CN112146667B - Method and device for generating vehicle transition track - Google Patents
Method and device for generating vehicle transition track Download PDFInfo
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Abstract
The embodiment of the invention provides a method and a device for generating a vehicle transition track, which can realize automatic driving modes such as lane changing, lane changing following, lane keeping and the like by acquiring position information of a vehicle, determining a starting point matched with the position information from a starting reference line and a stopping reference line of the vehicle, acquiring the starting information of the starting point and the stopping information of the stopping reference line, generating the transition track from the starting point to the stopping reference line according to the starting information and the stopping information, and enabling the vehicle to automatically run along the transition track.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a method and an apparatus for generating a vehicle transition trajectory.
Background
As automated driving technology has developed, the automated driving functionality of vehicles has grown more sophisticated, and vehicles operating in an automated driving mode (e.g., unmanned) may free occupants, and particularly drivers, from some driving-related responsibilities. When operating in an autonomous driving mode, the vehicle may be navigated to various locations using onboard sensors, allowing the vehicle to travel with minimal human interaction or in some cases without any passengers. The transition path planning of the automatic driving is mainly calculated through an algorithm to obtain a transition track of the vehicle. However, the transition trajectory obtained by the current algorithm cannot ensure that the solved path is globally optimal on one hand, and on the other hand, although globally optimal, a large amount of calculation is required, the calculation is time-consuming and inefficient, and therefore the transition trajectory cannot be applied to an unmanned controller on a lower layer, and the vehicle cannot be guaranteed not to laterally move.
Disclosure of Invention
The embodiment of the invention provides a method for generating a vehicle transition track, which aims to solve the problems that in the prior art, the calculation efficiency of the transition track in automatic driving of a vehicle is low, and the vehicle is easy to laterally move.
Correspondingly, the embodiment of the invention also provides a device for generating the vehicle transition track, which is used for ensuring the realization and the application of the method.
In order to solve the above problem, an embodiment of the present invention discloses a method for generating a vehicle transition trajectory, including:
acquiring position information of a vehicle, and a starting reference line and a stopping reference line aiming at the vehicle;
determining a starting point matched with the position information from the starting reference line;
acquiring starting information aiming at the starting point and ending information aiming at the ending reference line;
and generating a transition track from the starting point to the termination reference line according to the starting information and the termination information, so that the vehicle automatically runs along the transition track.
Optionally, the starting information includes a first derivative and a second derivative that match the starting point, the ending information includes a target derivative that matches the ending reference line, and the generating a transition track from the starting point to the ending reference line according to the starting information and the ending information, so that the vehicle automatically travels along the transition track includes:
obtaining a trajectory processing model for the vehicle;
and inputting the first derivative, the second derivative and the target derivative into the track processing model to generate a target transition track aiming at the starting point, so that the vehicle automatically runs along the target transition track.
Optionally, before generating a transition track from the starting point to the ending reference line according to the starting information and the ending information and automatically driving the vehicle along the transition track, the method further includes:
acquiring the starting point coordinate and the course information of the starting point;
establishing a reference coordinate system matched with the starting point by adopting the starting point coordinate and the course information;
and determining a first derivative and a second derivative of the starting point coordinate in the reference coordinate system.
Optionally, before generating a transition track from the starting point to the ending reference line according to the starting information and the ending information and automatically driving the vehicle along the transition track, the method further includes:
selecting a plurality of end points matched with the termination information from the termination reference line, and acquiring end point coordinates of the end points;
determining a target derivative of the end point coordinate in the reference coordinate system.
Optionally, the acquiring the position information of the vehicle and the starting reference line and the ending reference line for the vehicle includes:
acquiring position information of a vehicle in a world coordinate system, and aiming at a starting reference line and a stopping reference line of the vehicle, wherein the world coordinate system is a coordinate system corresponding to a preset map in the vehicle;
inputting the first derivative, the second derivative and the target derivative into the trajectory processing model, generating a target transition trajectory for the starting point, and enabling the vehicle to automatically run along the target transition trajectory, including:
inputting the first derivative, the second derivative and the target derivative into the track processing model to generate an initial transition track from the starting point to the ending reference line in the reference coordinate system;
and converting the initial transition track in the reference coordinate system into a target transition track matched with the world coordinate system, so that the vehicle can automatically drive along the target transition track.
Optionally, the initial transition trajectory includes a plurality of path points, and the converting the initial transition trajectory in the reference coordinate system into a target transition trajectory matched with the world coordinate system to enable the vehicle to automatically drive along the target transition trajectory includes:
acquiring coordinate conversion information aiming at the reference coordinate system and the world coordinate system and path coordinates of the path points in the reference coordinate system;
converting the path coordinates of the initial transition track into target path coordinates corresponding to the world coordinate system according to the coordinate conversion information;
and determining a target transition track corresponding to the target path coordinates, and enabling the vehicle to automatically drive along the target transition track.
