CN110962856A - Method and device for determining area of vehicle where environmental target is located - Google Patents

Method and device for determining area of vehicle where environmental target is located Download PDF

Info

Publication number
CN110962856A
CN110962856A CN201811153630.7A CN201811153630A CN110962856A CN 110962856 A CN110962856 A CN 110962856A CN 201811153630 A CN201811153630 A CN 201811153630A CN 110962856 A CN110962856 A CN 110962856A
Authority
CN
China
Prior art keywords
vehicle
target
point
coordinates
area
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201811153630.7A
Other languages
Chinese (zh)
Other versions
CN110962856B (en
Inventor
韩汝涛
张凯
甄龙豹
葛建勇
和林
王天培
刘洪亮
曾荣林
杨箫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Haomo Zhixing Technology Co Ltd
Original Assignee
Great Wall Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Great Wall Motor Co Ltd filed Critical Great Wall Motor Co Ltd
Priority to CN201811153630.7A priority Critical patent/CN110962856B/en
Publication of CN110962856A publication Critical patent/CN110962856A/en
Application granted granted Critical
Publication of CN110962856B publication Critical patent/CN110962856B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/25—Fusion techniques

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Data Mining & Analysis (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Evolutionary Computation (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Evolutionary Biology (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Artificial Intelligence (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Traffic Control Systems (AREA)

Abstract

The embodiment of the invention provides a method and a device for determining an area where an environmental target of a vehicle is located, and belongs to the field of vehicles. The method comprises the following steps: acquiring a first coordinate of a first characteristic point at the front end of a vehicle in a driving coordinate system; acquiring a second coordinate of a second characteristic point at the rear end of the vehicle in a driving coordinate system; acquiring corner point coordinates of each corner point of the environment target under a driving coordinate system; and determining the area of the environment target according to the first coordinate, the second coordinate and the corner point coordinate of each corner point of the environment target in a driving coordinate system, wherein the driving coordinate system X isFOFYFThe side line of the road where the vehicle is located is taken as a reference line, and the origin of coordinates OFThe horizontal axis X is the point on the reference line where the distance to the fourth characteristic point of the vehicle is shortestFAnd roadThe directions of the guide lines are parallel and the longitudinal axis is YFFollowing either the left or right hand rule with the direction of the road guide line. The method reduces the calculated amount of a decision-making system, and improves the accuracy of region division and determination under the curve working condition.

