CN115440048A - Method, apparatus and medium for predicting vehicle travel track - Google Patents
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Abstract
The invention discloses a method, a device and a medium for predicting a vehicle running track, wherein the method comprises the steps of establishing a lane line fitting equation covering a lane line interruption road section when a lost lane line is sensed; solving a coefficient set of a first lane line fitting equation and a coefficient set of a second lane line fitting equation based on the coordinates of the starting point and the coordinates of the ending point of the first lane line interruption road section and the second lane line interruption road section, so as to obtain a first lane line fitting track and a second lane line fitting track; and adding corresponding coefficients between the coefficient set of the first lane line fitting equation and the coefficient set of the second lane line fitting equation and solving the coefficient set of the third lane line fitting equation by means of averaging to obtain a third lane line fitting track. The technical scheme of the invention realizes the accurate prediction of lane lines and the intelligent control of vehicles, and solves the problem of vehicle runaway caused by lane loss.
Description
Technical Field
The invention relates to the technical field of intelligent driving, in particular to a method, a device and a medium for predicting a vehicle running track.
Background
With the development of the automobile industry, an era of intelligent driving has come. The intelligent driving is an important component of a strategic emerging industry, is the first wonderful movement from the internet age to the artificial intelligence age, and is one of strategic high points of new economic and technological development in the world. The intelligent driving is developed, and the intelligent driving vehicle has great significance for promoting national science and technology, economy, society, life, safety and comprehensive national power. More and more automobile manufacturing enterprises are beginning to research intelligent driving technologies of vehicles and have breakthrough progress on technologies including network navigation, autonomous driving and the like.
As an important component in intelligent driving, vehicle running track prediction plays a crucial role, and sensors such as laser radar and cameras are widely applied to intelligent driving vehicles to acquire data such as running tracks, speeds, accelerations and inter-vehicle distances of target vehicles in traffic environments, and research in the fields of state estimation, track prediction and the like is performed by using the acquired data, so that the incidence rate of traffic accidents can be effectively reduced.
However, when the driving trajectory is predicted in the prior art, the lane keeping assist system (LKA) is easy to exit or become unstable due to the loss of the lane line, so that the accurate control of the driving of the vehicle cannot be realized.
Therefore, there is a need for a method and apparatus for predicting a vehicle travel track with high accuracy and flexibility.
Disclosure of Invention
In view of the above, embodiments of the present disclosure provide a method, an apparatus, and a medium for predicting a driving trajectory of a vehicle, which at least partially solve the problems in the prior art.
In a first aspect, an embodiment of the present disclosure provides a method for predicting a driving track of a vehicle, including the following steps:
when the interruption of the driving track is sensed, acquiring the coordinates of a starting point and an ending point of a first lane line interruption road section and the coordinates of a starting point and an ending point of a second lane line interruption road section;
establishing a first lane line fitting equation covering the first lane line interruption road section, a second lane line fitting equation covering the second lane line interruption road section and a third lane line fitting equation covering the third lane line interruption road section;
solving a coefficient set of a first lane line fitting equation based on the coordinates of the starting point and the coordinates of the ending point of the first lane line interrupted road section, so as to obtain a first lane line fitting track;
solving a coefficient set of a second lane line fitting equation based on the coordinates of the starting point and the coordinates of the ending point of the second lane line interrupted road section, thereby obtaining a second lane line fitting track; and
and adding corresponding coefficients between the coefficient set of the first lane line fitting equation and the coefficient set of the second lane line fitting equation and solving the coefficient set of the third lane line fitting equation by means of averaging to obtain a third lane line fitting track.
Further, in some aspects according to embodiments of the present disclosure, the first lane line fitting equation, the second lane line fitting equation, and the third lane line fitting equation are constructed based on a cubic polynomial.
Optionally, in some aspects according to embodiments of the present disclosure, the third order polynomial is:
y＝c 0 +c 1 x+c 2 x 2 +c 3 x 3
wherein, c 0 、c 1 、c 2 、c 3 Are the coefficients of a cubic polynomial.
Further, in some aspects according to embodiments of the present disclosure, coordinates of a division point between a start point and an end point of the first lane line break road segment are intercepted, and the coordinates of the start point, the coordinates of the end point, and the coordinates of the division point of the first lane line break road segment are substituted into the cubic polynomial to find the coefficient set of the first lane line fitting equation.