Optionally, the generating a transition track from the starting point to the ending reference line according to the starting information and the ending information, so that the vehicle automatically travels along the transition track, includes:
acquiring a plurality of end points matched with the termination information from the termination reference line;
acquiring a starting point coordinate of the starting point and an end point coordinate of the end point;
determining a coordinate parameter corresponding to the end point coordinate;
generating a plurality of first transition tracks from the starting point to the end point by adopting the coordinates of the starting point, the coordinate parameters and the starting information;
acquiring path screening information aiming at the first transition track;
and selecting a second transition track successfully matched with the path screening information from the plurality of first transition tracks, so that the vehicle automatically runs along the second transition track.
The embodiment of the invention also discloses a device for generating the transition track of the vehicle, which comprises the following components:
the data acquisition module is used for acquiring the position information of a vehicle and a starting reference line and a stopping reference line aiming at the vehicle;
a starting point determining module, configured to determine a starting point matching the position information from the starting reference line;
a path information obtaining module, configured to obtain start information for the start point and end information for the end reference line;
and the transition track generation module is used for generating a transition track from the starting point to the ending reference line according to the starting information and the ending information so as to enable the vehicle to automatically run along the transition track.
Optionally, the start information includes a first derivative and a second derivative matched with the start point, the end information includes a target derivative matched with the end reference line, and the transition trajectory generation module includes:
an information acquisition submodule for acquiring a trajectory processing model for the vehicle;
and the transition track generation submodule is used for inputting the first derivative, the second derivative and the target derivative into the track processing model, generating a target transition track aiming at the starting point and enabling the vehicle to automatically run along the target transition track.
Optionally, the apparatus further comprises:
the starting point information acquisition module is used for acquiring the starting point coordinate and the course information of the starting point;
the coordinate system establishing module is used for establishing a reference coordinate system matched with the starting point by adopting the starting point coordinate and the course information;
and the first parameter determination module is used for determining a first derivative and a second derivative of the starting point coordinate in the reference coordinate system.
Optionally, the apparatus further comprises:
the terminal coordinate acquisition module is used for selecting a plurality of terminals matched with the termination information from the termination reference line and acquiring terminal coordinates of the terminals;
a second parameter determination module for determining a target derivative of the end point coordinate in the reference coordinate system.
Optionally, the data obtaining module is specifically configured to:
acquiring position information of a vehicle in a world coordinate system, and aiming at a starting reference line and an ending reference line of the vehicle, wherein the world coordinate system is a coordinate system corresponding to a preset map in the vehicle;
the transition track generation submodule comprises:
an initial path generating unit, configured to input the first derivative, the second derivative, and a target derivative into the trajectory processing model, and generate an initial transition trajectory from the starting point to the ending reference line in the reference coordinate system;
and the target path determining unit is used for converting the initial transition track in the reference coordinate system into a target transition track matched with the world coordinate system, so that the vehicle can automatically drive along the target transition track.
Optionally, the initial transition trajectory includes a plurality of path points, and the target path determining unit is specifically configured to:
acquiring coordinate conversion information aiming at the reference coordinate system and the world coordinate system and path coordinates of the path points in the reference coordinate system;
converting the path coordinate of the initial transition track into a target path coordinate corresponding to the world coordinate system according to the coordinate conversion information;
and determining a target transition track corresponding to the target path coordinates, and enabling the vehicle to automatically drive along the target transition track.
Optionally, the transition trajectory generating module includes:
the terminal point determining submodule is used for acquiring a plurality of terminal points matched with the termination information from the termination reference line;
the coordinate acquisition module is used for acquiring a starting point coordinate of the starting point and an end point coordinate of the end point;
the coordinate parameter determining module is used for determining a coordinate parameter corresponding to the end point coordinate;
the transition track generation submodule is used for generating a plurality of first transition tracks from the starting point to the end point by adopting the starting point coordinates, the coordinate parameters and the starting information;
a path screening information obtaining sub-module, configured to obtain path screening information for the first transition trajectory;
and the path screening submodule is used for selecting a second transition track which is successfully matched with the path screening information from the plurality of first transition tracks so that the vehicle automatically runs along the second transition track.
The embodiment of the invention also discloses a vehicle, which comprises:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform one or more methods as described above.
Embodiments of the invention also disclose one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause the processors to perform one or more of the methods described above.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, the position information of the vehicle, the starting point which is matched with the position information and the starting reference line and the ending reference line aiming at the vehicle are obtained, then the starting point which is matched with the position information is determined from the starting reference line, the starting information aiming at the starting point and the ending information aiming at the ending reference line are obtained, then the transition track from the starting point to the ending reference line is generated according to the starting information and the ending information, the vehicle automatically runs along the transition track, and the automatic driving modes such as lane changing, lane changing following and lane keeping can be realized by presetting the starting information aiming at the starting point and the ending information aiming at the ending reference line, and then the transition track is obtained according to the starting information and the ending information and the transition track is run along the transition track.