Description

Method and device for determining area of vehicle where environmental target is located
Technical Field
The invention relates to the field of vehicles, in particular to a method and a device for determining an area where an environmental target of a vehicle is located.
Background
In the process of vehicle driving, especially in the process of vehicle automatic driving, a decision system of a vehicle needs to send out a decision instruction according to the perceived attributes of surrounding targets. This requires that the environment around the vehicle be comprehensively perceived and the attributes of the environmental targets be determined during the driving of the vehicle.
For determining the attributes of the environmental targets, the perceived positions or areas of the environmental targets are determined most importantly, so that the decision-making system can accurately issue decision-making instructions.
Disclosure of Invention
In view of this, the present invention aims to propose a method for determining a region in which an environmental target of a vehicle is located, for addressing at least the determination of the region of the environmental target.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
method for determining the region of a vehicle in which an environmental target is located, and vehicleThe method comprises the following steps: acquiring first coordinates (X1, Y1) of a first characteristic point at the front end of the vehicle in a driving coordinate system; acquiring second coordinates (X2, Y2) of a second feature point at the rear end of the vehicle in the travelling coordinate system; acquiring corner point coordinates of each corner point of the environment target under the travelling crane coordinate system; and determining the area where the environmental target is located according to the first coordinates (X1, Y1), the second coordinates (X2, Y2) and the coordinates of the corner points of the environmental target under the driving coordinate system, wherein the driving coordinate system X is the driving coordinate systemFOFYFUsing the side line of the road where the vehicle is located as a reference line and using the coordinate origin OFA point on the reference line having the shortest distance to the fourth characteristic point of the vehicle, and a horizontal axis XFParallel to the direction of the road-guiding line, the longitudinal axis YFFollowing either the left or right hand rule with the direction of the road guide line.
Further, the acquiring coordinates of each corner point of the environmental target under the driving coordinate system includes: acquiring the coordinates of the rear end central point of the environment target under a vehicle coordinate system, the included angle between the central line of the environment target and the transverse axis or the longitudinal axis of the vehicle, the length of the environment target and the width of the environment target; respectively calculating the coordinates of each corner point of the environment target under a vehicle coordinate system by using the coordinates of the rear end central point, the included angle, the length of the environment target and the width of the environment target; and determining the coordinates of each corner point of the environment target under the driving coordinate system according to the coordinates of each corner point of the environment target under the vehicle coordinate system.
Further, the fourth feature point is a center point of the vehicle, and the method includes determining coordinates of any feature point in the driving coordinate system according to the following steps: determining the shortest distance from the reference line to any one feature point and a point corresponding to the shortest distance on the reference line; taking the size of the shortest distance as the size of the ordinate of any characteristic point in the travelling coordinate system; determining the point with the shortest distance to any characteristic point on the reference line and the coordinate sourcePoint OFLongitudinal arc length in between; taking the size of the longitudinal arc length as the size of the abscissa of any characteristic point in the vehicle coordinate system, wherein the coordinate origin O is relative to the coordinate origin in the vehicle coordinate system according to any characteristic pointFDetermining the positive and negative of the ordinate and the abscissa of any feature point, wherein the any feature point is the first feature point, the second feature point or the corner point of the environmental target.
Further, the reference line is divided into a plurality of points each having the same predetermined distance between adjacent two points, wherein the shortest distance, the point on the reference line corresponding to the shortest distance, and the longitudinal arc length are determined in a vehicle coordinate system of the vehicle.
Further, under the driving coordinate system, the peripheral area of the vehicle is divided into eight fixed areas, namely a vehicle left front area, a vehicle right front area, a vehicle left side area, a vehicle right side area, a vehicle left rear area, a vehicle right rear area and a vehicle right rear area; said determining an area in which the environmental target is located from the first coordinates (X1, Y1), the second coordinates (X2, Y2) and the corner point coordinates of each corner point of the environmental target in the rover coordinate system comprises: under the driving coordinate system, respectively determining each of the following: an ordinate YL1 of a left lane line adjacent to the vehicle, an ordinate YL2 of a lane line adjacent to the left lane line to the left of the left lane line, an ordinate YR1 of a right lane line adjacent to the vehicle, and an ordinate YR2 of a lane line adjacent to the right lane line to the right of the right lane line; determining that the area where each of the environmental points of the environmental target is located is a vehicle front left area if the ordinate of each of the angular points of the environmental target is greater than YL2 and less than YL1 and the abscissa of each of the angular points is greater than X1 in the driving coordinates; if the ordinate of each corner point of the environment target is larger than YL1 and smaller than YR1 and the abscissa of each corner point is larger than X1 under the driving coordinates, determining that the area where the environment target is located is an area right in front of the vehicle; if the ordinate of each corner point of the environment target is greater than YR1 and less than YR2 and the abscissa of each corner point is greater than X1 under the driving coordinates, determining that the area where the environment target is located is a vehicle right front area; if the ordinate of each corner point of the environment target is larger than YR1 and smaller than YR2 and the abscissa of each corner point is larger than X2 and smaller than X1 under the driving coordinates, determining that the area where the environment target is located is the area at the right side of the vehicle; if the ordinate of each corner point of the environment target is larger than YR1 and smaller than YR2 and the abscissa of each corner point is smaller than X2 under the driving coordinates, determining that the area where the environment target is located is a vehicle right rear area; if the ordinate of each corner point of the environment target is larger than YL1 and smaller than YR1 and the abscissa of each corner point is smaller than X2 under the driving coordinates, determining that the area where the environment target is located is an area right behind the vehicle; determining that the region where the environmental target is located is a vehicle left rear region if the ordinate of each corner point of the environmental target is greater than YL2 and less than YL1 and the abscissa of each corner point is less than X2 in the driving coordinates; and if the ordinate of each corner point of the environment target is greater than YL2 and less than YL1 and the abscissa of each corner point is greater than X2 and less than X1 in the driving coordinates, determining that the area where the environment target is located is a vehicle left side area.
