Trajectory estimation method and device for vehicles turning at center of intersection

Abstract

The invention discloses a track estimation method and device for a vehicle turning at the center of an intersection. The method comprises the steps that the initial position of a target vehicle and the lane position of a target entrance lane are acquired; the initial position is a position where the target vehicle is monitored at the intersection for the last time, and the target entrance lane is an entrance lane where the target vehicle enters the intersection; determining at least one turning track between the at least one exit lane and the target entrance lane according to the lane position of the at least one exit lane associated with the target entrance lane and the lane position of the target entrance lane; the at least one turning track is in one-to-one correspondence with the at least one exit lane; the lane position is a set position on a stop line of the corresponding lane; determining a target exit lane of the target vehicle according to the initial position and the at least one turning track; and determining a target trajectory of the target vehicle according to the lane position of the target exit lane and the initial position. And the track estimation precision of the turning vehicle at the intersection is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent transportation technology, and in particular to a trajectory estimation method and device for a vehicle turning at the center of an intersection. Background Art

[0002] With the development of smart intersection construction, the number of devices such as radars, checkpoints or cameras that can continuously track and detect vehicles has increased accordingly, which may cause problems such as detection range obstruction or interference, and thus cause the vehicle's trajectory to be interrupted. In order to complete the vehicle's trajectory, it is usually necessary to accurately estimate the vehicle's trajectory in the lost section. However, the uncertainty of the movement trajectory of a turning vehicle is high, and it is difficult to accurately estimate the trajectory of a turning vehicle.

[0003] In the related art, the possible driving trajectory of a vehicle is generally estimated based on the historical vehicle motion trajectory data, which is a macro-road-level estimation with low estimation accuracy. Therefore, it is particularly important to find a method that can accurately estimate the trajectory of a turning vehicle. Summary of the invention

[0004] In an exemplary embodiment of the present application, a method for estimating the trajectory of a turning vehicle at the center of an intersection is provided to improve the trajectory estimation accuracy of the turning vehicle at the intersection.

[0005] According to a first aspect of an exemplary embodiment, a method for estimating a trajectory of a vehicle turning at an intersection center is provided, the method comprising at least the following steps:

[0006] Obtaining the initial position of the target vehicle and the lane position of the target entrance lane; wherein the initial position is the position of the target vehicle at the intersection when it was last monitored, and the target entrance lane is the entrance lane of the intersection where the target vehicle enters;

[0007] Determine at least one turning trajectory between at least one exit lane and the target entrance lane according to the lane position of at least one exit lane associated with the target entrance lane and the lane position of the target entrance lane; wherein at least one turning trajectory corresponds to at least one exit lane in a one-to-one manner; and the lane position is a set position on a stop line of the corresponding lane;

[0008] determining a target exit lane for the target vehicle based on the initial position and at least one turning trajectory;

[0009] The target trajectory of the target vehicle is determined based on the lane position and the initial position of the target exit lane.

[0010] According to a second aspect of an exemplary embodiment, there is provided a trajectory estimation device for a vehicle turning at the center of an intersection, comprising a data transmission unit and a processor;

[0011] The data transmission unit is configured to perform:

[0012] Obtaining the initial position of the target vehicle and the lane position of the target entrance lane; wherein the initial position is the position of the target vehicle at the intersection when it was last monitored, and the target entrance lane is the entrance lane of the target vehicle at the intersection;

[0013] The processor is configured to execute:

[0014] Determine at least one turning trajectory between at least one exit lane and the target entrance lane according to the lane position of at least one exit lane associated with the target entrance lane and the lane position of the target entrance lane; wherein at least one turning trajectory corresponds to at least one exit lane in a one-to-one manner; and the lane position is a set position on a stop line of the corresponding lane;

[0015] determining a target exit lane for the target vehicle based on the initial position and at least one turning trajectory;

[0016] Based on the target exit lane and initial position, the target trajectory of the target vehicle is determined.

[0017] According to a third aspect of an exemplary embodiment, there is provided a trajectory estimation device for a vehicle turning at the center of an intersection, comprising:

[0018] The data acquisition unit is used to: acquire the initial position of the target vehicle and the lane position of the target entrance lane; wherein the initial position is the position of the target vehicle at the intersection when it was last monitored, and the target entrance lane is the entrance lane of the target vehicle entering the intersection;

[0019] A turning trajectory determination unit, configured to: determine at least one turning trajectory between at least one exit lane and the target entrance lane according to a lane position of at least one exit lane associated with the target entrance lane and a lane position of the target entrance lane; wherein at least one turning trajectory corresponds to at least one exit lane in a one-to-one manner; and the lane position is a set position on a stop line of the corresponding lane;

[0020] a target exit lane determination unit, configured to determine a target exit lane of the target vehicle based on an initial position and at least one turning trajectory;

[0021] The target trajectory determination unit is used to determine the target trajectory of the target vehicle according to the lane position and the initial position of the target exit lane.

