Vehicle automatic driving path track accurate identification system

Abstract

The invention relates to the technical field of vehicle automatic driving, in particular to a vehicle automatic driving path track accurate recognition system. The system comprises a path range identification unit, a road extension simulation unit and a path sideline planning unit. Lane line information scanned in the lane line scanning module is extracted through the lacking line section scanning module so as to determine whether a road lacks a lane line, the distance dividing module divides the distance of a lane lacking the lane line, and then the line body position simulation module simulates the position of the lane line on the road lacking the lane line so as to simulate the position of the lane line on the road lacking the lane line. The position of the lane line on the road lacking the lane line is simulated by the position simulation unit, and the path sideline planning unit is used for checking and running, so that when the automatic driving vehicle runs on the road without the guidance of the lane line, the driving deviation condition is avoided, and the safe driving of the automatic driving vehicle is ensured.

Description

Technical Field

[0001] The present invention relates to the field of vehicle automatic driving technology, and in particular to a vehicle automatic driving path trajectory accurate identification system. Background Art

[0002] With the rapid development of AI, self-driving cars are gradually entering the road. Self-driving cars determine the route through precise satellite positioning and navigation, and scan nearby roads through radar to obtain the driving conditions of the road, so as to ensure the safe driving of the vehicle on the road. While the vehicle is driving on the road, it will determine the position and trajectory of the vehicle on the road by scanning the lane lines on the road, and correct the position of the vehicle through the lane lines to ensure the normal driving of the vehicle.

[0003] However, the lane lines on some sections of road will be worn away during the driving process. When an autonomous vehicle is driving on such a road without lane lines to guide it, the vehicle itself cannot accurately determine its position in the lane, especially on curved roads. The autonomous car cannot correct its own position and may not only go into the wrong lane but also affect the normal driving of other vehicles on the road. Therefore, it is necessary to solve the problem of accurate driving of autonomous vehicles on roads without lane lines. Summary of the invention

[0004] The purpose of the present invention is to provide a vehicle automatic driving path trajectory accurate identification system to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, a vehicle automatic driving path trajectory accurate identification system is provided, which includes a path range identification unit, a road extension simulation unit and a path edge planning unit; The path range recognition unit is used to recognize and scan lane lines drawn on the road, obtain lane line information, and calculate the distance between lane lines; The road extension simulation unit is used to receive the lane lines scanned by the path range recognition unit, and compare the lane lines scanned by the path range recognition unit with the line spacing calculated by the path range recognition unit to determine whether the lane lines scanned by the path range recognition unit are missing, and divide the lane line spacing when missing, and simulate the original position of the lane line; The path edge planning unit reads the road route information on the navigation software, and verifies the position and data of the original lane line simulated by the road extension simulation unit based on the read information, and displays it after the verification is completed. During the display process of the path edge planning unit, the path range recognition unit continues to scan the road, and transmits the distance between the vehicle body and the simulated lane line and the lane line on the ground to the path edge planning unit for display.

[0006] As a further improvement of the technical solution, the path range identification unit includes a lane line scanning module and an inter-line distance calculation module; The lane line scanning module uses a camera installed on the vehicle body to shoot and scan the lane lines on both sides of the vehicle to obtain the lane lines drawn on the road; The line distance calculation module receives the lane lines drawn on the road acquired by the lane line scanning module, and calculates the distance between every two lane lines according to the acquired positions of the lane lines.

[0007] As a further improvement of the technical solution, the road extension simulation unit includes a missing line segment scanning module, a spacing division module and a line position simulation module; The missing line segment scanning module extracts the data scanned by the lane line scanning module, determines the number of lane lines around the vehicle on the road, and compares the lane line data with the data scanned by the lane line scanning module to determine whether the lane line on the road is missing; The spacing division module is used to receive the distance between two lane lines that are not missing and the distance data of the missing lane line of the road calculated by the line distance calculation module, and receive the information of the missing position of the lane line determined by the missing line segment scanning module, and divide the lane spacing by comparing the distance between two lane lines that are not missing and the distance data of the missing lane line, and after the lane spacing is divided, transmit the information to the line position simulation module; The line position simulation module receives data on missing lane lines and lane spacing of a road transmitted by the spacing division module and the missing line segment scanning module, and simulates the position of lane lines on the road missing lane lines according to the received data.