Further, the determining the area where the environmental target is located according to the first coordinate (X1, Y1), the second coordinate (X2, Y2) and the corner point coordinate of each corner point of the environmental target under the vehicle coordinate system further comprises: copying the environmental target if at least a first corner of the environmental target is in a first fixed area of the eight fixed areas and at least a second corner of the environmental target is in a second fixed area of the eight fixed areas; and determining the environmental target as being one of the first fixed area or the second fixed area, the environmental target being replicated being the other of the first fixed area or the second fixed area.
Further, a length of an area in front of the vehicle among the eight fixed areas ranges from 150m to 250m, and/or a length of an area in rear of the vehicle among the eight fixed areas ranges from 30m to 130 m.
Further, the determining the area where the environmental target is located according to the first coordinate (X1, Y1), the second coordinate (X2, Y2) and the corner point coordinate of each corner point of the environmental target under the vehicle coordinate system further comprises: and if the ordinate of each corner point of the environment target is larger than the difference value between Y1 and a preset value a and smaller than the sum of Y1 and the preset value a under the driving coordinates, and the abscissa of each corner point is larger than X1, determining that the environment target is in the follow-up area, wherein the preset value a is half of the width of the follow-up area.
Further, the length of the follow-up region ranges from 150m to 250m, and/or the width of the follow-up region ranges from 2.2m to 3.4 m.
Compared with the prior art, the data fusion method for the vehicle sensor has the following advantages:
the area of each environmental target is determined according to the corner position of the environmental target, so that the area of the environmental target is determined more accurately, the decision system can directly use the target in the area of interest to control, the calculated amount of the decision system is reduced, and the accuracy of area division and determination under the curve working condition is improved. The use of the travelling coordinate system simplifies the difficulty of determining the area where the environmental target is located and improves the efficiency of area division.
Another object of the invention is to propose an apparatus for determining the area in which an environmental target of a vehicle is located, for solving at least the determination of the area of the environmental target.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
an apparatus for determining a region in which an environmental target of a vehicle is located, the apparatus comprising a memory and a processor, the memory having stored therein instructions for enabling the processor to perform the above-described method for determining a region in which an environmental target of a vehicle is located.
The device for determining the area of the environmental target of the vehicle has the same advantages as the method for determining the area of the environmental target of the vehicle, compared with the prior art, and is not repeated herein.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 shows a schematic flow diagram of a method for determining a region in which an environmental target of a vehicle is located, according to an embodiment of the invention;
FIG. 2 shows a schematic view of a vehicle coordinate system;
FIG. 3 shows a schematic view of origin determination of a vehicle coordinate system;
FIG. 4 is a schematic diagram illustrating the relative positioning of a host vehicle and an environmental target;
FIG. 5 illustrates a schematic diagram of determining coordinates of an arbitrary point on an environmental target in a driving coordinate system;
FIG. 6 illustrates a partition diagram of a fixed area according to an embodiment of the invention;
FIG. 7 shows a schematic view of a follower region; and
fig. 8 shows a block diagram of an apparatus for determining a region in which an environmental target of a vehicle is located according to an embodiment of the present invention.
Description of the reference numerals
810 memory 820 processor
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 shows a schematic flow diagram of a method for determining a region in which an environmental target of a vehicle is located according to an embodiment of the invention. As shown in fig. 1, an embodiment of the present invention provides a method for determining an area in which an environmental target of a vehicle, which may be an autonomous vehicle or the like, is located, the method may include: step S110, acquiring a first coordinate (X1, Y1) of a first characteristic point at the front end of the vehicle in a driving coordinate system; step S120, acquiring a second coordinate (X2, Y2) of a second feature point at the rear end of the vehicle in the driving coordinate system; step S130, acquiring corner point coordinates of each corner point of the environment target under the travelling crane coordinate system; and a step S140 of determining the area where the environmental target is located according to the first coordinates (X1, Y1), the second coordinates (X2, Y2) and the corner point coordinates of each corner point of the environmental target in the traffic coordinate system.
Reference to an "environmental target" in embodiments of the present invention may refer to any object, moving or stationary, that is in the vicinity of a vehicle, such as a vehicle, a person, a building, etc.
The first feature point may be any point selected at the front end of the vehicle, and may be, for example, a center point of the front end of the vehicle. The second feature point may be any point selected at the rear end of the vehicle, and may be, for example, a center point of the rear end of the vehicle. The corner points of the environmental target refer to physical corner points on the body of the environmental target, for example, if the environmental target locates a vehicle, the corner points of the environmental target refer to the corner points of the four corners of the vehicle body.
Although the execution sequence of steps S110 to S130 is shown in fig. 1, it is understood that the execution sequence of steps S110, S120 and S130 may be arbitrarily interchanged, or any two or three of them may be executed simultaneously.
