Front vehicle track fitting optimization method, device and equipment and storage medium

Abstract

The invention discloses a front vehicle trajectory fitting optimization method, device and equipment and a storage medium, and the method comprises the steps: determining a first lane center line based on lane line parameters of a first vehicle at the moment when a lane line disappears; obtaining a second lane center line and a historical driving track of the second vehicle based on the historical driving position point and the first lane center line of the second vehicle, and determining the maximum jitter distance of the second vehicle; acquiring a current driving position point of the second vehicle, determining a current shaking distance of the second vehicle according to the second lane center line and the current driving position point, and detecting whether the current shaking distance is greater than the maximum shaking distance; and performing fitting optimization on the historical driving track of the second vehicle based on the first detection result to obtain a target driving track of the first vehicle. Through the technical scheme of the embodiment of the invention, automatic fitting optimization is carried out on the track of the front vehicle in real time, and the shaking amplitude of the front vehicle near the center line of the lane is reduced, so that the automatic vehicle following effect of the rear vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to a leading vehicle trajectory fitting optimization method, device, equipment and storage medium. Background Art

[0002] In some traffic congestion or scenarios with unclear lane lines, path planning relies on the information of the vehicle in front, so that the vehicle can completely detach from road information for a short period of time for autonomous driving. At this time, the fitting optimization of the trajectory of the vehicle in front becomes particularly important.

[0003] At present, the traditional front vehicle trajectory fitting optimization method usually forms a driving trajectory by fitting the position information of the front vehicle, or fitting the vehicle's historical position information according to the interpolation algorithm. However, under the traditional front vehicle trajectory fitting optimization method, the output front vehicle trajectory will have a large jitter amplitude because the front vehicle will deviate from one side of the lane or shake near the center line of the lane, resulting in poor automatic following effect of the rear vehicle. Summary of the invention

[0004] The present invention provides a leading vehicle trajectory fitting optimization method, device, equipment and storage medium, so as to automatically fit and optimize the leading vehicle trajectory in real time, reduce the jitter amplitude of the leading vehicle near the center line of the lane, and thus improve the automatic following effect of the following vehicle.

[0005] In a first aspect, an embodiment of the present invention provides a preceding vehicle trajectory fitting optimization method, comprising:

[0006] Determining a first lane centerline corresponding to the first vehicle based on lane line parameters of the first vehicle currently traveling at the time when the lane line disappears;

[0007] Based on the historical driving position points of a second vehicle located in front of the first vehicle and the center line of the first lane, obtaining a second lane center line and a historical driving trajectory corresponding to the second vehicle;

[0008] Determining a maximum jitter distance of the second vehicle on the center line of the second lane based on the center line of the second lane and the historical driving trajectory;

[0009] Acquire the current driving position of the second vehicle, determine the current jitter distance of the second vehicle according to the center line of the second lane and the current driving position, and detect whether the current jitter distance is greater than the maximum jitter distance to obtain a first detection result;

[0010] The historical driving trajectory of the second vehicle is fitted and optimized based on the first detection result to obtain a target driving trajectory of the first vehicle, so that the first vehicle follows the second vehicle based on the target driving trajectory.

[0011] In a second aspect, an embodiment of the present invention further provides a preceding vehicle trajectory fitting optimization device, comprising:

[0012] A first centerline acquisition module, configured to determine a first lane centerline corresponding to a first vehicle currently traveling based on lane line parameters of the first vehicle at a time when the lane line disappears;

[0013] A second centerline acquisition module, configured to obtain a second lane centerline and a historical driving trajectory corresponding to the second vehicle based on a historical driving position point of a second vehicle located in front of the first vehicle and the first lane centerline;

[0014] A maximum distance determination module, configured to determine a maximum jitter distance of the second vehicle on the center line of the second lane based on the center line of the second lane and the historical driving trajectory;

[0015] a current distance determination module, used to obtain the current driving position point of the second vehicle, and determine the current jitter distance of the second vehicle according to the center line of the second lane and the current driving position point, and detect whether the current jitter distance is greater than the maximum jitter distance to obtain a first detection result;

[0016] The target trajectory acquisition module is used to perform fitting optimization on the historical driving trajectory of the second vehicle based on the first detection result to obtain the target driving trajectory of the first vehicle, so that the first vehicle follows the second vehicle based on the target driving trajectory.