[0022] According to a fourth aspect of an exemplary implementation, a computer storage medium is provided, in which computer program instructions are stored. When the instructions are executed on a computer, the computer executes the trajectory estimation method for a vehicle turning at the center of an intersection as described in the first aspect.

[0023] In the embodiment of the present application, after the target vehicle turns and enters the intersection, the position (initial position) of the target vehicle at the intersection that was monitored for the last time and the entrance lane (target entrance lane) of the target vehicle entering the intersection are obtained. In this way, the lane position of at least one exit lane associated with the target entrance lane and the lane position of the target entrance lane can be used to determine the various turning trajectories between each exit lane and the target entrance lane, and then the target exit lane of the target vehicle is determined based on the initial position and each turning trajectory, and finally the target trajectory of the target vehicle is determined based on the lane position and initial position of the target exit lane. Independent of the historical trajectory of the target vehicle, accurate prediction of the lane level of the trajectory of the target vehicle at the intersection is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0025] Figure 1 A schematic diagram of a vehicle lost in an intersection lane provided by an embodiment of the present application is exemplarily shown;

[0026] Figure 2 A flowchart of a method for estimating the trajectory of a vehicle turning at the center of an intersection provided by an embodiment of the present application is exemplarily shown;

[0027] Figure 3 A schematic diagram of a lane coordinate system provided by an embodiment of the present application is exemplarily shown;

[0028] Figure 4 A schematic diagram of calculating the longitude and latitude of a fixed point Z provided in an embodiment of the present application is exemplarily shown;

[0029] Figure 5 A schematic diagram exemplarily shows a positional relationship between a first straight line and a second straight line provided in an embodiment of the present application;

[0030] Figure 6 A schematic diagram of determining the intersection point of a first straight line and a second straight line provided in an embodiment of the present application is exemplarily shown;

[0031] Figure 7 A schematic diagram for determining various position points provided in an embodiment of the present application is exemplarily shown;

[0032] Figure 8 A schematic diagram of a Bezier curve fitting provided by an embodiment of the present application is exemplarily shown;

[0033] Fig. 9 A schematic diagram of determining a turning trajectory provided by an embodiment of the present application is exemplarily shown;

[0034] Fig.10 Another schematic diagram for determining various position points provided in an embodiment of the present application is exemplarily shown;

[0035] Fig.11 A schematic diagram of determining a target trajectory provided by an embodiment of the present application is exemplarily shown;

[0036] Fig.12 The schematic diagram of the structure of a trajectory estimation device for a vehicle turning at the center of an intersection provided by an embodiment of the present application is exemplarily shown;

[0037] Fig.13 The schematic diagram of the structure of a trajectory estimation device for a vehicle turning at the center of an intersection provided in an embodiment of the present application is exemplarily shown. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0039] (1) Target vehicle: The vehicle lost at the intersection.

[0040] (2) Initial position: The position where the target vehicle was last monitored at the intersection, that is, the lost position.

[0041] (3) Target entrance lane: The entrance lane where the target vehicle enters the intersection.

[0042] (4) At least one exit lane associated with the target entry lane: a vehicle entering an intersection from an entry lane may enter various exit lanes when turning.

[0043] (5) Pm: represents the target entry lane, or the lane position of the target entry lane Pm, that is, the set position on the stop line of the lane, such as the midpoint of the stop line. The coordinates of point Pm can be represented by pm, and the symbols and coordinates of other lanes are similar. The value of m is any integer between 1 and M, where M is the number of all lanes in the intersection. For example, for an intersection with four directions and eight lanes in each direction, M is 32.

[0044] With the development of smart intersection construction, the number of devices such as radars, checkpoints or cameras that can continuously track and detect vehicles has increased accordingly, which may lead to problems such as detection range obstruction or interference, thereby causing the vehicle's trajectory to be interrupted. In order to complete the vehicle's trajectory, it is usually necessary to accurately estimate the vehicle's trajectory on the lost section. However, the uncertainty of the movement trajectory of a turning vehicle is high, so it is difficult to accurately estimate the trajectory of a turning vehicle.

[0045] In the related art, the possible driving trajectory of a vehicle is generally estimated based on the historical vehicle motion trajectory data, which is a macro-road-level estimation with low estimation accuracy. Therefore, it is particularly important to find a method that can accurately estimate the trajectory of a turning vehicle.

[0046] To this end, an embodiment of the present application provides a method for estimating the trajectory of a vehicle turning at the center of an intersection, which can achieve accurate prediction of the lane-level trajectory of the turning vehicle. Specifically, the position (initial position) of the target vehicle at the intersection when it was last monitored and the entrance lane (target entrance lane) of the target vehicle entering the intersection are obtained. In this way, the various turning trajectories between each exit lane and the target entrance lane can be determined based on the lane position of at least one exit lane associated with the target entrance lane and the lane position of the target entrance lane, and then the target exit lane of the target vehicle is determined based on the initial position and each turning trajectory, and finally the target trajectory of the target vehicle is determined based on the lane position and initial position of the target exit lane. Thus, accurate prediction of the lane level of the trajectory of the target vehicle at the intersection is achieved.