The driving coordinate system mentioned in the embodiment of the present invention will be described with reference to fig. 2 and 3. Fig. 2 shows a schematic view of a vehicle coordinate system. X in FIG. 2FOFYFRepresenting the vehicle coordinate system, XHOHYHAs a vehicle coordinate system, XGOGYGIs a global coordinate system. Wherein the global coordinate system XGOGYGBased on geodetic coordinates, XGPointing to north, YGPointing to east, clockwise with the angle being positive, within an angle range of 0,360 °]Wherein the map lane line information is usually given based on a global coordinate system. Vehicle coordinate system XHOHYHUsing the vehicle as a reference and a coordinate origin OHUsually the vehicle center point, X is selectedHDirected in the longitudinal direction of the vehicle, YHPointing to the direction of the cross shaft of the vehicle, and following the right-hand rule, the anticlockwise is positive. Output information of sensors on the vehicle, such as a camera, a laser radar, a millimeter wave radar, and the like, is generally given based on the vehicle coordinate system. The embodiment of the invention provides a travelling coordinate system XFOFYFBased on the boundary of the road, the boundary of the road can be the boundary of the leftmost lane or the rightmost lane of the road where the vehicle is located, and the origin of coordinates OFA point on the reference line having the shortest distance to the fourth characteristic point of the vehicle, and a horizontal axis XFMay be parallel to the direction of the leading line of the road, e.g. the transverse axis XFMay point in the direction of the road guide line or may point away from the direction of the road guide line. Longitudinal axis YFFollowing either the left or right hand rule with the direction of the road guide line. Here, the fourth feature point may be any point of the vehicle, for example, the fourth feature point may be selected as a vehicle center point, that is, the fourth feature point may coincide with an origin of a vehicle coordinate system.
In the case of a straight road, the horizontal axis XFParallel to the direction of a straight road guide line, the transverse axis X being parallel to the direction of a straight road guide line, in the case of curves of the road, for example during cornering of a vehicleFParallel to the direction of the curved road-guiding line, i.e. the transverse axis XFThe direction of the guiding line is always consistent with that of the road. The longitudinal axis Y is shown in FIG. 2FThe direction of the road guiding line follows the left-hand rule, and the longitudinal axis Y is mainly used in the embodiment of the inventionFTo say that the direction of the road guiding line follows the left-hand ruleThe longitudinal axis Y of the lightFSimilar to the case where the direction of the road guiding line follows the right-hand rule, the description will be omitted. The lane line and the environment target can simultaneously have the dual attributes of a vehicle coordinate system and a driving coordinate system.
Fig. 3 shows a schematic view of the determination of the origin of the vehicle coordinate system. In FIG. 3, the leftmost lane line of the vehicle is defined as the reference line, the driving coordinate system XFOFYFThe reference line of (a) is divided into a plurality of points (reference line points shown in fig. 3), and every two adjacent points may have the same predetermined distance therebetween, and the predetermined distance may be arbitrarily set as needed, for example, the predetermined distance may range from 0.05m to 0.3 m. The shortest distance to the vehicle center point on the reference line is found in the vehicle coordinate system, for example, the euclidean distance between each point divided on the reference line or each point of a predetermined range and the vehicle center may be calculated to find the shortest distance to the vehicle center. Taking the point corresponding to the shortest distance on the reference line as the origin O of the driving coordinate systemF. The origin position O of the running coordinate system along with the movement of the vehicleFAre also constantly changing. The determination of the area where the detected environmental target is located is more accurate in the driving process of the vehicle by using the driving coordinate system, and the method is particularly suitable for determining the area where the environmental target is located in the turning process of the vehicle.
Fig. 4 shows a schematic diagram of the host vehicle relative to an environmental target. As shown in fig. 4, the environment target is a vehicle, and the environment target is located on the left side of the lane where the host vehicle travels. The sensor on the vehicle can detect the position of the rear end central point A of the environment target, the included angle between the central line of the environment target and the transverse axis or the longitudinal axis of the vehicle, the length of the environment target and the width of the environment target. The output information of the sensors on the vehicle is usually given based on a vehicle coordinate system with reference to the vehicle, which is denoted as XHOHYHO of (A) to (B)HUsually the vehicle center point, X is selectedHDirected in the longitudinal direction of the vehicle, YHPointing to the direction of the cross shaft of the vehicle, and following the right-hand rule, the anticlockwise is positive. The position of the rear end central point A is the coordinate of the rear end central point A in a vehicle coordinate system, and the vehicle sensor outputs the coordinate of the rear end central point A in the vehicle coordinate system for environment purposesTarget centerline and host vehicle longitudinal axis (i.e., X)HAxis) of the vehicle, the position coordinates of each corner point of the environment target in the vehicle coordinate system can be calculated by using the coordinates of the rear end center point a of the environment target in the vehicle coordinate system, the included angle α between the center line of the environment target and the longitudinal axis of the vehicle, the length of the environment target and the width of the environment target.
That is, in step S130, the position coordinates of each corner point of the environment target in the vehicle coordinate system may be first obtained, and then the position coordinates of the corner points in the vehicle coordinate system may be converted into the driving coordinate system to obtain the coordinates of each corner point of the environment target in the driving coordinate system.
Fig. 5 shows a schematic diagram for determining the coordinates of an arbitrary point B on an environmental target in a vehicle coordinate system. Horizontal axis X of the vehicle coordinate system in FIG. 5FPointing in the direction of the road-guiding line, the longitudinal axis YFThe following description will be made by taking the left-hand rule with respect to the direction of the road guide line as an example. The coordinates of point B on the environmental target in the vehicle coordinate system are known, which can be output by a sensor, for example.
And finding the shortest distance from the reference line to the point B under the driving coordinate system. For example, a forward or backward traversal can be started from the origin of the vehicle coordinate system on the reference line, wherein the forward or backward traversal depends on whether the point B is in front of or behind the vehicle center point, which can be determined simply by the coordinates of the point B in the vehicle coordinate system. If the point B is in front of the center point of the vehicle, the points on the reference line are traversed forwards from the origin of the driving coordinate system on the reference line to determine the shortest distance to the point B. If the point B is behind the vehicle center point, traversing each point on the reference line backwards from the origin of the vehicle coordinate system on the reference line to determine the shortest distance to the point B and a point C corresponding to the shortest distance on the reference line, wherein the size of the shortest distance can be used as the size of the ordinate of the point B in the vehicle coordinate system. The positive and negative of the vertical coordinate of the point B in the driving coordinate system can be determined according to the relative position of the point B to a reference line or a coordinate origin OFIf point B is on the reference line or origin of coordinates OFThe right side of (a) is positive and the left side is negative.