[0008] As a further improvement of the present technical solution, after simulating the position of the lane line, the line position simulation module feeds back information to the missing line segment scanning module, so that the missing line segment scanning module feeds back to the lane line scanning module, so that the lane line scanning module re-scans the lane in combination with the position of the lane line simulated by the line position simulation module, and transmits the scanned data to the line distance calculation module, so that the line distance calculation module calculates the distance between the lane line simulated by the line position simulation module and the original lane line of the road, and the line distance calculation module transmits the calculated data to the distance division module, so that the distance division module determines whether the lane line simulated by the line position simulation module is correct according to the distance between the lane lines calculated by the line distance calculation module.

[0009] As a further improvement of the technical solution, the spacing division module has the following situations when judging whether the position of the lane line simulated by the line position simulation module is correct: When it is incorrect, the spacing division module transmits the data from the line distance calculation module to the line position simulation module, so that the line position simulation module re-simulates the lane line according to the newly received data; When correct, the spacing division module feeds back the correct lane line information to the line position simulation module.

[0010] As a further improvement of the technical solution, the path edge planning unit includes a navigation route reading module, a line quantity checking module and a line simulation operation module; The navigation route reading module obtains lane quantity information of the road where the vehicle is located by means of navigation software, and transmits the obtained lane quantity information to the line quantity checking module; The line quantity checking module receives the information of the number of lanes transmitted by the navigation route reading module, and also receives the data of the lane lines simulated by the line position simulation module, and checks the lane lines simulated by the line position simulation module according to the data received from the navigation route reading module to determine whether the number of lane lines is correct; The line simulation operation module receives the lane line data checked by the line quantity verification module and the lane number information obtained by the navigation route reading module, and displays the road image taken by the camera through the display screen and displays the lane lines simulated by the line position simulation module at the corresponding positions.

[0011] As a further improvement of the present technical solution, the path range identification unit also includes a line change scanning module, which scans the line change of the road when encountering an intersection, and transmits the scanned data to the line distance calculation module. At the same time, the line quantity verification module transmits the lane quantity information obtained by the navigation route reading module to the line distance calculation module, and the line distance calculation module calculates the distance of the lane change position. After the calculation, the line distance calculation module transmits the data to the spacing division module, and the spacing division module divides the spacing of the lane line changes according to the spacing information.

[0012] As a further improvement of the present technical solution, the line simulation operation module provides feedback to the lane line scanning module when displaying the road image and the lane line simulated by the line position simulation module, so that the lane line scanning module scans the lane lines on the road and the simulated lane lines, and the line distance calculation module calculates the side distance of the vehicle to the lane lines on the road or the simulated lane lines, and transmits the distance information to the line simulation operation module, which displays the distance from the side of the lane to the lane line.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. In the vehicle's automatic driving path trajectory precise identification system, the lane line information scanned in the lane line scanning module is extracted by the missing line segment scanning module to determine whether the road lacks lane lines, and the spacing division module divides the spacing of the lanes lacking lane lines, and then the line position simulation module simulates the position of the lane lines on the road lacking lane lines, so as to simulate the position of the lane lines on the road lacking lane lines, and the path edge planning unit checks and runs it, so as to ensure that the automatic driving vehicle will not deviate when driving on a road without lane line guidance, thereby ensuring the safe driving of the automatic driving vehicle.