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FIG. 1 is a flowchart illustrating steps of an embodiment of a method for generating a vehicle transition trajectory according to the present invention;
FIG. 2 is a schematic illustration of a reference line in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a reference coordinate system in an embodiment of the present invention;
fig. 4 is a block diagram of an embodiment of the vehicle transition trajectory generation device according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
When the vehicle runs in the automatic driving model, the vehicle is required to obtain a transition track of the vehicle through a certain algorithm so as to run according to the obtained transition track. The unmanned transition track is mainly used for transition connection between two different paths, on one hand, the calculated transition track is required to enable the transition path to be relatively optimal in the whole situation, on the other hand, the calculation efficiency is required to be high, the unmanned transition track can be used in an unmanned controller of a subbase layer, and the unmanned transition track enables a vehicle to be in line with non-integrity kinematic constraint of the vehicle when the vehicle runs according to the transition track.
Therefore, one of the core invention points of the embodiment of the present invention is to select two reference lines that need to be moved, divide the two reference lines into a starting reference line and an ending reference line, determine a starting point and an ending point in the reference lines, set planning conditions for the starting point and the ending point, process coordinates corresponding to the starting point and the ending point to obtain coordinate parameters of the starting point and the ending point in a reference coordinate system, thereby converting the incomplete constraint of the vehicle into constraints on coordinates x and y, and establishing a boundary value problem, obtain a transition trajectory of the vehicle in the reference coordinate system by solving, then perform the conversion of the reference system, convert the transition trajectory into a transition trajectory adapted to a world coordinate system, and enable the vehicle to automatically travel along the transition trajectory, thereby not only reducing the complexity of calculation, improving the calculation efficiency, but also being capable of adapting to different automatic driving scenarios, and having wide applicability.
Specifically, referring to fig. 1, a flowchart illustrating steps of an embodiment of a method for generating a vehicle transition trajectory according to the present invention is shown, which may specifically include the following steps:
as an example, with the development of the automatic driving technology, the vehicle may be provided with an automatic driving function, and when the automatic driving function is turned on, the driver can be relieved from some driving-related responsibilities, and even the driving of the vehicle is completely controlled by the on-board system, thereby allowing the vehicle to be driven with a minimum of human-machine interaction or without any passenger part, such as unmanned transportation or the like. For autonomous driving of the vehicle, it may include the vehicle keeping a current lane, changing lanes with the vehicle, and so on.
In the embodiment of the invention, when the vehicle is in the automatic driving state, the position information of the vehicle, and the starting reference line and the ending reference line for the vehicle can be acquired. The location information may be a current location of the vehicle obtained from a preset map of the vehicle, and the location may be a longitude and a latitude in a coordinate system (i.e., a world coordinate system) corresponding to the map.
Referring to fig. 2, a schematic diagram of a reference line in the embodiment of the present invention is shown, where the reference line may be a lane line of a vehicle driving lane, and a start lane line and an end lane line may be determined according to a lane changing direction of a vehicle, where the start lane line a is a lane line where a start point is located in an automatic driving process of the vehicle, and the end lane line B is a lane line where an end point is located in the automatic driving process. For example, the start lane line and the end lane line may be lane edge lines, lane middle lines, and the like in a current driving lane of the vehicle, and after the start lane line and the end lane line are selected, a start point and an end point may be determined, and a transition track C is calculated, so that the vehicle can automatically drive along the transition track, and lane change and the like are realized.
It should be noted that, in the embodiment of the present invention, the vehicle-mounted system may acquire a lane line allowing lane changing if the vehicle needs to change lanes under the condition that the traffic rule is satisfied, so as to ensure the driving reasonableness of the vehicle. Meanwhile, for the transition track, the vehicle may not strictly move from the starting point to the end point, for example, a determination condition may be set, and when it is determined that the vehicle has changed from the starting lane to the target lane, a command for keeping the current lane may be issued, so as to avoid the vehicle accident and the like caused by the vehicle continuously driving too mechanically to the end point of the ending lane.
in a specific implementation, by acquiring the current position information of the vehicle and the starting reference line, a starting point matched with the position information can be determined from the starting reference line. For example, a point on the start reference line that is the shortest distance perpendicular to the vehicle traveling direction may be used as the starting point in the start reference line.
in a specific implementation, the start information may be a start condition set for the vehicle transition trajectory, the start condition may be a condition for planning coordinates of the start point, the end information may be an end condition set for the vehicle transition trajectory, and the end condition may be a condition for planning an end point of the transition trajectory, so that the start point and the end point of the transition trajectory may be constrained by the start condition and the end condition, and the rationality of the transition trajectory is ensured.
