CN113970339B - Method and device for detecting feasibility of turning around of vehicle - Google Patents
Method and device for detecting feasibility of turning around of vehicle Download PDFInfo
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- CN113970339B CN113970339B CN202010713055.2A CN202010713055A CN113970339B CN 113970339 B CN113970339 B CN 113970339B CN 202010713055 A CN202010713055 A CN 202010713055A CN 113970339 B CN113970339 B CN 113970339B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3658—Lane guidance
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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Abstract
The invention belongs to the field of automatic driving navigation path planning combined with a vehicle detection control technology, and particularly relates to a vehicle turning feasibility detection method and device. When the front of a vehicle is a crossing allowing turning around, the method determines the point of the minimum turning radius of the rear axle from the center of the rear axle on the straight line where the rear axle is positioned, and further determines the first distance R between the circle center and the point of the vehicle head farthest from the circle center 2 Distance R between center of circle and the farthest point on the tail 3 Further determining the transverse maximum width and the longitudinal maximum length of the vehicle body profile which sweep the road when the vehicle turns around at the minimum turning radius, comparing the corresponding road maximum turning-around width with the road maximum turning-around length, and judging whether the vehicle can turn around or not. The invention considers the length and the width of the vehicle, combines the self information and the objective road information of the vehicle, simply and accurately judges whether the vehicle can turn around, ensures the safe running of the vehicle, and conveniently plans a more reasonable and more efficient navigation route.
Description
Technical Field
The invention belongs to the field of automatic driving navigation path planning combined with a vehicle detection control technology, and particularly relates to a vehicle turning feasibility detection method and device.
Background
Unmanned vehicles are one of the development trends of future intelligent vehicles, and research on unmanned vehicles will also promote the development of intelligent transportation and smart cities, so that the unmanned vehicles have great significance. Particularly, technologies such as route pre-judging, planning and navigation of an automatic driving vehicle by using information such as a map, a vehicle position and target detection are hot spots of current research.
Based on the technical method, how to pre-judge the turning attribute of the road in advance according to the car body information and the road information in the environments of automatic driving, auxiliary driving and intelligent traffic is a problem to be solved. In general, the vehicle turns around more time and driving difficulty is greater than the time spent by the vehicle turning left, right or straight. If the pedestrian turns around at will, the personal safety of the pedestrian on the road surface is threatened, the pedestrian can scratch with other running vehicles, and the pedestrian can collide with the isolation belt between two opposite running roads, so that the traffic is not smooth, and the safety of other people and the pedestrian is threatened.
The Chinese patent application publication No. CN111174802A discloses a method for determining the turning difficulty of an intersection, which is characterized in that the width of a road surface of which the turning path allows a vehicle to turn around is determined according to the attributes of an entering road and an exiting road, the turning difficulty of the intersection which can turn around is determined according to the width of the road surface and the length of the vehicle, and the longer the length of the vehicle, the larger the turning difficulty, the larger the width of the road surface and the smaller the turning difficulty. According to the method, only the length of the vehicle is considered, the turning difficulty is judged according to the length of the vehicle, the actual vehicle is a polygonal object, according to the thought of the method, when the width of the road surface is basically equal to the length of the vehicle, the turning difficulty is high, but in the actual situation, the vehicle cannot perform turning operation at all when the width of the road surface just accommodates the length of the vehicle, and a certain width is reserved on the road surface to ensure that the vehicle can finish turning operation, so that turning is realized. Therefore, the detection of the turning ability is inaccurate only according to the length of the vehicle, and the vehicle cannot be guaranteed to finish turning traffic certainly.
Disclosure of Invention
The invention provides a vehicle turning feasibility detection method and device, which are used for solving the problem that the turning capacity is inaccurate to detect only according to the length of a vehicle, and the fact that the vehicle can finish turning traffic can not be ensured.
In order to solve the technical problems, the technical scheme of the invention comprises the following steps:
the invention provides a vehicle turning feasibility detection method, which comprises the following steps:
when the front of the vehicle is a crossroad allowing turning around, determining the minimum turning radius R of the rear axle from the center of the rear axle on the straight line where the rear axle is positioned min Is the point at which the vehicle turns at the minimum turning radius R min Circle centers are arranged when turning around;
determining a first distance R between the center of a circle and a point on the headstock furthest from the center of the circle 2 The first distance R 2 The radius of the arc area is swept by the point which is farthest from the circle center on the headstock when the vehicle turns around; determining the distance R between the center of circle and the farthest point from the center of circle 3 The second distance R 3 The radius of the arc area is swept by the point which is farthest from the circle center on the tail of the vehicle when the vehicle turns around;
according to the first distance R 2 And a second distance R 3 Determining a transverse maximum width turn_width of a vehicle body profile sweeping a road when the vehicle turns around at a minimum turning radius; according to the first distance R 2 Determining a longitudinal maximum length turn_height of a vehicle body profile sweeping a road when the vehicle turns around at a minimum turning radius; the transverse direction is a direction extending along the vehicle width direction, and the longitudinal direction is a direction extending along the vehicle length direction;
if the transverse maximum width turn_width is smaller than the road maximum turning width road_width and the longitudinal maximum length turn_height is smaller than the road maximum turning length cross_height, determining that the vehicle can turn.