[0014] 2. In the vehicle automatic driving path trajectory precise identification system, after the line position simulation module simulates the position of the lane line, it feeds back to the path range identification unit, so that the path range identification unit calculates the lane line distance according to the simulated lane line, so as to verify whether the lane line position simulation is correct. At the same time, when the line simulation operation module runs the simulated lane line, the line simulation operation module feeds back to the lane line scanning module, so that the lane line scanning module scans the road, and the line distance calculation module calculates the distance between the vehicle and the lane line on the road and the simulated lane line, so that the vehicle can make corrections at any time to ensure the safe driving of the vehicle on the lane. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is an overall block diagram of the present invention; Figure 2 A block diagram of a path range identification unit of the present invention; Figure 3 It is a block diagram of a road extension simulation unit of the present invention; Figure 4 A block diagram of a path edge planning unit of the present invention; Figure 5 It is an overall schematic block diagram of the present invention.

[0016] The meaning of each number in the figure is: 1. Path range recognition unit; 11. Lane line scanning module; 12. Line change scanning module; 13. Line distance calculation module; 2. Road extension simulation unit; 21. Missing line section scanning module; 22. Spacing division module; 23. Line position simulation module; 3. Path edge planning unit; 31. Navigation route reading module; 32. Line quantity verification module; 33. Line simulation operation module. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0019] Example 1 To improve the ability of autonomous vehicles to operate normally on roads without lane lines, please refer to Figure 1-Figure 5 As shown, the purpose of this embodiment is to provide a vehicle automatic driving path trajectory accurate identification system, including a path range identification unit 1, a road extension simulation unit 2 and a path edge planning unit 3; The path range recognition unit 1 is used to recognize and scan the lane lines drawn on the road, obtain the information of the lane lines, and calculate the distance between the lane lines; The path range recognition unit 1 includes a lane line scanning module 11 and an inter-line distance calculation module 13; The lane line scanning module 11 uses a camera installed on the vehicle body to shoot and scan the lane lines on both sides of the vehicle to obtain the driving conditions on the road and the lane lines drawn on the road, and recognizes the lane line information by using the image recognition function, so as to obtain the lane lines drawn on the road; The line distance calculation module 13 receives the lane lines drawn on the road obtained by the lane line scanning module 11, and calculates the distance between every two lane lines according to the positions of the obtained lane lines. The method used by the line distance calculation module 13 to calculate the distance between two lanes is: ①, according to the road information captured by the lane line scanning module 11, an inclined auxiliary line from the camera to the lane line or the road boundary line is obtained, and the inclination angle of the inclined auxiliary line in the vertical direction is obtained by using image recognition technology; ②. Obtain the distance from the camera to the ground, which is a fixed distance, and use trigonometric functions to calculate the horizontal distance from the camera to the inclined auxiliary line of the lane line or road boundary line; The formula is: in, is the horizontal distance from the camera to the lane line or road boundary line, is the inclination angle of the inclined auxiliary line in the vertical direction, is the height from the camera to the ground, and the horizontal distance from the vehicle to the lane line or road boundary line is calculated using the above formula; ③. Calculate the distance from two adjacent lane lines to the camera, and then perform a subtraction to obtain the distance between the two lane lines.

[0020] The road extension simulation unit 2 is used to receive the lane lines scanned by the path range recognition unit 1, and compare the lane lines scanned by the path range recognition unit 1 with the line spacing calculated by the path range recognition unit 1, determine whether the lane lines scanned by the path range recognition unit 1 are missing, and divide the lane line spacing when missing, and simulate the original position of the lane line; the specific content of the road extension simulation unit 2 includes: the road extension simulation unit 2 includes a missing line segment scanning module 21, a spacing division module 22 and a line position simulation module 23; The missing lane scanning module 21 extracts the lane line scanning data of the lane line scanning module 11, determines the number of lane lines around the vehicle on the road, and compares the lane line data with the data scanned by the lane line scanning module 11 to determine whether the lane line on the road is missing; That is, the number of lane lines on the normal road is obtained by scanning with the lane line scanning module 11. When the missing lane scanning module 21 extracts the data in the lane line scanning module 11 and finds that the number of lane lines currently scanned is not the same as the lane line data on the normal road (the number of lane lines decreases), it is determined that the lane line is missing. The spacing division module 22 is used to receive the distance between two lane lines that are not missing and the distance data of the missing lane line of the road calculated by the line distance calculation module 13, and receive the information of the missing position of the lane line determined by the missing line segment scanning module 21, and divide the lane spacing by comparing the distance between two lane lines that are not missing and the distance data of the missing lane line, and after the lane spacing is divided, transmit the information to the line position simulation module 23; When dividing the lane spacing, the spacing division module 22 divides the lane by obtaining the lane width calculated by the line distance calculation module 13. By identifying the distance between lane lines, if there is no lane line within the specified width range, the lane line is missing here, and the lane is divided at the specified width position; The line position simulation module 23 receives data on the missing lane lines and the lane spacing of the road transmitted by the spacing division module 22 and the missing line segment scanning module 21, and simulates the position of the lane lines of the road missing lane lines according to the received data.