[0047] After introducing the design ideas of the embodiments of the present application, the following briefly introduces the application scenarios to which the technical solutions of the embodiments of the present application can be applied. It should be noted that the application scenarios introduced below are only used to illustrate the embodiments of the present application and are not limited. In specific implementation, the technical solutions provided by the embodiments of the present application can be flexibly applied according to actual needs.

[0048] refer to Figure 1 , shows a schematic diagram of a vehicle lost in an intersection lane, where lane P1 is the lane where the target vehicle enters the intersection, that is, the target entrance lane. In addition, Figure 1 The last monitored position of the target vehicle at the intersection is also shown, that is, the lost position, which is referred to as the initial position in the embodiment of the present application. In the embodiment of the present application, the target trajectory of the target vehicle at the intersection can be determined according to the position of the target entrance lane and the initial position of the target vehicle.

[0049] To further illustrate the technical solution provided by the embodiment of the present application, this is described in detail below in conjunction with the accompanying drawings and specific implementation methods. Although the embodiment of the present application provides the method operation steps shown in the following embodiments or drawings, more or fewer operation steps may be included in the method based on routine or no creative labor. In the steps where there is no necessary causal relationship logically, the execution order of these steps is not limited to the execution order provided in the embodiment of the present application.

[0050] Combine the following Figure 1 The application scenario shown is shown in Figure 2 The flowchart of a method for estimating the trajectory of a vehicle turning at the center of an intersection is shown. The method can be executed by a trajectory estimation device for a vehicle turning at the center of an intersection. The trajectory estimation device can be an electronic device or a server with a data processing function. Figure 1 , the technical solution provided in the embodiments of the present application is described.

[0051] S201: The trajectory estimation device obtains the initial position of the target vehicle and the lane position of the target entrance lane.

[0052] The initial position is the position where the target vehicle was last monitored at the intersection, and the target entrance lane is the entrance lane where the target vehicle enters the intersection.

[0053] S202: The trajectory estimation device determines at least one turning trajectory between at least one exit lane and the target entrance lane according to the lane position of at least one exit lane associated with the target entrance lane and the lane position of the target entrance lane.

[0054] Among them, at least one turning trajectory corresponds to at least one exit lane; the lane position is a set position on the stop line of the corresponding lane.

[0055] S203: The trajectory estimation device determines a target exit lane of the target vehicle according to the initial position and at least one turning trajectory.

[0056] S204: The trajectory estimation device determines a target trajectory of the target vehicle according to the lane position and the initial position of the target exit lane.

[0057] In the embodiment of the present application, after the target vehicle turns and enters the intersection, the position (initial position) of the target vehicle at the intersection that was monitored for the last time and the entrance lane (target entrance lane) of the target vehicle entering the intersection are obtained. In this way, the lane position of at least one exit lane associated with the target entrance lane and the lane position of the target entrance lane can be used to determine the various turning trajectories between each exit lane and the target entrance lane, and then the target exit lane of the target vehicle is determined based on the initial position and each turning trajectory, and finally the target trajectory of the target vehicle is determined based on the lane position and initial position of the target exit lane. Independent of the historical trajectory of the target vehicle, accurate prediction of the lane level of the trajectory of the target vehicle at the intersection is achieved.

[0058] Before introducing the embodiments of the present application, the lane positions of each lane are described first, wherein a certain set position on the stop line of the lane can be used as the position of the lane, and the set position can be, for example, the midpoint of the stop line. If there are 8 lanes in each direction of the east, west, south and north directions of the intersection, 4 lanes are entrance lanes and the other 4 lanes are exit lanes. Therefore, for an intersection, 32 lanes are included. The lane position is usually expressed in longitude and latitude coordinates, which can be measured by professional measuring instruments, and the angle between each lane and the north direction can be obtained by high-precision map or manual calibration. Ideally, the shape of the intersection is rectangular, and the angle between the north-south lane and the north direction is 0 degrees or 180 degrees, and the angle between the east-west lane and the north direction is 90 degrees or 270 degrees. However, usually, the shape of the intersection is not rectangular, or, and the angle between the north-south lane and the north direction is not 0 degrees or 180 degrees, and the angle between the east-west lane and the north direction is not 90 degrees or 270 degrees. Therefore, in order to improve accuracy or reduce the operational complexity of manual measurement, the positions of other lanes can be calculated when the position of any lane and the distance between the other lanes and the lane are known.