The beneficial effects of the technical scheme are as follows: the invention regards the vehicle as a polygonal object, and it is assumed that the vehicle makes a turning motion with a minimum turning radius, and according to some information of the vehicle itself, it can be determined that the vehicle makes a turning motion with a minimum turning radius R min The center of the circle when turning around is combined with the point on the vehicle head furthest from the center of the circle and the point on the vehicle tail furthest from the center of the circle, so that the transverse maximum width and the longitudinal maximum length of the road swept by the vehicle body profile under the motion condition can be ensured, namely the width occupied by the vehicle when running in a mode of the minimum turning radius circular arc which saves the most occupied spaceThe degree and the length are compared with objective road information, including the information of the maximum turning width of the road, the maximum turning length of the road and the like, and whether the vehicle can turn around or not can be automatically judged according to the comparison result. The method takes the length and the width of the vehicle into consideration, combines the self information and objective road information of the vehicle, simply and accurately judges the road turning attribute aiming at a certain vehicle type, so as to conveniently plan a more reasonable and efficient navigation line route, provide support for the planning of a subsequent automatic driving navigation path, and avoid the situation that the turning path is planned, but the vehicle body is overlong and cannot pass through actually.
As a further improvement of the method, the first distance R is obtained for simplicity and accuracy 2 According to the minimum turning radius R of the vehicle min Determining the first distance R, a vehicle body WIDTH CAR_WIDTH, a vehicle head-to-rear axle distance BACKAXLE_2_CAR_HEAD 2 ：
As a further improvement of the method, the second distance R is obtained for simplicity and accuracy 3 According to the minimum turning radius R of the vehicle min The second distance R is determined by the vehicle body WIDTH CAR_WIDTH and the distance BACKAXLE_2_CAR_TALL from the vehicle tail to the rear axle 3 ：
As a further improvement of the method, in order to ensure that the vehicle turns around safely and reliably, the transverse maximum width turn_width is:
turn_width＝R 2 +R 3 +diff
wherein diff is a preset buffer distance.
As a further improvement of the method, in order to ensure that the vehicle turns around safely and reliably, the longitudinal maximum length turn_height is:
turn_height＝R 2 +diff
wherein diff is a preset buffer distance.
As a further improvement of the method, it is determined whether the vehicle is a u-turn enabled intersection by detecting a left-turn disabled flag, a u-turn disabled flag, a double yellow line, and/or an isolation belt.
As a further improvement of the method, after the fact that the vehicle can turn around is determined, the intersection is marked on a map of the vehicle, so that the intersection is marked as the intersection capable of turning around, and a turn-around navigation line can be conveniently planned when the vehicle is located on the road for path planning.
The invention also provides a vehicle turning feasibility detection device, which comprises a memory and a processor, wherein the processor is used for executing the instructions stored in the memory to realize the vehicle turning feasibility detection method and achieve the same effects as the method.
Drawings
FIG. 1 is a schematic illustration of an intersection;
FIG. 2 is a flow chart of a vehicle turn-around feasibility detection method of the invention;
FIG. 3 is a schematic view of the road and related parameters swept by the body contour of the vehicle of the present invention during a circular arc type u-turn maneuver with a minimum turning radius;
FIG. 4 is a schematic diagram of a steerable intersection;
fig. 5 is a structural diagram of the vehicle u-turn detection device of the present invention.
Detailed Description
The following describes a vehicle turning feasibility detection method and a vehicle turning feasibility detection device according to the present invention in detail with reference to the drawings and embodiments.
Method embodiment:
in this embodiment, the outline of the vehicle is regarded as a rectangle, and four vertexes thereof are P1, P2, P3, and P4, respectively, as shown in fig. 3.
The method for turning around the vehicle can be realized in the whole vehicle controller, and the information received by the whole vehicle controller comprises the information of the vehicle, the objective road information and the turning around attribute information. Wherein:
the vehicle self information includes a minimum turning radius R min The vehicle body WIDTH car_width, the head-to-rear axle distance back axle_2_car_head, and the tail-to-rear axle distance back axle_2_car_tail.