[0021] After the line position simulation module 23 simulates the position of the lane line, the line position simulation module 23 feeds back information to the missing line segment scanning module 21, so that the missing line segment scanning module 21 obtains the information of the lane simulated by the line position simulation module 23, and then the missing line segment scanning module 21 feeds back to the lane line scanning module 11, and the lane line scanning module 11 re-scans the lane in combination with the position of the lane line simulated by the line position simulation module 23. During the scanning process, the lane line simulated by the line position simulation module 23 is also brought in, and then the lane line scanning module 11 transmits the scanned data to the line distance meter. In the calculation module 13, the line distance calculation module 13 calculates the distance between the lane line simulated by the line position simulation module 23 and the original lane line of the road to determine whether the distance between the simulated lane line and the lane line of the road is correct. At the same time, the line distance calculation module 13 transmits the calculated data to the spacing division module 22, so that the spacing division module 22 determines whether the lane line simulated by the line position simulation module 23 is correct according to the distance between the lane lines calculated by the line distance calculation module 13. When the spacing division module 22 determines whether the position of the lane line simulated by the line position simulation module 23 is correct, the following situations exist: When it is incorrect, it means that the simulation of the lane line is wrong and the lane line needs to be re-simulated. The spacing division module 22 transmits the data from the line distance calculation module 13 to the line position simulation module 23, so that the line position simulation module 23 re-simulates the lane line according to the newly received data. When correct, the spacing division module 22 feeds back the correct lane line information to the line position simulation module 23; The lane line information scanned in the lane line scanning module 11 is extracted by the missing line segment scanning module 21 to determine whether the road lacks lane lines, and the spacing division module 22 divides the spacing of the lanes lacking lane lines. The line position simulation module 23 then simulates the position of the lane lines on the road lacking lane lines, thereby simulating the position of the lane lines on the road lacking lane lines and improving the accuracy of the simulated lane lines.

[0022] The path edge planning unit 3 reads the road route information on the navigation software, and verifies the position and data of the original lane line simulated by the road extension simulation unit 2 according to the read information, and displays it after the verification is completed. During the display process of the path edge planning unit 3, the path range recognition unit 1 continues to scan the road, and transmits the distance between the vehicle body and the simulated lane line and the lane line on the ground to the path edge planning unit 3 for display, and performs corresponding operations on the displayed content.

[0023] The path edge planning unit 3 includes a navigation route reading module 31, a line quantity checking module 32 and a line simulation operation module 33; The navigation route reading module 31 obtains the lane number information of the road where the vehicle is located by means of the navigation software, and transmits the obtained lane number information to the line number checking module 32; The line quantity checking module 32 receives the information of the number of lanes transmitted by the navigation route reading module 31, and also receives the data of the lane lines simulated by the line position simulation module 23, and checks the lane lines simulated by the line position simulation module 23 according to the data received from the navigation route reading module 31 to determine whether the number of lane lines is correct; The line simulation operation module 33 receives the lane line data verified by the line quantity verification module 32 and the lane number information obtained by the navigation route reading module 31, and displays the road image taken by the camera and the lane line simulated by the line position simulation module 23 at the corresponding position through the display screen, and operates the simulated lane during the display process, so that the autonomous driving vehicle can correct the parking space, ensure the accuracy of the vehicle's driving on the road, and ensure the safe driving of the vehicle in the lane.