[0017] In a third aspect, an embodiment of the present invention further provides an electronic device, characterized in that the electronic device comprises: at least one processor; and

[0018] a memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the preceding vehicle trajectory fitting optimization method provided by any embodiment of the present invention.

[0020] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to execute the preceding vehicle trajectory fitting optimization method provided by any embodiment of the present invention when executing the computer instructions.

[0021] The technical solution of the embodiment of the present invention determines the first lane centerline corresponding to the first vehicle based on the lane line parameters of the currently traveling first vehicle at the time when the lane line disappears, thereby providing a reference benchmark for subsequent processing. Based on the historical driving position point of the second vehicle located in front of the first vehicle and the first lane centerline, the second lane centerline and the historical driving trajectory corresponding to the second vehicle are obtained, so that the driving trajectory of the preceding vehicle can be accurately tracked. Based on the second lane centerline and the historical driving trajectory, the maximum jitter distance of the second vehicle on the second lane centerline is determined, so as to determine the stability of the driving trajectory of the preceding vehicle. The current driving position point of the second vehicle is obtained, and the current jitter distance of the second vehicle is determined according to the second lane centerline and the current driving position point, and whether the current jitter distance is greater than the maximum jitter distance is detected to obtain a first detection result, so that the driving state of the preceding vehicle can be monitored in real time, and possible dangerous situations can be discovered and responded to in time. Based on the first detection result, the historical driving trajectory of the second vehicle is fitted and optimized to obtain the target driving trajectory of the first vehicle, so that the first vehicle can follow the second vehicle based on the target driving trajectory, so that the first vehicle can follow the preceding vehicle more stably and safely. By comprehensively considering the lane line parameters, the driving trajectory of the second vehicle and its real-time status, accurate fitting and optimization of the driving trajectory of the front vehicle is achieved, providing a more reliable and safe following strategy for the automatic driving or assisted driving system, reducing the jitter amplitude of the front vehicle near the center line of the lane, thereby improving the automatic following effect of the rear vehicle.

[0022] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, 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 invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 is a flow chart of a preceding vehicle trajectory fitting optimization method provided according to Embodiment 1 of the present invention;

[0025] Figure 2 is a flow chart of a preceding vehicle trajectory fitting optimization method provided according to Embodiment 2 of the present invention;

[0026] Figure 3is a flow chart of a preceding vehicle trajectory fitting optimization process involved in Embodiment 2 of the present invention;

[0027] Figure 4 is a schematic diagram of the structure of a preceding vehicle trajectory fitting and optimization device provided according to Embodiment 3 of the present invention;

[0028] Figure 5 It is a structural schematic diagram of an electronic device for implementing the preceding vehicle trajectory fitting optimization method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "target", "current", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] Embodiment 1

[0032] Figure 1 A flowchart of a method for optimizing the trajectory fitting of a preceding vehicle is provided for the first embodiment of the present invention. This embodiment is applicable to the case where the trajectory of the preceding vehicle is fitted. Figure 1 As shown, the method can be performed by a preceding vehicle trajectory fitting optimization device, which can be implemented in the form of hardware and / or software, and can be configured in an electronic device. Figure 1 As shown, the method specifically comprises the following steps:

[0033] S110. Determine a first lane center line corresponding to the first vehicle based on lane line parameters of a currently traveling first vehicle at the time when the lane line disappears.

[0034] The first vehicle may refer to a vehicle that is currently traveling and needs to follow the vehicle in front. The lane line parameters may refer to parameters used to describe geometric characteristics of the lane line, such as shape, position, and curvature. The first lane centerline may refer to the centerline of the road where the first vehicle is located, generated according to the lane line parameters.