[0059] In relation to S201, the trajectory estimation device and the monitoring device at the intersection can perform data transmission and receive the location information (e.g., longitude and latitude information) of the initial position of the target vehicle from the monitoring device. In addition, the lane number and other information of the target entrance lane from the monitoring device can be used to search for the lane position of the target entrance lane (e.g., longitude and latitude information) based on the lane number information.

[0060] In the embodiment of the present application, the target entrance lane takes lane P1 on the southbound lane as an example, and the lane position p1 of P1 and the lane positions p3, p5, p7, and p9 of the four exit lanes P3, P5, P7, and P9 associated with the target entrance lane are obtained by measurement; or, the lane position p1 of the target entrance lane P1 is obtained by measurement, and the lane positions of the four exit lanes associated with the target entrance lane are calculated based on the straight-line distances between the positions p3, p5, p7, and p9 of the target entrance lane P3, P5, P7, and P9 and the lane position p1 of the target entrance lane P1 and the lane positions of the four exit lanes. In addition, in the subsequent calculation process, the fixed point on the stop line on the opposite lane of the target entrance lane P1 can also be calculated.

[0061] Taking a point as an example, the process of calculating the positions of other lanes or points based on the lane position p1 of the target entrance lane P1 and the straight-line distance d between other lanes or other points and the target entrance lane P1 is described as follows:

[0062] For example, the target entrance lane is a left turn lane, which is measured by p1 and recorded as (ln g1, lat1). Z is a fixed point on the stop line of the opposite lane of the target entrance lane in a direction perpendicular to the stop line of the target entrance lane. If the stop line of the northbound lane is parallel to the stop line of the target entrance lane, Z is a point on the stop line of the opposite symmetrical lane P2 of the target entrance lane P1. Otherwise, Z may not be on the opposite symmetrical lane, or may not coincide with P2.

[0063] A lane coordinate system is established with the midpoint of the stop line of the target entrance lane P1 as the origin, the direction of the target entrance lane line as the ordinate, and the vertical direction as the abscissa. Figure 3 A schematic diagram of a lane coordinate system provided in an embodiment of the present application.

[0064] Figure 4 A schematic diagram of calculating the longitude and latitude of a fixed point Z provided in an embodiment of the present application, the straight-line distance between Z and the origin of p1 is d, and the longitude deviation between the position point P1 and the position point P2 can be calculated as Δln g=(d*sin(Ang*π / 180)) / (111320*cos(lat1*π / 180)), and the latitude deviation is Δlat=(d*cos(Ang*π / 180)) / 110540, therefore, the coordinates of the point P2 are P2(ln g2, lat2), lat2=lat1+Δlat, ln g2=ln g1+Δln g. In the same way, the longitude and latitude coordinates of the exit lanes P3, P5, P7, and P9 can be calculated.

[0065] As in the above example, the positions of P1, Z, P3, P5, P7, and P9 can be obtained.

[0066] In S202, the trajectory estimation device determines at least one turning trajectory between at least one exit lane and the target entry lane according to the lane position of at least one exit lane (P3, P5, P7, P9) associated with the target entry lane P1 and the lane position of the target entry lane P1. In this example, there are 4 exit lanes, and the turning trajectory L1 between the target entry lane P1 and the exit lane P3, the turning trajectory L2 between the target entry lane P1 and the exit lane P5, the turning trajectory L3 between the target entry lane P1 and the exit lane P7, and the turning trajectory L4 between the target entry lane P1 and the exit lane P9 can be calculated respectively.

[0067] Optionally, at least one first set position point includes a first position point and a second position point; the first position point is the midpoint of the lane position of the target entrance lane and the first reference point, and the second position point is the midpoint of the lane position of the exit lane and the first reference point; the first reference point is the intersection of the first straight line and the second straight line, the first straight line is a straight line passing through the target entrance lane and perpendicular to the stop line of the target entrance lane; the second straight line is a straight line passing through the exit lane and parallel to the stop line of the target entrance lane.

[0068] The intersection of the first straight line and the second straight line is determined in the following manner: a fixed point P2 on the stop line on the opposite lane of the target entrance lane is determined in a direction perpendicular to the stop line of the target entrance lane; description information (such as a straight line equation) of the first straight line is determined based on the position of the fixed point P2 and the lane position of the target entrance lane P1; the description information can be used to represent the position of a point on the first straight line; the intersection of the first straight line and the second straight line is determined based on the description information of the first straight line and the lane position of the exit lane.

[0069] Specifically, take P3 as an example of the exit lane, the first straight line is the Y axis of the lane coordinate system, the second straight line is the straight line passing through point P3 and parallel to the X axis, if the eastbound lane is perpendicular to the southbound lane, then the second straight line passes through lane P4. The equation of the first straight line is (y-lat1) / (lat2-lat1)=(x-ln g1) / (ln g2-ln g1), based on the position of the second straight line and the equation of the first straight line, the intersection of the two can be determined, that is, the first reference point X1.