The size of the abscissa of the point B in the driving coordinate system is the point C and the origin of coordinates O on the reference lineFThe size of the longitudinal arc length between, the point C on the datum line and the origin of coordinates OFThe size of the longitudinal arc length between can use the point C on the datum line and the coordinate origin OFThe distance between the divided point and the point is obtained by accumulation calculation. The positive and negative of the vertical coordinate of the point B in the driving coordinate system can be determined according to the relative coordinate origin O of the point BFIf point B is at the origin of coordinates OFThe front side of (A) is positive and the rear side is negative.
The determination of the coordinates of the first feature point at the front end of the vehicle, the second feature point at the rear end of the vehicle, or each corner point of the environment target in the driving coordinate system is similar to the determination of the coordinates of the point B in the driving coordinate system, and will not be described again here. Or, alternatively, in the case that the first feature point is a center point of the front end of the vehicle and the second feature point is a center point of the rear end of the vehicle, the ordinate of the first feature point and the ordinate of the second feature point in the driving coordinate system may be the same as the ordinate of the vehicle center point in the driving coordinate system. Within the allowable error range, the ordinate sizes of the first feature point and the second feature point may be the respective distances from the vehicle center point to the first feature point and the second feature point.
Fig. 6 shows a schematic diagram of division of a fixed area according to an embodiment of the present invention. As shown in fig. 6, the peripheral region of the vehicle may be divided into eight fixed regions, which may be a vehicle left front region, a vehicle right front region, a vehicle left side region, a vehicle right side region, a vehicle left rear region, a vehicle right rear region, and a vehicle right rear region, respectively.
Eight fixed regions may be determined in units of lane lines, and the width of each fixed region may coincide with the width between lane lines. As shown in fig. 6, eight fixed zones may be divided according to a left lane line L1 adjacent to the vehicle, a lane line L2 to the left of the left lane line L1 and adjacent to the left lane line L1, a right lane line R1 adjacent to the vehicle, a lane line R1 to the right of the right lane line R1 and adjacent to the right lane line L1, a vehicle front end line HF, which may be aligned with the front end of the vehicle, and a vehicle rear end line HR, which may be aligned with the rear end of the vehicle. The length of the area in front of the vehicle among the eight fixed areas may range from 150m to 250m, and/or the length of the area behind the vehicle among the eight fixed areas may range from 30m to 130m, but the embodiment of the present invention is not limited thereto, and the length of the area in front of the vehicle among the eight fixed areas and/or the length of the area behind the vehicle among the eight fixed areas may be set to any suitable value. In fig. 6, the division of the fixed area under a straight road is shown, and if the curve condition is adopted, the fixed area divided according to the lane line is also curved, and the curved direction is the same as the curved direction of the lane.
Transverse axis X of travelling crane coordinate systemFPointing in the direction of the road-guiding line, the longitudinal axis YFThe following description will be made by taking the left-hand rule with respect to the direction of the road guide line as an example. When determining the area where the environmental target is located by using the first coordinates (X1, Y1) of the first feature point of the front end of the vehicle in the driving coordinate system, the second coordinates (X2, Y2) of the second feature point of the rear end of the vehicle in the driving coordinate system, and the corner coordinates of each corner point of the environmental target in the driving coordinate system, the ordinate YL1 of the lane line L1, the ordinate YL1 of the lane line L2, the ordinate YR1 of the lane line R1, and the ordinate YR2 of the lane line R2 may be determined in the driving coordinate system, respectively, where the ordinate of each lane line may be the distance from each lane line to the reference line, and the positive or negative of the ordinate of the lane line may be determined according to the position of the lane line relative to the reference line, and the right side is positive and the left side is negative. As for the magnitude of the distance from each lane line to the reference line, it can be determined from the map lane line information output based on the global coordinate system. When the vehicle changes lanes, the divided eight fixed areas are also changed, for example, when the vehicle switches from the "lane keeping" state to the "right lane", the eight fixed areas also move to the right by one lane as a whole, and when the vehicle switches from the "lane keeping" state to the "left lane", the eight fixed areas also move to the left by one lane as a whole, and the ordinate of each lane line changes with the movement of the fixed area. Wherein, canTo determine whether the lane change state of the vehicle is in a lane keeping state or a left lane change state or a right lane change state according to the signal output by the decision making system.
Under the traffic coordinate system, if the ordinate of each corner point of the environment target is greater than YL2 and less than YL1, and the abscissa of each corner point is greater than X1, determining that the area where the environment target is located is the area in front of the left of the vehicle; if the ordinate of each corner point of the environmental target is greater than YL1 and less than YR1, and the abscissa of each corner point is greater than X1, determining that the area where the environmental target is located is the area right in front of the vehicle; if the ordinate of each corner point of the environmental target is greater than YR1 and less than YR2, and the abscissa of each corner point is greater than X1, determining that the area where the environmental target is located is the vehicle right front area; if the ordinate of each corner point of the environment target is greater than YR1 and less than YR2, and the abscissa of each corner point is greater than X2 and less than X1, determining that the area where the environment target is located is the area on the right side of the vehicle; if the ordinate of each corner point of the environment target is larger than YR1 and smaller than YR2, and the abscissa of each corner point is smaller than X2, determining that the area where the environment target is located is the right rear area of the vehicle; if the ordinate of each corner point of the environmental target is larger than YL1 and smaller than YR1, and the abscissa of each corner point is smaller than X2, determining that the area where the environmental target is located is the area right behind the vehicle; if the ordinate of each corner point of the environmental target is larger than YL2 and smaller than YL1, and the abscissa of each corner point is smaller than X2, determining that the area where the environmental target is located is the left rear area of the vehicle; and if the ordinate of each corner point of the environment target is greater than YL2 and less than YL1, and the abscissa of each corner point is greater than X2 and less than X1, determining that the region where the environment target is located is a vehicle left side region.