[0035] Specifically, when the first vehicle (the following vehicle) drives into an area where the lane line disappears, the previously recorded lane line parameters (such as slope, curvature, etc.) are used to calculate the center line of the first lane of the currently traveling first vehicle at the moment when the lane line disappears. This can provide a reference benchmark for subsequent vehicles when the lane line is actually invisible.

[0036] Exemplarily, the center line of the first lane can be described by the following cubic lane line equation:

[0037] f(x)=C 3 *X 3 +C 2 *X 2 +C 1 *X+C 0

[0038] Among them, (x, f(x)) can represent the position coordinates on the center line of the first lane, C 3 , C 2 , C 1 , respectively represent the coefficients of the curve equation corresponding to the center line of the first lane, C 0 Represents the constant term of the curve equation corresponding to the center line of the first lane.

[0039] S120. Based on the historical driving position points and the center line of the first lane of the second vehicle located in front of the first vehicle, obtain the center line of the second lane and the historical driving trajectory corresponding to the second vehicle.

[0040] The second vehicle may refer to a vehicle that is located in front of the first vehicle and is followed by the first vehicle. The historical driving position point may refer to a specific geographical location point that the second vehicle (the front vehicle) located in front of the first vehicle has passed within a period of time in the past. The second lane centerline may refer to the lane centerline where the second vehicle is actually traveling, which is selected based on the historical driving position points of the second vehicle and the first lane centerline.

[0041] Specifically, sensors (such as radars and cameras) are used to collect the historical driving position points of the second vehicle (the front vehicle) located in front of the first vehicle. Based on the historical driving position points of the second vehicle and the center line of the first lane, a data fitting method is used to infer the center line of the second lane that the second vehicle may follow and its historical driving trajectory, thereby accurately tracking the driving trajectory of the front vehicle and providing a data basis for subsequent trajectory prediction and optimization.

[0042] Exemplarily, the above historical driving trajectory may be obtained by fitting the historical driving position points according to the least squares method.

[0043] Exemplarily, "obtaining a second lane centerline corresponding to the second vehicle based on a historical driving position point of a second vehicle located in front of the first vehicle and the center line of the first lane" in S120 may include: determining the starting position coordinates of the second vehicle based on the historical driving position points; translating the first lane centerline to the starting position coordinates to obtain the second lane centerline corresponding to the second vehicle.

[0044] The starting position coordinates may refer to the coordinates of the earliest historical driving position point of the second vehicle.

[0045] Specifically, the historical driving position points of the second vehicle in the past period of time are obtained, and these position points record the position coordinates of the vehicle at different time points. From the historical driving position points, the coordinates of the historical driving position points with the earliest time are selected as the starting position coordinates of the second vehicle. The center line of the first lane is translated according to the starting position coordinates of the second vehicle. The direction and distance of the translation depend on the direction and length of the vertical segment of the starting position coordinates of the second vehicle on the center line of the first lane. The center line of the first lane is translated perpendicular to the vertical segment to the lane position where the second vehicle is located, thereby obtaining the second lane center line corresponding to the second vehicle, which can more accurately determine the position of the second vehicle in the current lane, thereby improving the accuracy of vehicle positioning.

[0046] S130. Determine a maximum jitter distance of the second vehicle on the center line of the second lane based on the center line of the second lane and the historical driving trajectory.

[0047] The maximum jitter distance may refer to the maximum distance between a point on the historical driving trajectory and the center line of the second lane.

[0048] Specifically, the historical driving trajectory of the second vehicle is analyzed, the degree of deviation (ie, jitter distance) from the center line of the second lane is calculated, and the maximum jitter distance is found therefrom, thereby reflecting the driving instability of the second vehicle.

[0049] S140. Obtain the current driving position of the second vehicle, and determine the current jitter distance of the second vehicle based on the center line of the second lane and the current driving position, and detect whether the current jitter distance is greater than the maximum jitter distance to obtain a first detection result.