In one example, the vehicle can be considered as a differential flat system, the x and y coordinates are selected as the flat output, and the positions of the start point and the end point of the x and y coordinates, and the corresponding n-order derivatives, or the heading, the curvature change rate, and the like are determined as the start condition and the end condition of the transition trajectory planning, so as to constrain the transition trajectory.
And 104, generating a transition track from the starting point to the termination reference line according to the starting information and the termination information, and enabling the vehicle to automatically run along the transition track.
In a specific implementation, when the starting condition and the ending condition of the vehicle transition track are determined, the transition track from the starting point of the starting reference line to the ending reference line can be generated according to the starting condition and the ending condition so as to enable the vehicle to automatically run along the transition track.
In an optional embodiment of the present invention, the start information may include a first derivative and a second derivative that match the start point, and the end information may include a target derivative that matches the end reference line, and then the target transition trajectory for the start point may be generated by obtaining a trajectory processing model for the vehicle and the path screening information, and then inputting the first derivative and the second derivative corresponding to the coordinates of the start point and the target derivative corresponding to each end coordinate on the end reference line into the trajectory processing model, so that the vehicle automatically travels along the target transition trajectory.
In a specific implementation, a reference coordinate system matched with the starting point can be established by acquiring the starting point coordinate and the course information of the starting point and adopting the starting point coordinate and the course information, and then a first derivative and a second derivative of the starting point coordinate under the reference coordinate are determined. The course information can be the direction information of the tangent line of the starting point, and along with the change of the moving direction of the vehicle, the course information also changes along with the change of the moving direction of the vehicle. In addition, a plurality of end points matched with the end information can be selected from the end reference line, end point coordinates of the end points are obtained, and then target derivatives of the end point coordinates in a reference coordinate system are determined, so that coordinate parameters corresponding to the start point and the end point are determined in the obtained reference coordinate system, the coordinate parameters are used as input of a track processing model, and path parameters aiming at the path screening information are obtained.
The track processing model can be a function for controlling the optimal parameters of the transition track, the current optimal path of the vehicle can be obtained through the track processing model, the optimal solution from the starting point to the end point can be obtained by inputting the coordinate parameters of the starting point and the end point into the track processing model, and the relatively reasonable transition track in the whole situation can be obtained, so that the vehicle can automatically run through the transition track.
In a specific implementation, the first derivative and the second derivative of the starting point and the target derivative of the end point can be input into the path screening information to generate an initial transition track from the starting point to the ending reference line in the reference coordinate system, and then the initial transition track in the reference coordinate system is converted into a target transition track matched with the world coordinate system, so that the vehicle can automatically drive along the target transition track. Specifically, coordinate conversion information aiming at a reference coordinate system and a world coordinate system and path coordinates of path points in the reference coordinate system are obtained, then, according to the coordinate conversion information, path coordinates of an initial transition track are converted into target path coordinates corresponding to the world coordinate system, then, a target transition track corresponding to the target path coordinates is determined, and the vehicle is driven automatically along the target transition track.
After the transition track of the vehicle in the reference coordinate system is obtained, the path coordinates of each path point of the transition track in the reference coordinate system can be obtained, the path coordinates are converted into the path coordinates in the world coordinate system according to the preset coordinate conversion information, so that the connection line of the path coordinates in the world coordinate system is the actual transition track of the vehicle, the transition track can be obtained according to the initial information and the termination information after the vehicle obtains the current position and the termination reference line, and the vehicle can run along the transition track, so that automatic driving modes such as lane changing, lane changing and vehicle following, lane keeping and the like can be realized, the calculation efficiency is improved, the reasonability of the vehicle running path can be ensured, and the vehicle is prevented from side shifting.
In an example, after the current position of the vehicle is obtained and the start reference line and the end reference line are determined, a point closest to the current position of the vehicle may be selected on the start reference line as a starting point, and referring to fig. 3, a schematic diagram of a reference coordinate system in an embodiment of the present invention is shown, a point which is shortest in a vertical distance d from a vehicle traveling direction and is located on the start reference line (i.e., a point closest to the vehicle position on the start reference line) is taken as a starting point P0= (x 0, y0, θ 0), and a heading corresponding to the starting point is taken as an origin point, so as to establish a reference coordinate system F0.