[0070] Figure 5 A schematic diagram of the positional relationship between a first straight line and a second straight line is provided for an embodiment of the present application, wherein P4, P6, P8 and P10 are eastbound lanes. If the intersection is a rectangle, the line connecting P3 and P4, the line connecting P5 and P6, the line connecting P7 and P8, and the line connecting P9 and P10 are all parallel to the X-axis. Otherwise, the straight lines perpendicular to the Y-axis can also be determined only through the directions of P3, P5, P7, P9 and the stop lines of P1. Figure 6A schematic diagram of determining the intersection of the first straight line and the second straight line provided in an embodiment of the present application. Applying the same method, the intersections X2, X3 and X4 of the straight line parallel to the stop line of the target entrance lane where P5, P7 and P9 are located and the Y axis can be obtained for other exit lanes.

[0071] For example, Figure 7 A schematic diagram for determining each position point provided in an embodiment of the present application, the coordinate of X1 is represented by x1, the coordinate of X2 is represented by x2, the coordinate of X3 is represented by x3, and the coordinate of X4 is represented by x4. For the exit lane P3, the coordinate of the first position point P1' is 1 / 2(x1+p1), and the coordinate of the second position point P3' is 1 / 2(x1+p3); for the exit lane P5, the coordinate of the first position point P1" is 1 / 2(x2+p1), and the coordinate of the second position point P5' is 1 / 2(x1+p5); for the exit lane P7, the coordinate of the first position point P1"' is 1 / 2(x3+p1), and the coordinate of the second position point P7' is 1 / 2(x1+p7); for the exit lane p9, the coordinate of the first position point P1"" is 1 / 2(x4+p1), and the coordinate of the second position point P9' is 1 / 2(x1+p9).

[0072] Exemplarily, for each exit lane, a first curve fitting equation is applied to determine a turning trajectory between the exit lane and the target entrance lane according to a lane position of the exit lane, a lane position of a target entrance lane, and at least one first set position point.

[0073] Among them, the first curve fitting equation is the Bessel curve equation, and the formula of the Bessel curve equation is as follows:

[0074]

[0075] In the embodiment of the present application, the third-order Bessel equation can be used, that is, 4 fixed points are used to determine a curve equation. The third-order Bessel equation is:

[0076] B(t)=(1-t) 3 B0+3t(1-t) 2 B1+3t 2 (1-t)B2+t 3 B3,t∈[0,1]

[0077] Among them, the four fixed points are B0, B1, B2, and B3, and t is an equal value. Figure 8 A schematic diagram of a Bezier curve fitting provided in an embodiment of the present application.

[0078] In the embodiment of the present application, for the exit lane P3, the four fixed points are P1, P1', P3' and P3, and the turning trajectory is L1; for the exit lane P5, the four fixed points are P1, P1", P5' and P5, and the turning trajectory is L2; ​​for the exit lane P7, the four fixed points are P1, P1'", P7' and P7, and the turning trajectory is L3; for the exit lane P9, the four fixed points are P1, P1", P9' and P9, and the turning trajectory is L4. Fig. 9 A schematic diagram of determining a turning trajectory provided in an embodiment of the present application.

[0079] Involving S203, the target exit lane of the target vehicle is determined based on the initial position and at least one turning trajectory. In this process, the position of the trajectory point on at least one turning trajectory can be first determined; among each trajectory point, the target trajectory point closest to the initial position is found; and the exit lane corresponding to the turning trajectory to which the target trajectory point belongs is determined as the target exit lane.

[0080] The initial position is recorded as l = (ln g l ,lat l ), divide the turning trajectories L1, L2, L3, and L4 into 100 equal parts, calculate the coordinate points, and the formula for obtaining any coordinate point is:

[0081]

[0082] Among the 400 points, the point closest to the initial position is found as the target trajectory point, and the exit lane corresponding to the target trajectory point is the target exit lane, that is, the estimated target vehicle exits from the exit lane. In the embodiment of the present application, the target exit vehicle takes the exit lane P5 as an example.

[0083] In S204, a target trajectory of the target vehicle is determined according to the lane position and the initial position of the target exit lane.

[0084] Optionally, a second curve fitting equation is applied to determine the target trajectory of the target vehicle according to the lane position, the initial position, and at least one second set position point of the target exit lane. The second curve fitting equation is a Belset equation, and the at least one second set position point includes a third position point and a fourth position point, the third position point is the midpoint between the initial position and the second reference point, and the fourth position point is the midpoint between the target exit lane and the second reference point; the second reference point is the intersection of the third straight line and the fourth straight line, the third straight line is a straight line passing through the initial position and perpendicular to the stop line of the target entrance lane, and the fourth straight line is a straight line passing through the exit lane and parallel to the stop line of the target entrance lane.

