CN112130563B - Multi-target screening auxiliary driving control method - Google Patents
Multi-target screening auxiliary driving control method Download PDFInfo
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- CN112130563B CN112130563B CN202010946191.6A CN202010946191A CN112130563B CN 112130563 B CN112130563 B CN 112130563B CN 202010946191 A CN202010946191 A CN 202010946191A CN 112130563 B CN112130563 B CN 112130563B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000012216 screening Methods 0.000 title claims abstract description 18
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 231100001261 hazardous Toxicity 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
The invention discloses a multi-target screening auxiliary driving control method, which comprises the following steps: acquiring data information in front of the main vehicle; generating a curve equation of the central track of the main vehicle; acquiring the closest distance DTC between the target object and the central trajectory of the host vehicle by combining the front data information of the host vehicle; judging whether the target is in a dangerous area set by the main vehicle, and if so, judging as a dangerous target; the longitudinal distance between the dangerous target and the host vehicle is acquired and output. Based on multi-sensor information, the invention provides a new control method for obtaining the recommended target, and improves the accuracy and reliability of target screening in the daytime and at night.
Description
Technical Field
The invention belongs to the technical field of target screening of multi-automobile automatic driving, relates to an auxiliary driving method for an intelligent driving automobile, and particularly relates to a multi-target screening auxiliary driving control method and system.
Background
With the rapid development of modern society economy, the material demand of people is continuously improved, and intelligent vehicles are increasingly concerned by enterprises as tools for freeing people from complicated manual operation. The intelligent vehicle environment perception layer is used as an important link of vehicle and environment interaction, and the environment and the state of the vehicle are identified through a sensor technology, so that reliable data are provided for the decision planning layer. The single sensor carries out perception detection, and the problem that the precision is not high, poor stability always appears.
The invention content is as follows:
in order to overcome the defects of the background art, the invention provides the multi-target screening auxiliary driving control method, which improves the accuracy and reliability of target screening in the daytime and at night.
In order to solve the technical problems, the invention adopts the technical scheme that:
a multi-target screening assisted driving control method includes:
step 1, acquiring data information in front of a main vehicle;
step 2, generating a curve equation of the central track of the main vehicle;
step 3, acquiring the closest distance DTC between the target object and the central trajectory of the main vehicle by combining the front data information of the main vehicle;
step 4, judging whether the target object is in a dangerous area set by the main vehicle, and if so, judging the target object as a dangerous target;
and 5, acquiring and outputting the longitudinal distance between the dangerous target and the host vehicle.
Preferably, step 1 acquires data information in front of the main vehicle through multiple sensors, wherein the multiple sensors comprise a millimeter wave radar, a camera and an infrared sensor.
Preferably, the vehicle front data information includes the pushed target ID, the pushed target longitudinal distance, the pushed target relative speed, the pushed target left corner angle, the pushed target right corner angle and lane line information of the left, middle and right three-lane vehicle in front of the main vehicle.
Preferably, the curve equation of the central locus of the main vehicle
Wherein, CiI is 1,2 and 3 are central track curves of the left lane, the middle lane and the right lane of the main vehicle respectively;
i is 1,2 and 3 are lane line track curve equations on the left sides of the left, middle and right three lanes respectively;
and i is 1,2 and 3 are lane line track curve equations on the right of the left, middle and right three lanes respectively.
Preferably, the closest distance of the target from the center trajectory line of the host vehicle
DTC＝|L sinβ-f(L cosβ)|·cos(arctan[f(L cosβ)])
Wherein, the shortest distance between the target vehicle and the main vehicle is L, the deflection angle is beta, the equation of the central line of the main vehicle is f (), and the equation of the central line of the main vehicle is f' ().