Further, in some aspects according to embodiments of the present disclosure, coordinates of a division point between a start point and an end point of the second lane line break road section are intercepted, and the coordinates of the start point, the coordinates of the end point, and the coordinates of the division point of the second lane line break road section are taken into the cubic polynomial to find the coefficient set of the second lane line fitting equation.
Optionally, in some aspects according to embodiments of the present disclosure, the coordinates of the starting point of the first lane line break road section and the coordinates of the starting point of the second lane line break road section are acquired based on the historical travel track; and acquiring the coordinates of the end point of the first lane line interruption road section and the coordinates of the end point of the second lane line interruption road section through the camera.
Optionally, in some aspects according to embodiments of the present disclosure, the first lane line, the second lane line, and the third lane line are a left lane line, a right lane line, and a middle lane line of a lane in which the vehicle is located, respectively.
Further, in some aspects according to embodiments of the present disclosure, coordinates of each point of the start point, the end point, and the trisection point of the third lane line fitting trajectory are obtained by finding coordinates of the start point, the end point, and the trisection point of the first lane line break section and coordinates of a middle point between the start point, the end point, and the trisection point of the corresponding second lane line break section.
Further, in some aspects according to embodiments of the present disclosure, the heading angle of each point of the third lane line fitted trajectory is obtained by deriving a third lane line fitted equation.
Further, in some aspects according to embodiments of the present disclosure, the formula is calculated according to curvature
And calculating the curvature of each point of the fitting track of the third lane line, wherein y 'is the first derivative of the fitting equation of the third lane line, and y' is the second derivative of the fitting equation of the third lane line.
Further, in some aspects according to embodiments of the present disclosure, the rate of change of curvature is derived by deriving the curvature.
Further, in some aspects according to embodiments of the present disclosure, when the first lane line and the second lane line are sensed anew, a smoothing process between the sensed anew first lane line and the first lane line fitting trajectory, and a smoothing process between the sensed anew second lane line and the second lane line fitting trajectory are performed.
Further, in some aspects according to embodiments of the present disclosure, the input of the steering wheel angle of the vehicle is controlled based on the third lane line fitting trajectory.
In a second aspect, an embodiment of the present disclosure provides a vehicle travel track prediction apparatus, including:
the driving track sensing module is configured to sense whether the driving track is interrupted or not, and when the driving track is sensed to be interrupted, the coordinates of the starting point and the coordinates of the ending point of the first lane line interruption road section and the coordinates of the starting point and the coordinates of the ending point of the second lane line interruption road section are acquired;
a travel track fitting module configured to
Establishing a first lane line fitting equation covering the first lane line interruption road section, a second lane line fitting equation covering the second lane line interruption road section and a third lane line fitting equation covering the third lane line interruption road section;
solving a coefficient set of a first lane line fitting equation based on the coordinates of the starting point and the coordinates of the ending point of the first lane line interrupted road section, so as to obtain a first lane line fitting track;
solving a coefficient set of a second lane line fitting equation based on the coordinates of the starting point and the coordinates of the ending point of the second lane line interrupted road section, thereby obtaining a second lane line fitting track; and
and adding corresponding coefficients between the coefficient set of the first lane line fitting equation and the coefficient set of the second lane line fitting equation and solving the coefficient set of the third lane line fitting equation by means of averaging to obtain a third lane line fitting track.
In a third aspect, the disclosed embodiments also provide a non-transitory computer-readable storage medium storing computer instructions that, when executed by one or more processors, cause the one or more processors to perform a method of predicting a vehicle travel trajectory according to the aforementioned first aspect or any implementation of the first aspect.
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In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a method of predicting a vehicle travel trajectory according to an embodiment of the present disclosure;
FIG. 2 is a lane schematic according to an embodiment of the present disclosure; and
fig. 3 is a schematic structural diagram of an apparatus for predicting a driving trajectory of a vehicle according to an embodiment of the present disclosure.