[0050] The current driving position point may refer to the coordinates of the position point of the second vehicle at the current moment. The current jitter distance may refer to the distance between the current driving position point and the center line of the second lane. The first detection result may refer to a judgment result indicating whether the current jitter distance is greater than the maximum jitter distance.

[0051] Specifically, the current driving position of the second vehicle is obtained in real time, the current jitter distance of the current driving position relative to the center line of the second lane is calculated, and the current jitter distance obtained is compared with the maximum jitter distance to obtain a first detection result, so that the driving status of the preceding vehicle can be monitored in real time, and possible abnormal driving conditions can be discovered and responded to in a timely manner.

[0052] Exemplarily, "determining the current jitter distance of the second vehicle based on the center line of the second lane and the current driving position point" in S140 may include: extending the center line of the second lane to obtain the predicted driving center line of the second vehicle; determining the current jitter distance of the second vehicle based on the predicted driving center line and the current driving position point.

[0053] The predicted driving center line may refer to the extension line of the center line of the second lane.

[0054] Specifically, the acquired center line of the second lane is extended to predict the possible path of the center line of the second lane in the future, that is, the predicted driving center line. The current driving position of the second vehicle is obtained, and the vertical distance or minimum distance (that is, the current jitter distance) between the current driving position and the predicted driving center line is calculated. This distance reflects the degree of deviation of the second vehicle relative to its expected driving center line at the current moment. By real-time monitoring of the current jitter distance of the second vehicle, it is possible to promptly detect the situation in which the vehicle deviates from the expected driving path, thereby reminding the driver or the automatic driving system to take corresponding corrective measures to avoid potential collision risks and improve driving safety.

[0055] S150: performing fitting optimization on the historical driving trajectory of the second vehicle based on the first detection result to obtain a target driving trajectory of the first vehicle, so that the first vehicle follows the second vehicle based on the target driving trajectory.

[0056] The target driving trajectory may refer to an ideal driving path within a certain period of time in the future that is planned when the first vehicle follows the second vehicle.

[0057] Specifically, if the current jitter distance does not exceed the maximum jitter distance, the historical driving trajectory of the second vehicle can be used as the target driving trajectory of the first vehicle; if the current jitter distance exceeds the maximum jitter distance, the fitting parameters of the historical driving trajectory are adjusted according to the current jitter distance and the historical driving trajectory of the second vehicle, such as increasing smoothness, predicting lane changes, etc., so as to generate a target driving trajectory that is more in line with the actual situation, improve the accuracy and adaptability of trajectory prediction, and enable the first vehicle to follow the vehicle in front more stably and safely.

[0058] The technical solution of the embodiment of the present invention determines the center line of the first lane corresponding to the first vehicle based on the lane line parameters of the currently traveling first vehicle at the time when the lane line disappears, thereby providing a reference benchmark for subsequent processing. Based on the historical driving position point and the center line of the first lane of the second vehicle located in front of the first vehicle, the center line of the second lane and the historical driving trajectory corresponding to the second vehicle are obtained, so that the driving trajectory of the preceding vehicle can be accurately tracked. Based on the center line of the second lane and the historical driving trajectory, the maximum jitter distance of the second vehicle on the center line of the second lane is determined, so as to determine the stability of the driving trajectory of the preceding vehicle. The current driving position point of the second vehicle is obtained, and the current jitter distance of the second vehicle is determined according to the center line of the second lane and the current driving position point, and whether the current jitter distance is greater than the maximum jitter distance is detected to obtain the first detection result, so that the driving state of the preceding vehicle can be monitored in real time, and possible dangerous situations can be discovered and responded to in time. Based on the first detection result, the historical driving trajectory of the second vehicle is fitted and optimized to obtain the target driving trajectory of the first vehicle, so that the first vehicle can follow the second vehicle based on the target driving trajectory, so that the first vehicle can follow the preceding vehicle more stably and safely. By comprehensively considering the lane line parameters, the driving trajectory of the second vehicle and its real-time status, accurate fitting and optimization of the driving trajectory of the front vehicle is achieved, providing a more reliable and safe following strategy for the automatic driving or assisted driving system, reducing the jitter amplitude of the front vehicle near the center line of the lane, thereby improving the automatic following effect of the rear vehicle.