[0085] Specifically, the process of obtaining the target trajectory is the same as the process of obtaining the turning trajectory. In this example, the third straight line is a straight line passing through the initial position l and parallel to the y-axis, the fourth straight line is a straight line passing through point P5 and perpendicular to the y-axis, and the second reference point is the intersection of the third straight line and the fourth straight line, denoted as X L , then the third position point l' is l and X L The fourth position point is P5 and X L According to the fitting principle of Bessel equation, the target trajectory L can be obtained by fitting points l, l', P5" and P5. Fig.10 A schematic diagram of determining a location point provided in an embodiment of the present application. Fig.11 A schematic diagram of determining a target trajectory provided in an embodiment of the present application.

[0086] In order to make the solution of the present application more perfect, after obtaining the target trajectory of the target vehicle, the length of the target trajectory and the real-time position of the target vehicle can also be determined.

[0087] Optionally, divide the target trajectory into 100 equal parts to calculate all coordinate points on the trajectory, obtain the coordinate value of any point, and calculate the distance between two adjacent coordinate points The length of the target trajectory is

[0088] In addition, the time required for the target trajectory to travel is calculated as t1=D / v, the total number of target trajectory points is N=t1 / T, T is determined by the high frequency of monitoring equipment tracking, which can generally be 40ms-100ms, and the real-time position of the i-th frame is calculated as follows:

[0089]

[0090] In this example, the four fixed points are l, l', P5", and P5.

[0091] In the embodiment of the present application, after the target vehicle turns and enters the intersection, the target vehicle's target trajectory is determined by determining the turning trajectory between the target entry lane and each exit lane, finding the target exit lane from which the target vehicle exits, the lane position and the lost position of the target exit lane, without relying on the target vehicle's historical motion trajectory. Independent of the target vehicle's historical trajectory, the lane-level accurate prediction of the target vehicle's trajectory at the intersection is achieved, and it is also applicable to intersection holographic detection and digital twin detection.

[0092] like Fig.12 As shown, based on the same inventive concept, an embodiment of the present application provides a trajectory estimation device for a vehicle turning at the center of an intersection, including a data acquisition unit 121, a turning trajectory determination unit 122, a target exit lane determination unit 123 and a target trajectory determination unit 124.

[0093] The data acquisition unit 121 is used to: acquire the initial position of the target vehicle and the lane position of the target entrance lane; wherein the initial position is the position of the target vehicle at the intersection where it was last monitored, and the target entrance lane is the entrance lane of the target vehicle entering the intersection;

[0094] The turning trajectory determining unit 122 is used to: determine at least one turning trajectory between at least one exit lane and the target entrance lane according to the lane position of at least one exit lane associated with the target entrance lane and the lane position of the target entrance lane; wherein the at least one turning trajectory corresponds to the at least one exit lane one-to-one; and the lane position is a set position on the stop line of the corresponding lane;

[0095] A target exit lane determining unit 123, configured to determine a target exit lane of the target vehicle according to an initial position and at least one turning trajectory;

[0096] The target trajectory determination unit 124 is used to determine the target trajectory of the target vehicle according to the lane position and the initial position of the target exit lane.

[0097] In a possible implementation, the turning trajectory determination unit 122 is specifically configured to:

[0098] For each exit lane, a first curve fitting equation is applied to determine a turning trajectory between the exit lane and the target entrance lane according to a lane position of the exit lane, a lane position of the target entrance lane, and at least one first set position point.

[0099] In a possible implementation, the first curve fitting equation is a Belle curve equation; at least one first set position point includes a first position point and a second position point; the first position point is the midpoint of the lane position of the target entrance lane and the first reference point, and the second position point is the midpoint of the lane position of the exit lane and the first reference point; wherein the first reference point is the intersection of the first straight line and the second straight line, the first straight line is a straight line passing through the target entrance lane and perpendicular to the stop line of the target entrance lane; the second straight line is a straight line passing through the exit lane and parallel to the stop line of the target entrance lane.

[0100] In a possible implementation manner, the turning trajectory determination unit 122 is further configured to determine the intersection point of the first straight line and the second straight line in the following manner:

[0101] Determine a fixed point on the stop line of the opposite lane of the target entrance lane in a direction perpendicular to the stop line of the target entrance lane;

[0102] Determine description information of the first straight line according to the position of the fixed point and the lane position of the target entrance lane; wherein the description information is used to represent the position of the point on the first straight line;

[0103] The intersection point of the first straight line and the second straight line is determined according to the description information of the first straight line and the lane position of the exit lane.

[0104] In a possible implementation manner, the target exit lane determining unit 123 is specifically configured to:

[0105] determining a position of at least one trajectory point on the turning trajectory;

[0106] Among all the trajectory points, find the target trajectory point closest to the initial position;

[0107] Determine the exit lane corresponding to the turning trajectory to which the target trajectory point belongs as the target exit lane.

[0108] In a possible implementation, the target trajectory determination unit 124 is specifically configured to:

[0109] A second curve fitting equation is applied to determine a target trajectory of the target vehicle based on a lane position, an initial position, and at least one second set position point of the target exit lane.