Detailed Description
The embodiments of the present disclosure are described below with specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure of the present disclosure. It is to be understood that the described embodiments are merely illustrative of some, and not restrictive, of the embodiments of the disclosure. The disclosure may be embodied or carried out in various other specific embodiments, and various modifications and changes may be made in the details within the description without departing from the spirit of the disclosure. It should be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present disclosure, and the drawings only show the components related to the present disclosure rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided to provide a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
Next, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.
Fig. 1 shows a schematic diagram of a method of predicting a vehicle travel track according to an embodiment of the present disclosure.
As shown in fig. 1, in step S102, when the travel track break is sensed, coordinates of a start point a and coordinates of an end point B of a first lane line break section and coordinates of a start point a 'and coordinates of an end point B' of a second lane line break section are acquired.
As shown in fig. 2, when a vehicle passes through a position such as a crossroad, the intelligent driving system senses the loss of the lane line due to the interruption of the lane line, so that the judgment of the vehicle track is influenced, and the steering wheel is out of control. Therefore, it is necessary to predict the lane line when the lane line is lost, AB and a 'B' are the interrupted portions of the first lane line and the second lane line, respectively, O is the position of the current vehicle and is the starting point of the interrupted portion of the third lane line, and P is the ending point of the interrupted portion of the third lane line.
In some aspects according to embodiments of the present disclosure, the first lane line, the second lane line, and the third lane line are a left lane line, a right lane line, and a middle lane line of the lane, respectively.
An alternative way of acquiring the coordinates of the start point and the coordinates of the end point of the first lane line interruption road segment is: the method includes acquiring coordinates of a start point of a first lane line interrupt road section and coordinates of a start point of a second lane line interrupt road section based on a history travel track, and acquiring coordinates of an end point of the first lane line interrupt road section and coordinates of an end point of the second lane line interrupt road section through a camera.
It next goes to step S104.
At step S104, a first lane line fitting equation covering the first lane line break section, a second lane line fitting equation covering the second lane line break section, and a third lane line fitting equation covering the third lane line break section are established.
In some aspects according to embodiments of the present disclosure, the fitting equation described above is constructed based on a cubic polynomial (see equation 1 below), but this does not constitute a limitation of the present disclosure, for example, in other aspects according to embodiments of the present disclosure, the lane line fitting equation described above may also be constructed based on a quintic polynomial. That is, any suitable fitting equation construction is encompassed within the scope of the present invention, as long as a fit to the lane lines can be achieved.
y＝c 0 +c 1 x+c 2 x 2 +c 3 x 3 8230 \ 8230and equation 1
Wherein, c 0 、c 1 、c 2 、c 3 Is the unknown coefficient of a cubic polynomial.
The present disclosure illustrates the above method by taking a cubic polynomial as an example. Specifically, a first lane line fitting equation y1, a second lane line fitting equation y2, and a third lane line fitting equation y3 are constructed based on a cubic polynomial:
y1＝c' 0 +c' 1 x+c' 2 x 2 +c' 3 x 3 8230 \ 8230and equation 2
y2＝c” 0 +c” 1 x+c” 2 x 2 +c” 3 x 3 8230\ 8230equation 3
y3＝c”' 0 +c”' 1 x+c”' 2 x 2 +c”' 3 x 3 8230 \ 8230and equation 4
It next goes to step S106.
At step S106, a coefficient set of a first lane line fitting equation is solved based on the coordinates of the start point a and the coordinates of the end point B of the first lane line interrupted section, thereby obtaining a first lane line fitting trajectory AB.
Specifically, the coordinates of the three-division points C and D between the start point a and the end point B of the first lane line interrupted section are intercepted, and the coordinates of the start point a, the coordinates of the end point B, and the coordinates of the three-division points C and D of the first lane line interrupted section are substituted into the above equation 2 to find the coefficient set of the first lane line fitting equation y 1.
It then goes to step S108.
At step S108, a set of coefficients of a second lane line fitting equation is solved based on the coordinates of the start point a 'and the coordinates of the end point B' of the second lane line interrupted road section, thereby obtaining a second lane line fitting trajectory a 'B'.
Specifically, the coordinates of the triple points C 'and D' between the start point a 'and the end point B' of the second lane line break section are intercepted, and the coordinates of the start point a ', the coordinates of the end point B', and the coordinates of the triple points C 'and D' of the second lane line break section are substituted into the above equation 3 to find the coefficient set of the second lane line fitting equation y 2.