[0059] Embodiment 2

[0060] Figure 2 This is a flow chart of a method for fitting and optimizing the trajectory of a preceding vehicle provided in the second embodiment of the present invention. Based on the above embodiments, this embodiment optimizes the step of "fitting and optimizing the historical driving trajectory of the second vehicle based on the first detection result to obtain the target driving trajectory of the first vehicle". The explanations of the terms that are the same or corresponding to the above embodiments are not repeated here.

[0061] See also Figure 2 Another leading vehicle trajectory fitting optimization method provided in this embodiment specifically includes the following steps:

[0062] S210. Determine a first lane center line corresponding to the first vehicle based on lane line parameters of the currently traveling first vehicle at the time when the lane line disappears.

[0063] S220. Based on the historical driving position points and the center line of the first lane of the second vehicle located in front of the first vehicle, obtain the center line of the second lane and the historical driving trajectory corresponding to the second vehicle.

[0064] S230: Determine a maximum jitter distance of the second vehicle on the center line of the second lane based on the center line of the second lane and the historical driving trajectory.

[0065] S240. Obtain the current driving position of the second vehicle, and determine the current jitter distance of the second vehicle based on the center line of the second lane and the current driving position, and detect whether the current jitter distance is greater than the maximum jitter distance to obtain a first detection result.

[0066] S250. If the current jitter distance is greater than the maximum jitter distance, the current driving position point is determined as an abnormal driving position point, and it is detected whether the number of consecutive abnormal driving position points is greater than or equal to a preset number, and a second detection result is obtained. Based on the second detection result, the historical driving trajectory of the second vehicle is fitted and optimized to obtain the target driving trajectory of the first vehicle.

[0067] The abnormal driving position point may refer to a current driving position point whose distance from the center line of the second lane is greater than the maximum jitter distance. The second detection result may refer to a judgment result indicating whether the number of abnormal driving position points is greater than or equal to a preset number.

[0068] Specifically, Figure 3 As shown, when it is detected that the current jitter distance is greater than the maximum jitter distance, the current driving position point is immediately marked as an abnormal driving position point. Continuously monitor and record the abnormal driving position points that appear continuously, set a preset number (such as 3, 5, etc., the specific value can be determined according to the design and safety requirements), and when the number of abnormal driving position points that appear continuously reaches or exceeds the preset number, generate a second detection result. Based on the second detection result, it can be judged that the second vehicle may be changing lanes, making an emergency stop or other emergency operations. At this time, it is necessary to re-evaluate the driving intention of the second vehicle and optimize the fitting of the historical driving trajectory. The optimization process may include factors such as increasing the flexibility of the trajectory and predicting possible lane change trajectories. Finally, a target driving trajectory that is more in line with the actual driving conditions of the preceding vehicle is generated for reference by the first vehicle, thereby improving the adaptability and robustness of the autonomous driving or assisted driving system.

[0069] Exemplarily, "performing fitting optimization on the historical driving trajectory of the second vehicle based on the second detection result to obtain the target driving trajectory of the first vehicle" in S250 may include: if the number of consecutive abnormal driving position points is greater than or equal to a preset number, performing fitting optimization based on the preset number of abnormal driving position points to generate the target driving trajectory of the first vehicle; if the number of consecutive abnormal driving position points is less than the preset number, directly using the historical driving trajectory of the second vehicle as the target driving trajectory of the first vehicle.