[0024] At the same time, when the line simulation operation module 33 displays the road image and the lane line simulated by the line position simulation module 23, it provides feedback to the lane line scanning module 11, so that the lane line scanning module 11 scans the lane lines on the road and the simulated lane lines, and the line distance calculation module 13 calculates the side distance of the vehicle to the lane lines on the road or the simulated lane lines, and transmits the distance information to the line simulation operation module 33, which displays the distance from the side of the lane to the lane line.

[0025] After the line position simulation module 23 simulates the position of the lane line, it feeds back to the path range recognition unit 1, so that the path range recognition unit 1 calculates the lane line distance according to the simulated lane line, so as to check whether the lane line position simulation is correct. At the same time, when the line simulation operation module 33 displays the simulated lane line, the line simulation operation module 33 feeds back to the lane line scanning module 11, so that the lane line scanning module 11 scans the road, and the line distance calculation module 13 calculates the distance between the vehicle and the lane line on the road and the simulated lane line, so that the vehicle can make corrections at any time to ensure the safe driving of the vehicle on the lane.

[0026] At the same time, lane changes are often encountered on the road. In order to cope with such situations, the path range identification unit 1 also includes a lane change scanning module 12. The lane change scanning module 12 scans the lane change of the road when encountering an intersection, and transmits the scanned data to the line distance calculation module 13. At the same time, the line quantity verification module 32 transmits the lane quantity information obtained by the navigation route reading module 31 to the line distance calculation module 13, and the line distance calculation module 13 calculates the distance of the lane change position. After the calculation, the line distance calculation module 13 transmits the data to the spacing division module 22, and the spacing division module 22 divides the spacing of the lane line change according to the spacing information, so that the line position simulation module 23 simulates the trajectory of the lane change, so that the autonomous driving car can drive safely along the simulated lane.

[0027] The above operation and description of the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A vehicle automatic driving path trajectory accurate identification system, characterized by: It includes a path range recognition unit (1), a road extension simulation unit (2) and a path edge planning unit (3); The path range recognition unit (1) is used to recognize and scan lane lines drawn on the road, obtain lane line information, and calculate the distance between lane lines; The road extension simulation unit (2) is used to receive the lane lines scanned by the path range recognition unit (1), and compare the lane lines scanned by the path range recognition unit (1) with the line spacing calculated by the path range recognition unit (1), determine whether the lane lines scanned by the path range recognition unit (1) are missing, and divide the lane line spacing when missing, and simulate the original position of the lane lines; The path edge planning unit (3) reads the road route information on the navigation software, and checks the position and data of the original lane line simulated by the road extension simulation unit (2) based on the read information, and displays it after the check is completed. During the display process of the path edge planning unit (3), the path range recognition unit (1) continues to scan the road and transmits the distance between the vehicle body and the simulated lane line and the lane line on the ground to the path edge planning unit (3) for display.

2. The vehicle automatic driving path trajectory accurate identification system according to claim 1, characterized in that: The path range recognition unit (1) comprises a lane line scanning module (11) and an inter-line distance calculation module (13); The lane line scanning module (11) uses a camera installed on the vehicle body to photograph and scan the lane lines on both sides of the vehicle to obtain the lane lines drawn on the road; The line distance calculation module (13) receives lane lines drawn on the road acquired by the lane line scanning module (11), and calculates the distance between every two lane lines based on the acquired positions of the lane lines.