It next goes to step S110.
At step S110, the coefficient set of the third lane line fitting equation y3 is solved by adding and averaging corresponding coefficients between the coefficient set of the first lane line fitting equation y1 and the coefficient set of the second lane line fitting equation y2, thereby obtaining a third lane line fitting trajectory OP.
In some aspects according to embodiments of the present disclosure, the heading angles of the points of the third lane line fitted trajectory OP are obtained by deriving the third lane line fitted equation y 3.
In some aspects according to embodiments of the present disclosure, the formula is calculated according to curvature
And calculating the curvature of each point of the fitting track OP of the third lane line, wherein y3 'is a first derivative of the fitting equation of the third lane line, and y3' is a second derivative of the fitting equation of the third lane line.
In some aspects according to embodiments of the present disclosure, the rate of change of curvature is obtained by deriving the curvature of each point of the third lane line fitted trajectory OP.
In some aspects according to embodiments of the present disclosure, although not shown, it is apparent that the vehicle control can be performed based on the third lane-fitting trajectory OP, thereby ensuring smooth control of the vehicle in a lane-line loss scenario.
In some aspects according to embodiments of the present disclosure, although not shown, the present invention further comprises: when the first lane line and the second lane line are sensed again, smoothing processing between the sensed first lane line and the first lane line fitting track AB and smoothing processing between the sensed second lane line and the second lane line fitting track A 'B' are performed.
Embodiments of the present invention include, but are not limited to, smoothing using cubic B-spline curves. The method for smoothing by adopting the cubic B-spline curve comprises the following steps:
setting a global path point set S obtained by vehicle sampling, wherein n +1 position vectors V exist in the S 0 ，V 1 ……V n According to the position vector sequence, adjacent k +1 position vectors are used as a group of linear combinations to obtain curves corresponding to the i-th section of adjacent k +1 control points, and for a cubic B spline curve, k =3, namely
Further obtaining a matrix form:
where P is a fourth order matrix, optionally,
in the embodiment, the completion of the lane line is realized by performing track fitting on the lane line, the accurate prediction of the lane line and the intelligent control of the vehicle are realized by performing smooth processing on the fitted track, and the problem of out-of-control vehicle caused by lane loss is solved.
As shown in fig. 3, the embodiment of the present invention further provides an apparatus 300 for predicting a driving track of a vehicle, which includes a driving track sensing module 302, a driving track fitting module 304, and an output control module 306.
The driving track sensing module 302 senses whether the driving track is interrupted, and acquires coordinates of a start point and coordinates of an end point of the first lane line interruption road section and coordinates of a start point and coordinates of an end point of the second lane line interruption road section when sensing that the driving track is interrupted.
The driving track fitting module 304 establishes a first lane line fitting equation covering the first lane line break section, a second lane line fitting equation covering the second lane line break section, and a third lane line fitting equation covering the third lane line break section; solving a coefficient set of a first lane line fitting equation based on the coordinates of the starting point and the coordinates of the ending point of the first lane line interruption road section, so as to obtain a first lane line fitting track; solving a coefficient set of a second lane line fitting equation based on the coordinates of the starting point and the coordinates of the ending point of the second lane line interrupted road section, thereby obtaining a second lane line fitting track; and adding corresponding coefficients between the coefficient set of the first lane line fitting equation and the coefficient set of the second lane line fitting equation and solving the coefficient set of the third lane line fitting equation by means of averaging to obtain a third lane line fitting track.
The output control module 306 controls the vehicle steering wheel angle input to follow the third lane line fitting equation trajectory.
In another aspect according to the present invention, there is also provided a non-transitory computer-readable storage medium storing computer instructions which, when executed by one or more processors, cause the one or more processors to perform the aforementioned method of predicting a vehicle travel trajectory.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present disclosure should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (10)
1. A method of predicting a vehicle travel track, comprising the steps of:
when the interruption of the driving track is sensed, acquiring the coordinates of a starting point and an ending point of a first lane line interruption road section and the coordinates of a starting point and an ending point of a second lane line interruption road section;
establishing a first lane line fitting equation covering the first lane line interruption road section, a second lane line fitting equation covering the second lane line interruption road section and a third lane line fitting equation covering the third lane line interruption road section;
solving a coefficient set of a first lane line fitting equation based on the coordinates of the starting point and the coordinates of the ending point of the first lane line interrupted road section, so as to obtain a first lane line fitting track;
solving a coefficient set of a second lane line fitting equation based on the coordinates of the starting point and the coordinates of the ending point of the second lane line interruption road section, so as to obtain a second lane line fitting track; and
and adding corresponding coefficients between the coefficient set of the first lane line fitting equation and the coefficient set of the second lane line fitting equation and solving the coefficient set of the third lane line fitting equation by means of averaging to obtain a third lane line fitting track.