[0070] Specifically, if the number of abnormal driving position points that appear continuously is greater than or equal to the preset number, it indicates that the abnormal situation in this driving trajectory is more serious or lasts for a long time, and special fitting optimization processing is required. Mathematical methods (such as least squares method, etc.) can be used to fit the preset number of abnormal driving position points to generate a smooth driving trajectory that meets the actual road conditions, and the optimized trajectory is used as the target driving trajectory of the first vehicle to improve the safety and efficiency of driving. If the number of abnormal driving position points that appear continuously is less than the preset number, it indicates that the abnormal situation in this driving trajectory is relatively minor or sporadic, which is not enough to have a significant impact on the overall trajectory. Therefore, the historical driving trajectory of the second vehicle can be directly used as the target driving trajectory of the first vehicle to reduce the amount of calculation and avoid unnecessary trajectory adjustments. By performing targeted fitting optimization on the abnormal part of the driving trajectory of the second vehicle, a safer, more efficient and adaptable target driving trajectory can be provided for the first vehicle.

[0071] S260: If the current jitter distance is less than or equal to the maximum jitter distance, the historical driving trajectory is fitted and optimized according to the center line of the second lane, the current driving position point and the historical driving position point to obtain the target driving trajectory of the first vehicle.

[0072] Specifically, Figure 3 As shown in the figure, when it is detected that the current jitter distance is less than or equal to the maximum jitter distance, it indicates that the second vehicle is driving along a normal trajectory. In this case, the driving trajectory of the leading vehicle can be predicted more stably. Using information such as the center line of the second lane, the current driving position point, and the historical driving position point, the historical driving trajectory is fine-tuned or smoothed to eliminate possible noise or errors, and finally a smoother and more accurate target driving trajectory is generated for reference by the first vehicle, thereby improving the stability of the following vehicle.

[0073] Exemplarily, "fitting and optimizing the historical driving trajectory according to the center line of the second lane, the current driving position point and the historical driving position points to obtain the target driving trajectory of the first vehicle" in S260 may include: extending the center line of the second lane, and selecting a predicted center position point from the extension line of the center line of the second lane; fusing the predicted center position point, the current driving position point and the historical driving position points, and fitting the fused position points to obtain the target driving trajectory of the first vehicle.

[0074] The predicted center position point may refer to the coordinates of the position point obtained by sampling the extension line of the center line of the second lane.

[0075] Specifically, the center line of the second lane is extended, wherein the extension can be obtained based on the geometric characteristics analysis of the center line of the second lane. On the extended center line of the second lane, one or more predicted center position points are selected according to the vehicle's driving speed and the predicted time range. These points represent the possible predicted positions of the center line of the second lane at a certain point in the future. The selected predicted center position points, the current driving position points, and the historical driving position points are fused to integrate the position information at different time points. The fused position points are fitted to generate a target driving trajectory that is smooth and meets road conditions, which helps to reduce vehicle vibration and bumps and improve driving comfort.

[0076] Exemplarily, the predicted central position point, the current driving position point and the historical driving position point are fused, and the fused position points are fitted to obtain the target driving trajectory of the first vehicle, including: weighting the predicted central position point and the current driving position point based on preset weights to obtain the weighted predicted driving position point; fitting the predicted driving position point and the historical driving position point to obtain the target driving trajectory of the first vehicle.

[0077] Specifically, preset weights can be set for the predicted central position point and the current driving position point according to actual needs. These weights can be allocated according to different factors, such as the reliability of the predicted central position point, the real-time nature of the current driving position point, the continuity of the historical driving position points, etc. Based on the preset weights, the predicted central position point and the current driving position point are weighted. Specifically, the coordinate values ​​of the two position points can be multiplied by their respective weights, and then the results are added to obtain the weighted predicted driving position point. The weighted predicted driving position point and the historical driving position point are used as data input for fitting processing. These data points contain the position information of the vehicle at different time points and reflect the driving trajectory of the vehicle. The position points are fitted using a preset fitting method (such as the least squares method) to obtain a smooth curve or path that conforms to the trend of the data points as the target driving trajectory of the first vehicle, thereby avoiding the sudden change and jump of the target driving trajectory and improving the stability and comfort of the first vehicle following the vehicle.