[0110] In a possible implementation, the second curve fitting equation is a Belset equation, and at least one second set position point includes a third position point and a fourth position point, the third position point is the midpoint between the initial position and the second reference point, and the fourth position point is the midpoint between the target exit lane and the second reference point; the second reference point is the intersection of a third straight line and a fourth straight line, the third straight line is a straight line passing through the initial position and perpendicular to the stop line of the target entrance lane, and the fourth straight line is a straight line passing through the exit lane and parallel to the stop line of the target entrance lane.

[0111] In a possible implementation manner, a length and position determination unit is further included, which is used to, after determining the target trajectory of the target vehicle according to the target exit lane and the initial position:

[0112] Determine the length of the target trajectory and the real-time position of the target vehicle.

[0113] Since the device is the device in the method in the embodiment of the present application, and the principle of solving the problem by the device is similar to that of the method, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0114] like Fig.13 As shown, based on the same inventive concept, an embodiment of the present application provides a trajectory estimation device for a vehicle turning at the center of an intersection, including a data transmission unit 131 and a processor 132;

[0115] The data transmission unit 131 is configured to execute:

[0116] Obtaining the initial position of the target vehicle and the lane position of the target entrance lane; wherein the initial position is the position of the target vehicle at the intersection when it was last monitored, and the target entrance lane is the entrance lane of the target vehicle at the intersection;

[0117] The processor 132 is configured to execute:

[0118] Determine at least one turning trajectory between at least one exit lane and the target entrance lane according to the lane position of at least one exit lane associated with the target entrance lane and the lane position of the target entrance lane; wherein at least one turning trajectory corresponds to at least one exit lane in a one-to-one manner; and the lane position is a set position on a stop line of the corresponding lane;

[0119] determining a target exit lane for the target vehicle based on the initial position and at least one turning trajectory;

[0120] Based on the target exit lane and initial position, the target trajectory of the target vehicle is determined.

[0121] In a possible implementation, the processor 132 is specifically configured to execute:

[0122] For each exit lane, a first curve fitting equation is applied to determine a turning trajectory between the exit lane and the target entrance lane according to a lane position of the exit lane, a lane position of the target entrance lane, and at least one first set position point.

[0123] In a possible implementation, the first curve fitting equation is a Belset curve equation; the at least one first set position point includes a first position point and a second position point; the first position point is a midpoint between a lane position of a target entrance lane and a first reference point, and the second position point is a midpoint between a lane position of an exit lane and the first reference point;

[0124] Among them, the first reference point is the intersection of the first straight line and the second straight line, the first straight line is a straight line passing through the target entrance lane and perpendicular to the stop line of the target entrance lane; the second straight line is a straight line passing through the exit lane and parallel to the stop line of the target entrance lane.

[0125] In a possible implementation, the processor 132 is further configured to determine the intersection of the first straight line and the second straight line in the following manner:

[0126] Determine a fixed point on the stop line of the opposite lane of the target entrance lane in a direction perpendicular to the stop line of the target entrance lane;

[0127] Determine description information of the first straight line according to the position of the fixed point and the lane position of the target entrance lane; wherein the description information is used to represent the position of the point on the first straight line;

[0128] The intersection point of the first straight line and the second straight line is determined according to the description information of the first straight line and the lane position of the exit lane.

[0129] In a possible implementation, the processor 132 is specifically configured to execute:

[0130] determining a position of at least one trajectory point on the turning trajectory;

[0131] Among all the trajectory points, find the target trajectory point closest to the initial position;

[0132] Determine the exit lane corresponding to the turning trajectory to which the target trajectory point belongs as the target exit lane.

[0133] In a possible implementation, the processor 132 is specifically configured to execute:

[0134] A second curve fitting equation is applied to determine a target trajectory of the target vehicle based on a lane position, an initial position, and at least one second set position point of the target exit lane.

[0135] In a possible implementation, the second curve fitting equation is a Belset equation, and at least one second set position point includes a third position point and a fourth position point, the third position point is the midpoint between the initial position and the second reference point, and the fourth position point is the midpoint between the target exit lane and the second reference point; the second reference point is the intersection of a third straight line and a fourth straight line, the third straight line is a straight line passing through the initial position and perpendicular to the stop line of the target entrance lane, and the fourth straight line is a straight line passing through the exit lane and parallel to the stop line of the target entrance lane.

[0136] In a possible implementation, after determining the target trajectory of the target vehicle according to the target exit lane and the initial position, the processor 132 is further configured to execute:

[0137] Determine the length of the target trajectory and the real-time position of the target vehicle.

[0138] The embodiment of the present application further provides a computer storage medium, in which computer program instructions are stored. When the instructions are executed on a computer, the computer executes the steps of the above-mentioned method for estimating the trajectory of a vehicle turning at the center of an intersection.