The objective road information includes a road maximum turn-around width road_width, and a road maximum turn-around length cross_height. The road_width and cross_height are the inherent attributes of the intersection, and the general map module directly gives this information. In general, road_width is the distance between a left turn or turn lane and the leftmost lane line, and cross_height is the longitudinal length information of an intersection. For example, as shown in fig. 1, the vehicle is at an intersection, lane 3 and lane 4 are forward traveling vehicles (upward traveling lanes in fig. 1), lane 1 and lane 2 are backward traveling vehicles (downward traveling lanes in fig. 1), and the road maximum u-turn length cross_height and the road maximum u-turn width road_width are shown as arrow indication lengths and widths in fig. 1, respectively.
The turning attribute information comprises a road mark related to turning, such as a turn prohibition mark, a double yellow line mark, a median mark, a solid line mark and the like. And judging whether the position of the vehicle is at a U-turn position or not according to the road identification information.
The whole vehicle controller comprehensively calculates and processes according to the information, and can judge whether the vehicle (own vehicle) can turn around, namely the method for detecting the feasibility of turning around the vehicle is realized, the flow is shown in figure 2, and the steps are as follows:
step one, detecting whether a road mark related to turning around exists at the tail end of a road through a high-precision map, and in principle, if the road mark does not inhibit left-hand turning, the turning around mark, the double yellow lines, the isolation belt and the like, the road can theoretically pass through turning around, but the step two is needed to be executed to further judge whether a certain vehicle can actually pass through turning around; otherwise, it indicates that the vehicle cannot turn around at this time, and cannot turn around in principle.
Step two, when the road allows the turning-around to pass, it is necessary to further detect whether the road environment can meet the minimum turning-around occupation area for a certain vehicle type. The vehicle having a minimum turning radius R min (circle center is O) takes the smallest space for circular arc movement, and at the moment, the vehicle is assumed to turn around to R min And making circular arc type turning motion for the radius. The vehicle having a minimum turning radius R min When the arc type U-turn motion is carried out, the arc area swept by the two vertexes P2 and P3 on the right side of the vehicle is the largest, and the motion radius is assumed to be R respectively 2 、R 3 Then:
wherein R is 2 、R 3 The distance between the center O of the circle and the vertex P2 when the vehicle makes circular arc type turning around with the minimum turning radius and the distance between the center O of the circle and the vertex P3 when the vehicle makes circular arc type turning around with the minimum turning radius are respectively set. P2 is also the point on the locomotive furthest from the center O, and P3 is also the vertex on the tail furthest from the center O.
Therefore, based on the above, the minimum turning radius R of the vehicle can be calculated min Determining R, a body WIDTH CAR_WIDTH, and a head-to-rear axle distance BACKAXLE_2_CAR_HEAD 2 The method comprises the steps of carrying out a first treatment on the surface of the According to the minimum turning radius R of the vehicle min Determining R, a vehicle body WIDTH CAR_WIDTH, and a rear-to-rear axle distance BACKAXLE_2_CAR_TALL 3 。
Step three, according to the distance R between the circle center O and the circle center P2 2 Distance R between circle center O and P3 3 And a preset buffer distance diff, determining the minimum turning radius R of the vehicle min The transverse maximum width turn_width of the road swept by the vehicle body contour during the arc-shaped turning motion is carried out; according to the distance R between the circle center O and the circle center P2 2 And determining the longitudinal maximum length turn_height of the road swept by the vehicle body profile when the vehicle performs circular arc motion, and the preset buffer distance diff. The formulas are as follows:
turn_width＝R 2 +R 3 +diff
turn_height＝R 2 +diff
theoretically, the transverse maximum width turn_width is R 2 And R is 3 And the longitudinal maximum length turn_height is R 2 However, in order to ensure safe and reliable traffic of the vehicle, a certain buffer distance diff is reserved for the vehicle, and the specific setting can be set according to actual situations.
Step four, comparing the transverse maximum width turn_width with the road maximum turning width road_width, and comparing the longitudinal maximum length turn_height with the road maximum turning length cross_height to determine whether the vehicle can turn around or not:
if turn_width is smaller than road_width and turn_height is smaller than cross_height, the road condition meets the limit of the turning behavior range of the vehicle, and it is determined that the vehicle can turn around;
if the turn_width is more than or equal to the road_width or the turn_height is more than or equal to the cross_height, the road condition does not meet the limit of the turning behavior range of the vehicle, and turning is forbidden.
And fifthly, after determining that the intersection can turn around, marking on a map of the vehicle to indicate that the intersection is the intersection capable of turning around for the vehicle. Therefore, when the vehicle performs path planning, a turning-around path can be planned, and support is provided for subsequent automatic driving navigation path planning. After the marking, for the vehicles of the type, the judgment is not needed when the vehicles pass through the intersection, and whether the intersection can turn around or not can be known directly according to the marking information.