2. The method of claim 1,
and constructing a first lane line fitting equation, a second lane line fitting equation and a third lane line fitting equation based on the cubic polynomial.
3. The method of claim 2,
the cubic polynomial is:
y＝c 0 +c 1 x+c 2 x 2 +c 3 x 3
wherein, c 0 、c 1 、c 2 、c 3 Is the coefficient of a cubic polynomial.
4. The method of claim 3,
intercepting the coordinate of a third division point between the starting point and the end point of the first lane line interruption road section, and substituting the coordinate of the starting point, the coordinate of the end point and the coordinate of the third division point of the first lane line interruption road section into the cubic polynomial to solve the coefficient set of the first lane line fitting equation; and
and intercepting the coordinates of a third division point between the starting point and the end point of the second lane line interrupted road section, and substituting the coordinates of the starting point, the coordinates of the end point and the coordinates of the third division point of the second lane line interrupted road section into the cubic polynomial to obtain a coefficient set of a fitting equation of the second lane line.
5. The method of claim 1,
acquiring coordinates of a starting point of a first lane line interruption road section and coordinates of a starting point of a second lane line interruption road section based on the historical driving track; and
and acquiring the coordinates of the end point of the first lane line interruption road section and the coordinates of the end point of the second lane line interruption road section through the camera.
6. The method of claim 1, further comprising:
obtaining coordinates of the starting point, the ending point and each point of the third lane line fitting track by obtaining coordinates of the starting point, the ending point and the third dividing point of the first lane line interruption road section and coordinates of the middle point between the starting point, the ending point and the third dividing point of the corresponding second lane line interruption road section;
obtaining the course angle of each point of the fitting track of the third lane line by derivation of the fitting equation of the third lane line;
according to the formula of curvature calculation
Calculating the curvature of each point of the fitting track of the third lane line, wherein y 'is a first derivative of a fitting equation of the third lane line, and y' is a second derivative of the fitting equation of the third lane line; and
and obtaining the change rate of the curvature by derivation of the curvature.
7. The method of claim 1,
and when the first lane line and the second lane line are sensed again, smoothing between the sensed first lane line and the fitted track of the first lane line and smoothing between the sensed second lane line and the fitted track of the second lane line are performed.
8. The method of claim 1,
and controlling the input of the steering wheel angle of the vehicle based on the fitting track of the third lane line.
9. An apparatus for predicting a travel locus of a vehicle, the apparatus comprising:
the driving track sensing module is configured to sense whether the driving track is interrupted or not, and when the driving track is sensed to be interrupted, the coordinates of the starting point and the coordinates of the ending point of the first lane line interruption road section and the coordinates of the starting point and the coordinates of the ending point of the second lane line interruption road section are acquired;
a driving trajectory fitting module configured to
Establishing a first lane line fitting equation covering the first lane line interruption road section, a second lane line fitting equation covering the second lane line interruption road section and a third lane line fitting equation covering the third lane line interruption road section;
solving a coefficient set of a first lane line fitting equation based on the coordinates of the starting point and the coordinates of the ending point of the first lane line interruption road section, so as to obtain a first lane line fitting track;
solving a coefficient set of a second lane line fitting equation based on the coordinates of the starting point and the coordinates of the ending point of the second lane line interruption road section, so as to obtain a second lane line fitting track; and
and adding corresponding coefficients between the coefficient set of the first lane line fitting equation and the coefficient set of the second lane line fitting equation and solving the average value of the coefficient sets to obtain a third lane line fitting track.
10. A non-transitory computer-readable storage medium storing computer instructions which, when executed by one or more processors, cause the one or more processors to perform the method of any of claims 1-8.
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