In some embodiments, the environmental target may also have cross-region properties, e.g., the environmental target may span two or more regions. For example, if it is determined in the vehicle coordinate system that at least a first corner of the environmental object is in a first fixed area of the eight fixed areas and at least a second corner of the environmental object is in a second fixed area of the eight fixed areas, it may be determined that the environmental object has a cross-regional property that is located in the first fixed area and the second fixed area. The first corner point and the second corner point may be any two different corner points of the environmental object, and the first fixed area and the second fixed area may be any two different fixed areas of the eight fixed areas. It is exemplified here that the environment target spans two fixed areas, and it is understood that in the case where the size of the environment target or the size of the fixed area is different, the environment target may span more fixed areas.
After determining that the environmental target has a cross-regional attribute, the environmental target may be copied based on the number of regions spanned by the environmental target. For example, if the environment object spans two regions, one environment object is replicated, and if the environment object spans three regions, two environment objects are replicated. Here, copying the environment target means copying all other attributes of the environment target except for the area attribute, and the other attributes may include, for example, a longitudinal speed, a longitudinal distance, a lateral speed, a longitudinal acceleration, a lateral acceleration of the environment target, an ID of the environment target measured by a sensor, a target length, a target width, and/or the like. After the environment target is copied, the determined different region attributes may be assigned to the original environment target and each copied environment target, respectively. Taking the example that the environment target spans the first fixed area and the second fixed area, one environment target needs to be copied, and the environment target can be determined to be in one of the first fixed area or the second fixed area, and the copied environment target is determined to be in the other of the first fixed area or the second fixed area.
The area of the environment target is determined according to the corner position of the environment target, when the environment target has the cross-area attribute, the environment target is copied, the original environment target and the copied environment targets are respectively endowed with different determined area attributes, the area determination of the environment target is more accurate, the decision-making system can further directly use the target in the area of interest to control, the calculation amount of the decision-making system is reduced, and meanwhile, the accuracy of area division under the curve working condition is improved. The use of the travelling coordinate system simplifies the difficulty of determining the area where the environmental target is located and improves the efficiency of area division. And the fixed area is changed along with the change of the lane where the vehicle is positioned, so that the difficulty of extracting the target attribute of the attention area by a decision system is reduced.
In an alternative embodiment, determining the region in which the environmental target is located may further include determining whether the environmental target is in a follow-up region. Fig. 7 shows a schematic view of the following region. As shown in fig. 7, the following area is an area that is located forward (for example, may be a straight forward) in the vehicle traveling direction and is parallel to the road direction. In fig. 7, a schematic view of the following area is shown for a straight road, and in a curve situation, the following area parallel to the road direction is also curved. The length of the follower region may range from 150m to 250m, and/or the width of the follower region may range from 2.2m to 3.4 m. The length of the following area may be the same as the length of the area in front of the vehicle of the eight fixed areas. The width range of the follow-up region may preferably be greater than or equal to the vehicle width. The following area moves with the movement of the vehicle, but is always located in front of the vehicle, for example, when the vehicle changes lanes laterally, the following area is still located in front of the vehicle in the driving direction.
Whether the environmental target is within the follow-up area may be determined based on first coordinates (X1, Y1) of the first feature point of the front end of the vehicle in the traveling coordinate system, and coordinates of corner points of each of the corner points of the environmental target in the traveling coordinate system. It may be determined that the environmental target is in the follower region if the ordinate of each corner point of the environmental target is greater than the difference between Y1 and a predetermined value a (Y1-a) and less than the sum between Y1 and the predetermined value (Y1+ a) and the abscissa of each corner point is greater than X1 in the vehicle coordinates, wherein the predetermined value a may be half the width of the follower region.
The following area provides redundancy for determining the area where the environmental target in front of the vehicle runs, and further ensures the accuracy of determining the area where the environmental target in front of the vehicle is located. And the establishment of the follow-up area reduces the dependence of a decision-making system on the lane changing state, and under the condition that the lane changing information is wrong, the provision of the follow-up area can ensure the accuracy of an environment target area in front of the running of the vehicle, and ensure the stability and the safety of the system in the lane changing process.
Fig. 8 shows a block diagram of an apparatus for determining a region in which an environmental target of a vehicle is located according to an embodiment of the present invention. As shown in fig. 8, an apparatus for determining a region where an environmental target of a vehicle is located according to an embodiment of the present invention may include a memory 810 and a processor 820, where the memory 810 may store instructions that enable the processor 820 to execute a method for determining a region where an environmental target of a vehicle is located according to any embodiment of the present invention.
The Processor 820 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc.
The memory 810 may be used to store the computer program instructions and the processor may implement the various functions of the data fusion device for vehicle sensors by executing or executing the computer program instructions stored in the memory and invoking the data stored in the memory. The memory 710 may include high-speed random access memory and may also include non-volatile memory such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
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, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.