Of course, when the type of the vehicle changes, the vehicle body length, width, minimum turning radius and other vehicle information change, and at this time, the calculation needs to be performed again according to the calculation process, so as to determine whether the new type of vehicle can pass through the turning of the vehicle, and when the new type of vehicle is determined to pass through the turning of the vehicle, the map of the new type of vehicle is marked.
The invention considers the length and the width of the vehicle, and combines the self information and the objective road information of the vehicle to simply and accurately judge whether the vehicle can turn around and pass through the road.
It should be noted that, the method of the present invention does not need to perform u-turn detection at an intersection, and may also be used to perform u-turn detection at some intersections, for example, an intersection as shown in fig. 4, where the maximum u-turn width road_width and the maximum u-turn length cross_height of the road need to be determined according to the actual situation of the road.
Device example:
the embodiment provides a vehicle turning detection device, as shown in fig. 5, which comprises a memory, a processor and an internal bus, wherein the processor and the memory are communicated with each other through the internal bus.
The processor can be a whole vehicle controller in the whole vehicle, and can also be other processing devices such as a Micro Controller Unit (MCU), a programmable logic device (FPGA) and the like in the whole vehicle except the whole vehicle controller.
The memory can be various memories for storing information by utilizing an electric energy mode, such as RAM, ROM and the like; various memories for storing information by using magnetic energy, such as hard disk, floppy disk, magnetic tape, magnetic core memory, bubble memory, USB flash disk, etc.; various memories for optically storing information, such as CDs, DVDs, etc. Of course, there are other ways of memory, such as quantum memory, graphene memory, etc.
The processor may invoke logic instructions in the memory to implement a vehicle turn-around feasibility detection method. The method is described in detail in the method embodiments.
Claims (8)
1. The vehicle turning feasibility detection method is characterized by comprising the following steps of:
when the front of the vehicle is a crossroad allowing turning around, determining the minimum turning radius R of the rear axle from the center of the rear axle on the straight line where the rear axle is positioned min Is the point at which the vehicle turns at the minimum turning radius R min Circle centers are arranged when turning around;
determining a first distance R between the center of a circle and a point on the headstock furthest from the center of the circle 2 The first distance R 2 The radius of the arc area is swept by the point which is farthest from the circle center on the headstock when the vehicle turns around; determining the circle center and the tailA second distance R from the point furthest from the center of the circle 3 The second distance R 3 The radius of the arc area is swept by the point which is farthest from the circle center on the tail of the vehicle when the vehicle turns around;
according to the first distance R 2 And a second distance R 3 Determining a transverse maximum width turn_width of a vehicle body profile sweeping a road when the vehicle turns around at a minimum turning radius; according to the first distance R 2 Determining a longitudinal maximum length turn_height of a vehicle body profile sweeping a road when the vehicle turns around at a minimum turning radius; the transverse direction is a direction extending along the vehicle width direction, and the longitudinal direction is a direction extending along the vehicle length direction;
if the transverse maximum width turn_width is smaller than the road maximum turning width road_width and the longitudinal maximum length turn_height is smaller than the road maximum turning length cross_height, determining that the vehicle can turn.
2. The vehicle u-turn feasibility detection method according to claim 1, wherein the minimum turning radius R of the vehicle is set min Determining the first distance R, a vehicle body WIDTH CAR_WIDTH, a vehicle head-to-rear axle distance BACKAXLE_2_CAR_HEAD 2 ：
3. The vehicle u-turn feasibility detection method according to claim 1, wherein the minimum turning radius R of the vehicle is set min The second distance R is determined by the vehicle body WIDTH CAR_WIDTH and the distance BACKAXLE_2_CAR_TALL from the vehicle tail to the rear axle 3 ：
4. The vehicle u-turn feasibility detection method of claim 1, wherein the lateral maximum width turn_width is:
turn_width＝R 2 +R 3 +diff
wherein diff is a preset buffer distance.
5. The vehicle u-turn feasibility detection method of claim 1, wherein the longitudinal maximum length turn_height is:
turn_height＝R 2 +diff
wherein diff is a preset buffer distance.
6. The method according to any one of claims 1 to 5, wherein whether the vehicle is in front of the intersection where turning is permitted is determined by detecting a left turn prohibition flag, a turning prohibition flag, a double yellow line, and/or an isolation belt.
7. The method for detecting the turning feasibility of the vehicle according to claim 1, wherein after determining that the vehicle can turn around, the intersection is marked on a map of the vehicle to mark the intersection as the intersection capable of turning around, so that a turn-around navigation line can be conveniently planned when the vehicle is located on the road for path planning.
8. A vehicle u-turn feasibility detection device comprising a memory and a processor for executing instructions stored in the memory to implement the vehicle u-turn feasibility detection method according to any one of claims 1-7.
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