The starting information includes a first derivative and a second derivative of the coordinates of the starting point, where the first derivative may be a first derivative vy0 of y to x and a second derivative ay0 of y to x, where the first derivative may be:
vy0＝tan -1 (h0)
ay0＝k0·(1+vy0 2 ) 1.5
since the starting point P0 is the origin of the reference coordinate system, its translated position P0'= (px 0, py 0) = (0, 0), and the heading h0' =0, while the curvature is not affected by the coordinate translation, and may remain unchanged, so that the starting information may eventually include:
py0＝0
vy0＝0
ay0＝k0
in addition, the termination information includes the target derivative, and in order to ensure the continuity of the transition trajectory, which needs to be subjected to second-order continuity, the termination information may be a first derivative vy0 and a second derivative ay0 of y to x of the endpoint coordinate. Specifically, a curve where the end point is located may be represented in the form of a 4 th-order polynomial, and the maximum range of the curve may be set from the start point to the end point of the termination reference line, that is, the curve is included in the termination reference line, so that on the termination reference line, several end points [ Q0, \8230; qm ] satisfying the 4 th-order polynomial are selected]Qi = (xi, yi), i range is [0,m)]Then the coordinates of these end points are transformed into a reference coordinate system F0, and the end points on the curve are fitted by the least square method to obtain the coefficients of a 4 th degree polynomial
So that the termination information may eventually be y e (x)＝c0+c1·x+c2·x 2 +c3·x 3 。
It should be noted that, in the embodiment of the present invention, a 4 th-order polynomial is used to represent a curve where an end point is located, and optionally, for the curve where the end point is located, the polynomial may be an nth-order polynomial, where n is greater than or equal to 3, which is not limited in this invention.
Specifically, the trajectory processing model may be:
s＝[p,v,a]
u＝j
where s is the three-dimensional state quantity, f is the system equation, p is the y-direction position, v is the first derivative of y with respect to x, a is the second derivative of y with respect to x, j is the third derivative of y with respect to x, j is the input u to the system.
The solving process may include:
1. establishing a Hamiltonian H (s, u, λ) of the system, where λ is the co-state of the system, as shown in the following equation, where λ = [ λ ] 1 ,λ 2 ,λ 3 ] T ：
H(s,u,λ)＝g0+λ T ·f(s,u)＝1+j 2 +λ 1 v+λ 2 a+λ 3 j
2. Solve so that
The established co-state λ is the co-state that minimizes the system objective function J;
3. solving by substituting lambda so that
Established optimal control u * I.e. j * ；
4. By optimal control of u * Solving the optimal state of the system, i.e. the optimal path s * ＝[py * ,vy * ,ay * ] T A polynomial of the form y for x;
5. optimal state s through the system * And polynomial y of termination condition e (x) The initial value of the co-state lambda of the system is determined to be lambda (0) = [ alpha, beta, gamma =] T ；
6. Mixing the above λ (0) = [ α, β, γ =] T Optimal control u of substitution system * I.e. j * Then, the optimum control j * Substituting into the objective function J, i.e. let J = J * Make it first stepThe derivative is 0, and xf that minimizes J is found, xf _ min.
The λ may be an expression used for representing coordinate parameters corresponding to the start information and the end information, so that after the start information and the end information are calculated to obtain an intermediate state value λ, the parameters associated with the start information and the end information are input to an objective function J in a track processing model, and an optimal transition track corresponding to the current position of the vehicle may be obtained.
Specifically, the objective function J may be a limiting condition for an optimal boundary value of the transition trajectory in the reference coordinate system in the trajectory processing model, and after the intermediate state value λ is obtained through solution, λ may be substituted into the objective function J to obtain the optimal path through solution. Specifically, the method may include the following steps:
J＝g1+g2+g3
g0＝1+j 2
where xf represents the length of the transition trajectory, and xf ∈ [ ] min ,xf max ](ii) a j represents the third derivative of y with respect to x. The objective function J consists of three parts, g1 represents the integral of the square of the sum of the third derivatives of x and y to x of the transition trajectory in the x direction; g2 is an indicator function for approximately representing the inequality constraint xf ≧ xf min (ii) a g3 is also an indicator function for approximately representing the inequality constraint xf ≦ xf max (ii) a t represents a variable parameter, t>0 and the larger the value of t, the closer g2 and g3 are to the inequality constraints they represent. By defining g2 and g3, soft constraint limits on path length xf are achieved, thereby participating inThe transition track between the two paths is solved under the coordinate system, the polynomial of a longitudinal coordinate y relative to a horizontal coordinate x is solved essentially, the complexity of transition track calculation is greatly reduced, the calculation efficiency is effectively improved, and meanwhile the obtained transition track combines the conditions of the current position, the heading, the curvature and the curvature change of the vehicle and can accord with the non-integrity kinematics constraint of the vehicle.