Claims (10)

1. A method for determining a region in which an environmental target of a vehicle is located, the method comprising:
acquiring first coordinates (X1, Y1) of a first characteristic point at the front end of the vehicle in a driving coordinate system;
acquiring second coordinates (X2, Y2) of a second feature point at the rear end of the vehicle in the travelling coordinate system;
acquiring corner point coordinates of each corner point of the environment target under the travelling crane coordinate system; and
determining an area in which the environmental target is located according to the first coordinates (X1, Y1), the second coordinates (X2, Y2) and the corner point coordinates of each corner point of the environmental target in the vehicle coordinate system,
wherein the travelling coordinate system XFOFYFUsing the side line of the road where the vehicle is located as a reference line and using the coordinate origin OFA point on the reference line having the shortest distance to the fourth characteristic point of the vehicle, and a horizontal axis XFParallel to the direction of the road-guiding line, the longitudinal axis YFFollowing either the left or right hand rule with the direction of the road guide line.
2. The method of claim 1, wherein the obtaining of corner point coordinates of each corner point of the environmental target under the vehicle coordinate system comprises:
acquiring the coordinates of the rear end central point of the environment target under a vehicle coordinate system, the included angle between the central line of the environment target and the transverse axis or the longitudinal axis of the vehicle, the length of the environment target and the width of the environment target;
respectively calculating the coordinates of each corner point of the environment target under a vehicle coordinate system by using the coordinates of the rear end central point, the included angle, the length of the environment target and the width of the environment target; and
and determining the coordinates of each corner point of the environment target under the driving coordinate system according to the coordinates of each corner point of the environment target under the vehicle coordinate system.
3. A method according to claim 1 or 2, wherein the fourth characteristic point is a centre point of the vehicle, the method comprising determining the coordinates of any characteristic point in the driving coordinate system according to the following steps:
determining the shortest distance from the reference line to any one feature point and a point corresponding to the shortest distance on the reference line;
taking the size of the shortest distance as the size of the ordinate of any characteristic point in the travelling coordinate system;
determining the point with the shortest distance to any one characteristic point on the reference line and the coordinate origin OFLongitudinal arc length in between;
taking the size of the longitudinal arc length as the size of the abscissa of any characteristic point in the travelling coordinate system,
wherein according to any one feature point, the coordinate origin O is relative to the driving coordinate systemFDetermining the positive and negative of the ordinate and the abscissa of any feature point, wherein the any feature point is the first feature point, the second feature point or the corner point of the environmental target.
4. The method according to claim 3, wherein the reference line is divided into a plurality of points each having the same predetermined distance therebetween, wherein the shortest distance, the point on the reference line corresponding to the shortest distance, and the longitudinal arc length are determined in a vehicle coordinate system of the vehicle.
5. The method according to any one of claims 1 to 4, characterized in that, in the driving coordinate system, the peripheral region of the vehicle is divided into eight fixed regions, respectively a vehicle left front region, a vehicle right front region, a vehicle left side region, a vehicle right side region, a vehicle left rear region, a vehicle right rear region and a vehicle right rear region;
said determining an area in which the environmental target is located from the first coordinates (X1, Y1), the second coordinates (X2, Y2) and the corner point coordinates of each corner point of the environmental target in the rover coordinate system comprises:
under the driving coordinate system, respectively determining each of the following: an ordinate YL1 of a left lane line adjacent to the vehicle, an ordinate YL2 of a lane line adjacent to the left lane line to the left of the left lane line, an ordinate YR1 of a right lane line adjacent to the vehicle, and an ordinate YR2 of a lane line adjacent to the right lane line to the right of the right lane line;
determining that the area where each of the environmental points of the environmental target is located is a vehicle front left area if the ordinate of each of the angular points of the environmental target is greater than YL2 and less than YL1 and the abscissa of each of the angular points is greater than X1 in the driving coordinates;
if the ordinate of each corner point of the environment target is larger than YL1 and smaller than YR1 and the abscissa of each corner point is larger than X1 under the driving coordinates, determining that the area where the environment target is located is an area right in front of the vehicle;
if the ordinate of each corner point of the environment target is greater than YR1 and less than YR2 and the abscissa of each corner point is greater than X1 under the driving coordinates, determining that the area where the environment target is located is a vehicle right front area;
if the ordinate of each corner point of the environment target is larger than YR1 and smaller than YR2 and the abscissa of each corner point is larger than X2 and smaller than X1 under the driving coordinates, determining that the area where the environment target is located is the area at the right side of the vehicle;
if the ordinate of each corner point of the environment target is larger than YR1 and smaller than YR2 and the abscissa of each corner point is smaller than X2 under the driving coordinates, determining that the area where the environment target is located is a vehicle right rear area;
if the ordinate of each corner point of the environment target is larger than YL1 and smaller than YR1 and the abscissa of each corner point is smaller than X2 under the driving coordinates, determining that the area where the environment target is located is an area right behind the vehicle;
determining that the region where the environmental target is located is a vehicle left rear region if the ordinate of each corner point of the environmental target is greater than YL2 and less than YL1 and the abscissa of each corner point is less than X2 in the driving coordinates; and
determining that the region where the environmental target is located is a vehicle left side region if the ordinate of each corner point of the environmental target is greater than YL2 and less than YL1 and the abscissa of each corner point is greater than X2 and less than X1 in the driving coordinates.
6. The method according to claim 5, wherein said determining the area in which the environmental target is located according to the first coordinates (X1, Y1), the second coordinates (X2, Y2) and the corner point coordinates of each corner point of the environmental target under the vehicle coordinate system further comprises:
copying the environmental target if at least a first corner of the environmental target is in a first fixed area of the eight fixed areas and at least a second corner of the environmental target is in a second fixed area of the eight fixed areas; and
determining the environmental target as being in one of the first fixed area or the second fixed area, determining the environmental target that is replicated as being in the other of the first fixed area or the second fixed area.
7. The method according to claim 5, characterized in that the length of the area in front of the vehicle among the eight fixed areas ranges from 150m to 250m and/or the length of the area behind the vehicle among the eight fixed areas ranges from 30m to 130 m.
8. The method according to any of the claims 1 to 7, wherein said determining an area in which said environmental target is located according to said first coordinates (X1, Y1), said second coordinates (X2, Y2) and corner point coordinates of each corner point of said environmental target under said driving coordinate system further comprises:
and if the ordinate of each corner point of the environment target is larger than the difference value between Y1 and a preset value a and smaller than the sum of Y1 and the preset value a under the driving coordinates, and the abscissa of each corner point is larger than X1, determining that the environment target is in the follow-up area, wherein the preset value a is half of the width of the follow-up area.
9. A method according to claim 8, characterised in that the length of the follower zone is in the range 150m to 250m and/or the width of the follower zone is in the range 2.2m to 3.4 m.
10. An apparatus for determining a region in which an environmental target of a vehicle is located, the apparatus comprising a memory and a processor, the memory having stored therein instructions for enabling the processor to perform a method according to any one of claims 1 to 9 for determining a region in which an environmental target of a vehicle is located.
CN201811153630.7A 2018-09-30 2018-09-30 Method and device for determining area of vehicle where environmental target is located Active CN110962856B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811153630.7A CN110962856B (en) 2018-09-30 2018-09-30 Method and device for determining area of vehicle where environmental target is located

