloud data, a first point on the obstacle that is most prominent on the same side as the vehicle's intended turning side, and a second point on a side of the obstacle that is most prominent toward the vehicle;
taking an intersection of a longitudinal extension of the first point and a transverse extension of the second point as a first control point, wherein the longitudinal direction is a traveling direction of the vehicle;
determining a second control point on a center line of the vehicle in the traveling direction of the vehicle based on a minimum safe distance between the vehicle and the obstacle;
determining the arch height and the radius of an arc according to the current speed of the vehicle, the lane width and the maximum lateral acceleration of the vehicle;
making an arc passing through the second control point according to the camber and the semiradial direction on the expected steering side of the vehicle, and taking two end points of the arc as a third control point and a fourth control point respectively, wherein the fourth control point is the end point close to one side of the vehicle and is on the central line of the vehicle in the driving direction of the vehicle;
and taking a point which is away from the obstacle by a preset distance value toward the expected turning side of the vehicle at the obstacle in the transverse direction of the center of mass point of the obstacle as a fifth control point.
2. The method of claim 1, wherein determining the camber and radius of the arc based on the current speed of the vehicle, the lane width, and the maximum lateral acceleration of the vehicle comprises:
taking the maximum width value of the lane as the arch height value;
determining the radius according to the following calculation:
R＝v2where v is the current vehicle speed of the vehicle and a is the maximum lateral acceleration of the vehicle.
3. The method of claim 1, wherein the generating a steering trajectory of the vehicle from the control points comprises:
generating the steering trajectory by a fourth order Bezier curve calculation formula as follows for the first to fifth control points:
Figure FDA0002890312170000021
wherein p is0Characterizing a coordinate value, p, of the fourth control point in the point cloud data1A coordinate value, p, characterizing said second control point2A coordinate value, p, characterizing the third control point3A coordinate value, p, characterizing said first control point4A coordinate value characterizing said fifth control point, B (t) being a coordinate value of a point on said steering trajectory varying with t.
4. The method according to any one of claims 1-3, further comprising:
continuously and limitedly constraining the generated steering trajectory, wherein the continuity constraint is performed on the steering trajectory by the following formula:
x '(t) ≠ 0, and y' (t) ≠ 0, where x '(t) characterizes a first derivative of a point on the turning trajectory corresponding to a value of t on a coordinate horizontal axis of the point cloud data, and y' (t) characterizes a first derivative of a point on the turning trajectory corresponding to a value of t on a coordinate vertical axis of the point cloud data;
performing the bounded constraint on the steering trajectory by:
Kmin＜K(t)＜Kmaxk (t) characterizing the curvature of an arbitrary point on the turning trajectory, KminCharacterizing a minimum value of said curvature, KmaxCharacterizing a maximum of the curvature;
the calculation formula of the curvature of any point on the steering track is as follows:
Figure FDA0002890312170000031
Figure FDA0002890312170000032
is the steering angle of the front wheels of the vehicle, and L is the track width of the front and rear wheels of the vehicle.
5. An apparatus for generating a steering trajectory, the apparatus comprising:
the acquisition module is used for acquiring a vehicle running image detected by a detection device of a vehicle;
the judging module is used for judging whether an obstacle exists in front of the vehicle according to the running image;
the selection module is used for selecting a control point from the point cloud data on the driving image if an obstacle exists in front of the driving of the vehicle;
the generating module is used for generating a steering track of the vehicle according to the control point;
the selection module comprises:
a first determination submodule for determining, in target point cloud data representing an obstacle in front of the vehicle in the point cloud data, a first point on the obstacle which is most protruded on the same side as an intended turning side of the vehicle, and a second point on a side of the obstacle which is most protruded toward the vehicle;
a second determination submodule configured to take an intersection of a longitudinal extension line of the first point and a lateral extension line of the second point as a first control point, wherein the longitudinal direction is a traveling direction of the vehicle;
a third determination submodule for determining a second control point on a center line of the vehicle in the traveling direction of the vehicle based on a minimum safe distance between the vehicle and the obstacle;
the fourth determining submodule is used for determining the arch height and the radius of the circular arc according to the current speed of the vehicle, the lane width and the maximum transverse acceleration of the vehicle;
a fifth determining submodule, configured to make an arc passing through the second control point according to the camber and the radius to the expected steering side of the vehicle, and take two end points of the arc as a third control point and a fourth control point, respectively, where the fourth control point is an end point near one side of the vehicle and is on a center line of the vehicle in the traveling direction of the vehicle;
a sixth determination submodule for regarding a point, which is on a side of the obstacle toward an intended turning of the vehicle, from the obstacle by a preset distance value in a lateral direction where a centroid point of the obstacle is located, as a fifth control point.
6. The apparatus of claim 5, wherein the fourth determination submodule comprises:
a setting submodule for setting a maximum width value of the lane to the camber value;
an execution submodule, configured to determine the radius according to the following calculation formula:
R＝v2where v is the current vehicle speed of the vehicle and a is the maximum lateral acceleration of the vehicle.
7. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
8. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 4.
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