After the transition track in the reference coordinate system is obtained, the path points on the transition track can be converted into path point coordinates adapted to the world coordinate system, and the actual transition track is obtained through connection. Specifically, assume that a point on the transition locus is Pi = [ xi, yi, θ i, ki ]]Wherein xi and yi are respectively the horizontal and vertical coordinates, theta i is the course angle, ki is the curvature, and xi belongs to [ x0, xf _ min ]]，s * (xi)＝[pyi,vyi,ayi] T And then:
yi＝pyi
θi＝tan -1 (vyi)
ki＝ayi·(1+vyi 2 ) -1.5
and then transforming the points Pi on all the obtained transition tracks from the reference coordinate system to the world coordinate system through coordinate transformation to obtain the final transition track which is expressed in the form of discrete points Pi'. Knowing the starting point coordinates as P0= [ x0, y0, θ 0], then this can be done by:
θi′＝θi+θ0
ki′＝ki
by obtaining the point Pi ' = [ xi ', yi ', θ i ', ki ' ] after the coordinate transformation, the transition track is obtained according to the start information and the end information, and the vehicle is driven along the transition track, so that the automatic driving modes such as lane changing, lane changing and vehicle following, lane keeping and the like can be realized, the calculation efficiency is improved, the rationality of the driving path of the vehicle can be ensured, and the vehicle is prevented from lateral shifting.
In another optional embodiment of the present invention, a plurality of end points matched with the end information may be obtained from the end reference line, then the start point coordinates of the start points and the end point coordinates of the end points are obtained, and coordinate parameters corresponding to the end point coordinates are determined, then a plurality of first transition tracks from the start points to the end points are generated by using the start point coordinates, the coordinate parameters and the start information, then the path screening information for the first transition tracks is obtained, and a second transition track successfully matched with the path screening information is selected from the plurality of first transition tracks, so that the vehicle automatically travels along the second transition track.
In a specific implementation, the path screening information may be a limiting condition, such as an objective function, representing an optimal boundary value of the transition trajectory in the reference coordinate system, so that by inputting each coordinate parameter into the objective function, an optimal solution from the starting point to the end point may be obtained, that is, a relatively reasonable transition trajectory in the global environment is obtained, so that the vehicle automatically travels through the transition trajectory. If the termination information may include the target derivative, a series of end points corresponding to the target derivative may be determined from the termination reference line, and coordinate parameters of each end point may be obtained, which may include a first derivative, a second derivative, and the like corresponding to each coordinate point, then a plurality of first transition tracks from the start point to each end point in the reference coordinate system are generated by using the start point coordinates, the end point coordinates of each end point, the coordinate parameters, the start information, and the like, then path screening information is obtained, an optimal target transition track is selected from the first transition tracks according to the path screening information, and coordinate conversion is performed on the path point corresponding to the target transition track, so as to obtain an actual transition track of the vehicle.
In one example, the termination information of the transition track may be mapped to a polynomial y e (x) Dispersed into a series of coordinate points [ R0, \8230;, rm]And obtaining the corresponding first derivative vy and second derivative ay, then Ri = [ xi, yi, vyi, ayi]，i∈[0,m]. Then, an equation is established by combining the initial point P0' and the initial information, and each point R0, 8230and Rm are solved respectively]Corresponding transition trajectory s = [ py, vy, ay] T Obtaining a polynomial of the form y with respect to x, then obtaining an objective function J, substituting the polynomial of y with respect to x into the objective function, and selecting the objectiveTaking the transition track with the minimum function J as the optimal path s * ＝[py * ,vy * ,ay * ] T And the corresponding path length is xf _ min, and then the transition track is converted according to the mode of converting the reference coordinate system into the world coordinate system to obtain the actual transition track of the vehicle, so that the vehicle can obtain the transition track according to the starting information and the ending information after obtaining the current position and the ending reference line by presetting the starting information aiming at the starting point and the ending information aiming at the ending reference line, and can run along the transition track, thereby realizing automatic driving modes such as lane changing, lane changing and car following, lane keeping and the like, not only improving the calculation efficiency, but also ensuring the reasonability of the vehicle running path and avoiding the lateral movement of the vehicle.
It should be noted that the embodiment of the present invention includes but is not limited to the above examples, and it is understood that, under the guidance of the idea of the embodiment of the present invention, a person skilled in the art can set the method according to practical situations, and the present invention is not limited to this.
In the embodiment of the invention, the position information of the vehicle, the starting point which is matched with the position information and the starting reference line and the ending reference line aiming at the vehicle are obtained, then the starting point which is matched with the position information is determined from the starting reference line, the starting information aiming at the starting point and the ending information aiming at the ending reference line are obtained, then the transition track from the starting point to the ending reference line is generated according to the starting information and the ending information, the vehicle automatically runs along the transition track, and the automatic driving modes such as lane changing, lane changing following and lane keeping can be realized by presetting the starting information aiming at the starting point and the ending information aiming at the ending reference line, and then the transition track is obtained according to the starting information and the ending information and the transition track is run along the transition track.