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811153630.7A CN110962856B (en) 2018-09-30 2018-09-30 Method and device for determining area of vehicle where environmental target is located

Publications (2)

Publication Number Publication Date
CN110962856A true CN110962856A (en) 2020-04-07
CN110962856B CN110962856B (en) 2021-07-27

Family

ID=70028227

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811153630.7A Active CN110962856B (en) 2018-09-30 2018-09-30 Method and device for determining area of vehicle where environmental target is located

Country Status (1)

Country Link
CN (1) CN110962856B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110378177A (en) * 2018-09-30 2019-10-25 长城汽车股份有限公司 Method and device for extraction environment clarification of objective point

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2986439B2 (en) * 1998-01-12 1999-12-06 松下電器産業株式会社 Vehicle image processing device
DE10327695A1 (en) * 2003-06-20 2005-01-05 Robert Bosch Gmbh Vehicle state determination method in which yaw and side slip angles are determined from the vehicle's angle relative to lane markings or road edge and its distance to the markings or edge
CN104192144A (en) * 2014-07-25 2014-12-10 杭州电子科技大学 Automobile active anti-collision curve false-alarm eliminating method
CN106873600A (en) * 2017-03-31 2017-06-20 深圳市靖洲科技有限公司 It is a kind of towards the local obstacle-avoiding route planning method without person bicycle
CN107672589A (en) * 2017-09-26 2018-02-09 苏州观瑞汽车技术有限公司 A kind of track of vehicle real-time predicting method and device based on GPR Detection Data
CN107792079A (en) * 2016-08-31 2018-03-13 福特全球技术公司 The autonomous vehicle predicted using path
CN107839683A (en) * 2017-11-07 2018-03-27 长春工业大学 A kind of automobile emergency collision avoidance control method for considering moving obstacle
CN107867290A (en) * 2017-11-07 2018-04-03 长春工业大学 A kind of automobile emergency collision avoidance layer-stepping control method for considering moving obstacle
CN108573272A (en) * 2017-12-15 2018-09-25 蔚来汽车有限公司 Track approximating method
CN110962857B (en) * 2018-09-30 2021-03-23 长城汽车股份有限公司 Method and device for determining area of vehicle where environmental target is located

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2986439B2 (en) * 1998-01-12 1999-12-06 松下電器産業株式会社 Vehicle image processing device
DE10327695A1 (en) * 2003-06-20 2005-01-05 Robert Bosch Gmbh Vehicle state determination method in which yaw and side slip angles are determined from the vehicle's angle relative to lane markings or road edge and its distance to the markings or edge
CN104192144A (en) * 2014-07-25 2014-12-10 杭州电子科技大学 Automobile active anti-collision curve false-alarm eliminating method
CN107792079A (en) * 2016-08-31 2018-03-13 福特全球技术公司 The autonomous vehicle predicted using path
CN106873600A (en) * 2017-03-31 2017-06-20 深圳市靖洲科技有限公司 It is a kind of towards the local obstacle-avoiding route planning method without person bicycle
CN107672589A (en) * 2017-09-26 2018-02-09 苏州观瑞汽车技术有限公司 A kind of track of vehicle real-time predicting method and device based on GPR Detection Data
CN107839683A (en) * 2017-11-07 2018-03-27 长春工业大学 A kind of automobile emergency collision avoidance control method for considering moving obstacle
CN107867290A (en) * 2017-11-07 2018-04-03 长春工业大学 A kind of automobile emergency collision avoidance layer-stepping control method for considering moving obstacle
CN108573272A (en) * 2017-12-15 2018-09-25 蔚来汽车有限公司 Track approximating method
CN110962857B (en) * 2018-09-30 2021-03-23 长城汽车股份有限公司 Method and device for determining area of vehicle where environmental target is located

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110378177A (en) * 2018-09-30 2019-10-25 长城汽车股份有限公司 Method and device for extraction environment clarification of objective point

Also Published As

Publication number Publication date
CN110962856B (en) 2021-07-27

Similar Documents

Publication Publication Date Title
US12007243B2 (en) Traffic lane line fitting method and system
KR102395283B1 (en) Apparatus for controlling automatic driving, system having the same and method thereof
CN110687539B (en) Parking space detection method, device, medium and equipment
CN110378177B (en) Method and device for extracting feature points of environmental target
US10325163B2 (en) Vehicle vision
JP6303810B2 (en) Vehicle position estimation apparatus and vehicle position estimation method
US11789141B2 (en) Omnidirectional sensor fusion system and method and vehicle including the same
CN110361020B (en) Method and system for determining lane line coordinates
US10302754B1 (en) Object recognition device
US11449058B2 (en) Traveling track determination processing and automated drive device
EP3859273A1 (en) Method for constructing driving coordinate system, and application thereof
JP2016206776A (en) Road surface detector
CN110962856B (en) Method and device for determining area of vehicle where environmental target is located
CN110962857B (en) Method and device for determining area of vehicle where environmental target is located
CN111650934A (en) Method for planning local path of automatic driving system
CN110967699B (en) Method and device for determining area of vehicle where environmental target is located
CN110379155B (en) Method and system for determining coordinates of road target
CN110361022B (en) Method and system for constructing travelling coordinate system
JP2023082748A (en) Automatic drive assistance system
CN114136328B (en) Sensor information fusion method and device
JP2023151308A (en) Preceding vehicle determination method and preceding vehicle determination device
CN117091615A (en) Path planning method, path planning device, vehicle and storage medium
CN117949004A (en) Navigation method and device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right

Effective date of registration: 20210518

Address after: 100055 1802, 18 / F, building 3, yard 9, Guang'an Road, Fengtai District, Beijing

Applicant after: Momo Zhixing Technology Co.,Ltd.

Address before: 071000 No. 2266 Chaoyang South Street, Hebei, Baoding

Applicant before: Great Wall Motor Co.,Ltd.

TA01 Transfer of patent application right
GR01 Patent grant
GR01 Patent grant