The invention has the beneficial effects that: the sensors detect specific position information and motion states of a vehicle (or pedestrian) emitting multiple targets in front of the main vehicle. And defining a dangerous target area with a certain boundary range according to the multi-target parameter values and the actual lane condition, wherein the boundary of the dangerous area can be adjusted according to the position and the motion information of the target object, and each target object corresponds to one dangerous target area. Based on multi-sensor information, the invention provides a new control method for obtaining the recommended target, and improves the accuracy and reliability of target screening in the daytime and at night.
Drawings
FIG. 1 is a flow chart of a method of an embodiment of the present invention;
FIG. 2 is a schematic illustration of a target area of risk according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the closest distance of a target object to the center trajectory of a host vehicle in accordance with an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings and examples.
The invention relates to a method for screening forward-emitting multiple targets based on radar, a camera, infrared rays and the like in the field of automatic driving, and realizes screening and tracking of forward-emitting multiple vehicles. As shown in fig. 1, the method for screening multiple targets provided in this embodiment includes the following steps:
data information of the front (left, middle and right three-lane vehicles in front of the host vehicle) is acquired by using a sensor, including but not limited to a millimeter wave radar, a camera and infrared, wherein the data information includes a pushed target object ID (ID is a number calibrated by internal calculation of the sensor), a longitudinal distance of the pushed target object (longitudinal distance of the target object to the host vehicle), a relative speed of the pushed target object (speed of the target object relative to the host vehicle), a left corner deviation angle of the pushed target object, a right corner deviation angle of the pushed target object, lane line information (quality and curvature of lane lines) and the like.
Under a camera coordinate system, when a target object is positioned on the left side of the host vehicle, considering a Right corner Angle Right _ Angle of the target object as a deviation Angle value of a point of the target object closest to the host vehicle; if the target object is positioned on the right side of the host vehicle, the Left corner Angle Left _ Angle of the target object is considered as the deviation Angle value of the point of the target object closest to the host vehicle.
When no lane line exists or the quality of the lane line is poor, the parameter values are all 0; when the quality of the lane line on one side is good, taking the lane line parameter on the side as the curve equation parameter of the central track of the main vehicle, and setting the parameter value of the constant item as 0; when the lane lines on the two sides are good in quality recently, the central track curve equation of the main vehicle can be approximately calculated by adopting the following averaging method under the camera coordinate system:
C0＝0
and calculating a central track curve equation C of the main vehicle under the sensor coordinate system.
In the equation: ci, i is 1,2,3 represents the central track curve of the left, middle and right three lanes of the main vehicle;
i is 1,2 and 3, and represents a lane line trajectory curve equation on the left of the left, middle and right three lanes;
i is 1,2 and 3, and represents a lane line trajectory curve equation on the right of the left, middle and right three lanes;
calculating the closest distance DTC between the target object and the central track line of the main vehicle by combining the state information of the front vehicle detected by the sensor;
the closest distance value of the target from the center trajectory of the host vehicle is shown in FIG. 4. The point S is the closest point of the target object to the main vehicle, and the included angle is beta; the point A is the intersection point of the horizontal line and the central trajectory line of the main vehicle from the point S; the point B is a foot making a perpendicular line from the point S to the central trajectory line of the main vehicle. The angle α, which is the angle between the tangent to point a and the longitudinal axis, can be used to approximate the angle between the two segments SA and SB. The distance represented by the line segment SB in the figure is the closest distance of the target object to the centerline path of the host vehicle that needs to be calculated.
Assuming that the equation of the centerline of the host vehicle is f (x), the closest distance of the target vehicle to the host vehicle is L, and the deviation angle is β, the calculation method of the distance DTC of the target object from the center trajectory line of the host vehicle can be approximately expressed by the following formula.
DTC＝|L sinβ-f(L cosβ)||·cos(afctan[f'(L cosβ)])
And (3) determining a dangerous target area (the decision method is shown as a triangular area and a quadrangular area in figure 2) by combining the actual lane line information, the vertical distance between the multi-target object and the central track of the main vehicle and the lateral relative movement speed, regarding the target as a dangerous target as long as the target is in the corresponding dangerous target area, and outputting the longitudinal distance between all dangerous targets and the main vehicle downwards (a target screening module).