[0139] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0140] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0141] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0142] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0143] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for estimating the trajectory of a vehicle turning at the center of an intersection, characterized in that: include: Acquire the initial position of the target vehicle and the lane position of the target entrance lane; wherein the initial position is the position of the target vehicle at the intersection where it was last monitored, and the target entrance lane is the entrance lane where the target vehicle enters the intersection; Determine at least one turning trajectory between the at least one exit lane and the target entrance lane according to the lane position of at least one exit lane associated with the target entrance lane and the lane position of the target entrance lane; wherein the at least one turning trajectory corresponds to the at least one exit lane in a one-to-one manner; and the lane position is a set position on a stop line of a corresponding lane; Determining a target exit lane for the target vehicle based on the initial position and the at least one turning trajectory; A target trajectory of the target vehicle is determined according to the lane position of the target exit lane and the initial position.

2. The method according to claim 1, characterized in that The determining, based on the lane position of at least one exit lane associated with the target entrance lane and the lane position of the target entrance lane, at least one turning trajectory between the at least one exit lane and the target entrance lane comprises: For each exit lane, a first curve fitting equation is applied to determine a turning trajectory between the exit lane and the target entrance lane according to a lane position of the exit lane, a lane position of the target entrance lane, and at least one first set position point.

3. The method according to claim 2, characterized in that The first curve fitting equation is a Belle curve equation; the at least one first set position point includes a first position point and a second position point; the first position point is a midpoint between a lane position of the target entrance lane and a first reference point, and the second position point is a midpoint between a lane position of the exit lane and the first reference point; Among them, the first reference point is the intersection of a first straight line and a second straight line, the first straight line is a straight line passing through the target entrance lane and perpendicular to the stop line of the target entrance lane; the second straight line is a straight line passing through the exit lane and parallel to the stop line of the target entrance lane.

4. The method according to claim 3, characterized in that The method further includes determining an intersection point of the first straight line and the second straight line by: Determine a fixed point on the stop line of the opposite lane of the target entrance lane in a direction perpendicular to the stop line of the target entrance lane; Determining description information of the first straight line according to the position of the fixed point and the lane position of the target entrance lane; wherein the description information is used to represent the position of a point on the first straight line; The intersection point of the first straight line and the second straight line is determined according to the description information of the first straight line and the lane position of the exit lane.

5. The method according to claim 1, characterized in that: The step of determining a target exit lane of the target vehicle according to the initial position and the at least one turning trajectory comprises: determining a position of a trajectory point on the at least one turning trajectory; Find the target trajectory point closest to the initial position among the trajectory points; Determine the exit lane corresponding to the turning trajectory to which the target trajectory point belongs as the target exit lane.

6. The method according to claim 1, characterized in that Determining the target trajectory of the target vehicle according to the target exit lane and the initial position includes: A second curve fitting equation is applied to determine a target trajectory of the target vehicle according to the lane position of the target exit lane, the initial position, and at least one second set position point.

7. The method according to claim 6, characterized in that The second curve fitting equation is a Bellset equation, and the at least one second set position point includes a third position point and a fourth position point, the third position point is the midpoint between the initial position and the second reference point, and the fourth position point is the midpoint between the target exit lane and the second reference point; the second reference point is the intersection of the third straight line and the fourth straight line, the third straight line is a straight line passing through the initial position and perpendicular to the stop line of the target entrance lane, and the fourth straight line is a straight line passing through the exit lane and parallel to the stop line of the target entrance lane.

8. The method according to any one of claims 1 to 7, characterized in that: After determining the target trajectory of the target vehicle according to the target exit lane and the initial position, the method further includes: The length of the target trajectory and the real-time position of the target vehicle are determined.

9. A trajectory estimation device for a vehicle turning at the center of an intersection, characterized in that: including a data transmission unit and a processor; Wherein, the data transmission unit is configured to execute: Acquire the initial position of the target vehicle and the lane position of the target entrance lane; wherein the initial position is the position of the target vehicle at the intersection when it was last monitored, and the target entrance lane is the entrance lane of the target vehicle at the intersection; The processor is configured to perform: Determine at least one turning trajectory between the at least one exit lane and the target entrance lane according to the lane position of at least one exit lane associated with the target entrance lane and the lane position of the target entrance lane; wherein the at least one turning trajectory corresponds to the at least one exit lane in a one-to-one manner; and the lane position is a set position on a stop line of a corresponding lane; Determining a target exit lane for the target vehicle based on the initial position and the at least one turning trajectory; A target trajectory of the target vehicle is determined according to the target exit lane and the initial position.

10. The device according to claim 9, characterized in that The processor is specifically configured to execute: For each exit lane, a first curve fitting equation is applied to determine a turning trajectory between the exit lane and the target entrance lane according to a lane position of the exit lane, a lane position of the target entrance lane, and at least one first set position point.

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