It should be noted that for simplicity of description, the method embodiments are shown as a series of combinations of acts, but those skilled in the art will recognize that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 4, a block diagram of an embodiment of a vehicle transition trajectory generation device according to the present invention is shown, and specifically includes the following modules:
a data obtaining module 401, configured to obtain position information of a vehicle, and a start reference line and an end reference line for the vehicle;
a starting point determining module 402, configured to determine a starting point matching the position information from the starting reference line;
a path information obtaining module 403, configured to obtain start information for the start point and end information for the end reference line;
a transition track generating module 404, configured to generate a transition track from the starting point to the ending reference line according to the starting information and the ending information, so that the vehicle automatically travels along the transition track.
In an optional embodiment of the present invention, the start information includes a first derivative and a second derivative matching the start point, the end information includes a target derivative matching the end reference line, and the transition trajectory generating module 404 includes:
an information acquisition submodule for acquiring a trajectory processing model for the vehicle;
and the transition track generation submodule is used for inputting the first derivative, the second derivative and the target derivative into the track processing model, generating a target transition track aiming at the starting point and enabling the vehicle to automatically run along the target transition track.
In an optional embodiment of the invention, the apparatus further comprises:
the starting point information acquisition module is used for acquiring the starting point coordinate and the course information of the starting point;
the coordinate system establishing module is used for establishing a reference coordinate system matched with the starting point by adopting the starting point coordinates and the course information;
and the first parameter determining module is used for determining a first derivative and a second derivative of the starting point coordinate in the reference coordinate system.
In an optional embodiment of the invention, the apparatus further comprises:
the terminal coordinate acquisition module is used for selecting a plurality of terminals matched with the termination information from the termination reference line and acquiring terminal coordinates of the terminals;
and the second parameter determination module is used for determining a target derivative of the endpoint coordinate in the reference coordinate system.
In an optional embodiment of the present invention, the data obtaining module 401 is specifically configured to:
acquiring position information of a vehicle in a world coordinate system, and aiming at a starting reference line and a stopping reference line of the vehicle, wherein the world coordinate system is a coordinate system corresponding to a preset map in the vehicle;
the transition track generation submodule comprises:
an initial path generating unit, configured to input the first derivative, the second derivative, and a target derivative into the trajectory processing model, and generate an initial transition trajectory from the starting point to the ending reference line in the reference coordinate system;
and the target path determining unit is used for converting the initial transition track in the reference coordinate system into a target transition track matched with the world coordinate system, so that the vehicle can automatically drive along the target transition track.
In an optional embodiment of the present invention, the initial transition trajectory includes a plurality of path points, and the target path determining unit is specifically configured to:
acquiring coordinate conversion information aiming at the reference coordinate system and the world coordinate system and path coordinates of the path points in the reference coordinate system;
converting the path coordinates of the initial transition track into target path coordinates corresponding to the world coordinate system according to the coordinate conversion information;
and determining a target transition track corresponding to the target path coordinates, and enabling the vehicle to automatically drive along the target transition track.
In an optional embodiment of the present invention, the transition trajectory generating module 404 includes:
the terminal point determining submodule is used for acquiring a plurality of terminal points matched with the termination information from the termination reference line;
the coordinate acquisition module is used for acquiring a starting point coordinate of the starting point and an end point coordinate of the end point;
the coordinate parameter determining module is used for determining a coordinate parameter corresponding to the end point coordinate;
the transition track generation submodule is used for generating a plurality of first transition tracks from the starting point to the end point by adopting the coordinates of the starting point, the coordinate parameters and the starting information;
a path screening information obtaining sub-module, configured to obtain path screening information for the first transition trajectory;
and the path screening submodule is used for selecting a second transition track which is successfully matched with the path screening information from the plurality of first transition tracks so that the vehicle automatically runs along the second transition track.
For the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and reference may be made to the partial description of the method embodiment for relevant points.
An embodiment of the present invention further provides a vehicle, including:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform a method as described in embodiments of the invention.
Embodiments of the invention also provide one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause the processors to perform the methods described in embodiments of the invention.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one of skill in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, EEPROM, flash, eMMC, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the true scope of the embodiments of the present invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "include", "including" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or terminal device including a series of elements includes not only those elements but also other elements not explicitly listed or inherent to such process, method, article, or terminal device. Without further limitation, an element defined by the phrases "comprising one of \ 8230; \8230;" does not exclude the presence of additional like elements in a process, method, article, or terminal device that comprises the element.