The structure of the selected dangerous target area is shown in the area of fig. 2 according to the actual road conditions and the sensor characteristics. The area can be regarded as formed by splicing a triangular area ABE and a quadrilateral area BCDE and then symmetrically combining the triangular area ABE and the quadrilateral area BCDE left and right.
The boundary parameters of the danger zone mainly include the following five parameters:
l1: longitudinal distance values of the boundary of the dangerous target area closest to the host vehicle;
l2: a longitudinal distance value from the widest part of the dangerous target area to the host vehicle;
l3: the longitudinal distance of the boundary of the hazard target area furthest from the host vehicle;
d1: the lateral width at the location of the hazardous target area L1;
d2: the lateral width at the location of the hazardous target area L2.
Given the appropriate initial values for the above parameters, the dangerous objects are available and the longitudinal distances from the host vehicle for all dangerous objects SA _ Object are output. And comparing the longitudinal relative distance with the dangerous Object CIPV _ Object recommended by the sensor to select a final tracking Object Dobj.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (3)
1. A multi-target screening assisted driving control method is characterized by comprising the following steps:
step 1, acquiring data information in front of a main vehicle;
step 2, generating a curve equation of the central track of the main vehicle;
step 3, acquiring the closest distance DTC between the target object and the central trajectory of the main vehicle by combining the front data information of the main vehicle; determining a dangerous target area by combining actual lane line information, vertical distances between the multiple targets and the central track of the main vehicle and lateral relative movement speeds, regarding the target as a dangerous target as long as the target is in the dangerous target area corresponding to each target, and outputting longitudinal distances between all dangerous targets and the main vehicle to a target screening module;
step 4, judging whether the target object is in a dangerous area set by the main vehicle, and if so, judging the target object as a dangerous target;
step 5, acquiring and outputting the longitudinal distance between the dangerous target and the main vehicle; the method comprises the following steps that 1, data information in front of the main vehicle is obtained through multiple sensors, wherein the multiple sensors comprise a millimeter wave radar, a camera and an infrared sensor;
curve equation of central track of the main vehicle
Wherein, CiI is 1,2 and 3 are respectively the central track curves of the left, the middle and the right lanes of the main vehicle
The lines, i is 1,2,3 are lane line track curves on the left of the left, middle and right three lanesA line equation;
respectively are lane line track curve equations on the right of the left, middle and right three lanes.
2. The multi-target screening assisted driving control method according to claim 1, characterized in that: the vehicle front data information comprises the ID of a selected target object, the longitudinal distance of the selected target object, the relative speed of the selected target object, the left corner deviation angle of the selected target object, the right corner deviation angle of the selected target object and lane line information of a vehicle in the left, middle and right three lanes in front of the main vehicle.
3. The multi-target screening assisted driving control method according to claim 1, characterized in that: the closest distance of the target object to the central trajectory line of the main vehicle
DTC＝|L sinβ-f(L cosβ)|·cos(arctan[f′(L cosβ)])
Wherein, the shortest distance between the target vehicle and the main vehicle is L, the deflection angle is beta, the equation of the central line of the main vehicle is f (), and the equation of the central line of the main vehicle is f' ().
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| WO2013031095A1 (en) * | 2011-08-31 | 2013-03-07 | 日産自動車株式会社 | Vehicle driving assistance device |
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| CN105730443B (en) * | 2016-04-08 | 2019-01-01 | 奇瑞汽车股份有限公司 | Vehicle lane change control method and system |
| CN106708040B (en) * | 2016-12-09 | 2019-10-08 | 重庆长安汽车股份有限公司 | Sensor module, automated driving system and the method for automated driving system |
| CN107161146B (en) * | 2017-04-05 | 2019-09-24 | 吉利汽车研究院（宁波）有限公司 | A kind of highway auxiliary system |
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