3. The vehicle automatic driving path trajectory accurate identification system according to claim 2, characterized in that: The road extension simulation unit (2) comprises a missing line segment scanning module (21), a spacing division module (22) and a line position simulation module (23); The missing lane segment scanning module (21) extracts lane line scanning data of the lane line scanning module (11), determines the number of lane lines around the vehicle on the road, and compares the lane line data with the data scanned by the lane line scanning module (11) to determine whether a lane line on the road is missing; The spacing division module (22) is used to receive the distance between two lane lines that are not missing and the distance data of the missing lane line of the road calculated by the line distance calculation module (13), and receive the information of the missing lane line position determined by the missing lane section scanning module (21), and divide the lane spacing by comparing the distance between the two lane lines that are not missing and the distance data of the missing lane line, and after the lane spacing is divided, transmit the information to the line position simulation module (23); The line position simulation module (23) receives data on missing lane lines on a road and the spacing between lanes transmitted by the spacing division module (22) and the missing line segment scanning module (21), and simulates the position of lane lines on the road missing lane lines based on the received data.

4. The vehicle automatic driving path trajectory accurate identification system according to claim 3 is characterized by: After simulating the position of the lane line, the line position simulation module (23) feeds back information to the missing line segment scanning module (21), so that the missing line segment scanning module (21) feeds back to the lane line scanning module (11), so that the lane line scanning module (11) re-scans the lane in combination with the position of the lane line simulated by the line position simulation module (23), and transmits the scanned data to the line distance calculation module (13), so that the line distance calculation module (13) calculates the distance between the lane line simulated by the line position simulation module (23) and the original lane line of the road, and the line distance calculation module (13) transmits the calculated data to the distance division module (22), so that the distance division module (22) determines whether the lane line simulated by the line position simulation module (23) is correct according to the distance between the lane lines calculated by the line distance calculation module (13).

5. The vehicle automatic driving path trajectory accurate identification system according to claim 4, characterized in that: The spacing division module (22) may have the following situation when judging whether the position of the lane line simulated by the line position simulation module (23) is correct: When it is incorrect, the spacing division module (22) transmits the data from the line distance calculation module (13) to the line position simulation module (23), so that the line position simulation module (23) re-simulates the lane line according to the newly received data; When correct, the spacing division module (22) feeds back the correct lane line information to the line position simulation module (23).

6. The vehicle automatic driving path trajectory accurate identification system according to claim 3, characterized in that: The path edge planning unit (3) comprises a navigation route reading module (31), a line quantity checking module (32) and a line simulation operation module (33); The navigation route reading module (31) acquires lane number information of the road where the vehicle is located by means of navigation software, and transmits the acquired lane number information to the line number checking module (32); The line quantity checking module (32) receives information about the number of lanes transmitted by the navigation route reading module (31), and also receives data about lane lines simulated by the line position simulation module (23), and checks the lane lines simulated by the line position simulation module (23) based on the data received from the navigation route reading module (31) to determine whether the number of lane lines is correct; The line simulation operation module (33) receives the lane line data verified by the line quantity verification module (32) and the lane number information obtained by the navigation route reading module (31), and displays the road image captured by the camera and the lane line simulated by the line position simulation module (23) at the corresponding position through a display screen.

7. The vehicle automatic driving path trajectory accurate identification system according to claim 6, characterized in that: The path range identification unit (1) further comprises a line change scanning module (12), wherein the line change scanning module (12) scans the line change of the road when encountering an intersection, and transmits the scanned data to the line distance calculation module (13), and at the same time, the line quantity checking module (32) transmits the lane quantity information obtained by the navigation route reading module (31) to the line distance calculation module (13), and the line distance calculation module (13) calculates the distance of the lane line change position, and after the calculation, the line distance calculation module (13) transmits the data to the spacing division module (22), and the spacing division module (22) performs the spacing division of the lane line change according to the spacing information.

8. The vehicle automatic driving path trajectory accurate identification system according to claim 7, characterized in that: When displaying the road image and the lane line simulated by the line position simulation module (23), the line simulation operation module (33) provides feedback to the lane line scanning module (11), so that the lane line scanning module (11) scans the lane line on the road and the simulated lane line, and the line distance calculation module (13) calculates the side distance of the vehicle to the lane line on the road or the simulated lane line, and transmits the distance information to the line simulation operation module (33), and the line simulation operation module (33) displays the distance from the side of the lane to the lane line.

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