The method for generating the vehicle transition trajectory and the device for generating the vehicle transition trajectory provided by the invention are described in detail, and a specific example is applied to explain the principle and the implementation of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (9)
1. A method for generating a vehicle transition trajectory is characterized by comprising the following steps:
acquiring position information of a vehicle, and a starting reference line and a stopping reference line aiming at the vehicle;
determining a starting point matched with the position information from the starting reference line, wherein the starting point is a point which has the shortest vertical distance with the driving direction of the vehicle and is positioned on the starting reference line;
acquiring starting information aiming at the starting point and ending information aiming at the ending reference line;
generating a transition track from the starting point to the termination reference line according to the starting information and the termination information, and enabling the vehicle to automatically run along the transition track;
wherein the starting information comprises a first derivative and a second derivative which are matched with the starting point, the ending information comprises a target derivative which is matched with the ending reference line, and the method generates a transition track from the starting point to the ending reference line according to the starting information and the ending information, so that the vehicle automatically runs along the transition track, and comprises the following steps:
obtaining a trajectory processing model for the vehicle;
and inputting the first derivative, the second derivative and the target derivative into the track processing model, generating a target transition track aiming at the starting point, and enabling the vehicle to automatically run along the target transition track.
2. The method of claim 1, wherein before generating a transition trajectory from the start point to the end reference line based on the start information and the end information and automatically driving the vehicle along the transition trajectory, the method further comprises:
acquiring the starting point coordinate and the course information of the starting point;
establishing a reference coordinate system matched with the starting point by adopting the starting point coordinate and the course information;
and determining the first derivative and the second derivative of the starting point coordinate in the reference coordinate system.
3. The method according to claim 2, wherein before generating a transition trajectory from the start point to the end reference line according to the start information and the end information and automatically driving the vehicle along the transition trajectory, the method further comprises:
selecting a plurality of end points matched with the termination information from the termination reference line, and acquiring end point coordinates of the end points;
determining a target derivative of the end point coordinate in the reference coordinate system.
4. The method according to claim 2 or 3, wherein the obtaining of the position information of the vehicle and the start reference line and the end reference line for the vehicle comprises:
acquiring position information of a vehicle in a world coordinate system, and aiming at a starting reference line and an ending reference line of the vehicle, wherein the world coordinate system is a coordinate system corresponding to a preset map in the vehicle;
the inputting the first derivative, the second derivative and the target derivative into the trajectory processing model to generate a target transition trajectory for the starting point, so that the vehicle automatically travels along the target transition trajectory, includes:
inputting the first derivative, the second derivative and a target derivative into the track processing model to generate an initial transition track from the starting point to the ending reference line in the reference coordinate system;
and converting the initial transition track in the reference coordinate system into a target transition track matched with the world coordinate system, so that the vehicle can automatically drive along the target transition track.
5. The method of claim 4, wherein the initial transition trajectory comprises a plurality of waypoints, and the converting the initial transition trajectory in the reference coordinate system into a target transition trajectory matched to the world coordinate system for the vehicle to automatically drive along the target transition trajectory comprises:
acquiring coordinate conversion information aiming at the reference coordinate system and the world coordinate system and path coordinates of the path points in the reference coordinate system;
converting the path coordinate of the initial transition track into a target path coordinate corresponding to the world coordinate system according to the coordinate conversion information;
and determining a target transition track corresponding to the target path coordinates, and enabling the vehicle to automatically drive along the target transition track.
6. The method according to claim 1, wherein the generating a transition trajectory from the starting point to the ending reference line according to the starting information and the ending information, and causing the vehicle to automatically travel along the transition trajectory comprises:
acquiring a plurality of end points matched with the termination information from the termination reference line;
acquiring a starting point coordinate of the starting point and an end point coordinate of the end point;
determining coordinate parameters corresponding to the end point coordinates;
generating a plurality of first transition tracks from the starting point to the end point by adopting the coordinates of the starting point, the coordinate parameters and the starting information;
acquiring path screening information aiming at the first transition track;
and selecting a second transition track successfully matched with the path screening information from the plurality of first transition tracks, so that the vehicle automatically runs along the second transition track.
7. A vehicle transition trajectory generation device, characterized by comprising:
the data acquisition module is used for acquiring the position information of a vehicle and a starting reference line and a stopping reference line aiming at the vehicle;
a starting point determining module, configured to determine a starting point that matches the position information from the starting reference line, where the starting point is a point that is located on the starting reference line and has a shortest vertical distance from a driving direction of the vehicle;
a path information obtaining module, configured to obtain start information for the start point and end information for the end reference line;
a transition track generation module, configured to generate a transition track from the starting point to the ending reference line according to the start information and the ending information, so that the vehicle automatically travels along the transition track;
wherein the start information includes a first derivative and a second derivative matched with the start point, the end information includes a target derivative matched with the end reference line, and the transition trajectory generation module includes:
an information acquisition sub-module for acquiring a trajectory processing model for the vehicle;
and the transition track generation submodule is used for inputting the first derivative, the second derivative and the target derivative into the track processing model, generating a target transition track aiming at the starting point and enabling the vehicle to automatically run along the target transition track.
8. A vehicle, characterized by comprising:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform the method of any of claims 1-6.
9. One or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause the processors to perform the method of any of claims 1-6.
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