[0078] Exemplarily, the center line of the second lane can be described by the following cubic lane line equation:

[0079] f(x)=a 3 *X 3 +a 2 *X 2 +a 1 *X+a 0

[0080] Among them, (x, f(x)) can represent the position coordinates on the center line of the first lane, a 3 , a 2 , a 1 , respectively represent the coefficients of the curve equation corresponding to the center line of the second lane, a 0 Represents the constant term of the curve equation corresponding to the center line of the second lane.

[0081] The predicted center position point and the current driving position point are weighted according to the preset weights, and the process of obtaining the weighted predicted driving position point is as follows:

[0082] First, solve the predicted center position point (x, y):

[0083]

[0084] Wherein, V is the speed of the second vehicle, and T is the sampling time.

[0085] Then X Fusion =p1*x new +(1-p1)*x;

[0086] Y Fusion =p1*y new +(1-p1)*y;

[0087] Among them, (x new ,y new ) is the current driving position point, (X Fusion , Y Fusion ) is the predicted driving position point.

[0088] The technical solution of the embodiment of the present invention is to determine the current driving position point as an abnormal driving position point if the current jitter distance is greater than the maximum jitter distance, and detect whether the number of abnormal driving position points that appear continuously is greater than or equal to the preset number, obtain a second detection result, and perform fitting optimization on the historical driving trajectory of the second vehicle based on the second detection result to obtain the target driving trajectory of the first vehicle, so that the following strategy can be flexibly adjusted according to the actual driving situation of the leading vehicle, and the stability of the automatic driving or assisted driving system can be improved. If the current jitter distance is less than or equal to the maximum jitter distance, the historical driving trajectory is fitted and optimized according to the center line of the second lane, the current driving position point and the historical driving position point to obtain the target driving trajectory of the first vehicle, further reduce the jitter and shaking of the first vehicle, and improve driving stability. By timely detecting the abnormal driving behavior of the leading vehicle, and further flexibly adjusting the following strategy according to the actual driving situation of the leading vehicle, the adaptability and robustness of the automatic driving or assisted driving system can be improved, so that the following vehicle generates a more stable following instruction, reduces the jitter and shaking of the first vehicle, and improves driving stability.

[0089] Embodiment 3

[0090] Figure 4 This is a schematic diagram of the structure of a preceding vehicle trajectory fitting and optimization device provided in Embodiment 3 of the present invention. Figure 4 As shown, the device includes: a first centerline acquisition module 310 , a second centerline acquisition module 320 , a maximum distance determination module 330 , a current distance determination module 340 and a target trajectory acquisition module 350 .

[0091] The first centerline acquisition module 310 is used to determine the first lane centerline corresponding to the first vehicle based on the lane line parameters of the first vehicle currently traveling at the time when the lane line disappears;

[0092] A second centerline acquisition module 320, configured to obtain a second lane centerline and a historical driving trajectory corresponding to a second vehicle located in front of the first vehicle based on a historical driving position point of the second vehicle and the first lane centerline;

[0093] A maximum distance determination module 330, configured to determine a maximum jitter distance of the second vehicle on the center line of the second lane based on the center line of the second lane and the historical driving trajectory;

[0094] A current distance determination module 340 is used to obtain the current driving position point of the second vehicle, and determine the current jitter distance of the second vehicle according to the center line of the second lane and the current driving position point, and detect whether the current jitter distance is greater than the maximum jitter distance to obtain a first detection result;

[0095] The target trajectory acquisition module 350 is used to perform fitting optimization on the historical driving trajectory of the second vehicle based on the first detection result to obtain the target driving trajectory of the first vehicle, so that the first vehicle follows the second vehicle based on the target driving trajectory.

[0096] The technical solution of this embodiment determines the first lane centerline corresponding to the first vehicle based on the lane line parameters of the currently traveling first vehicle at the time when the lane line disappears, thereby providing a reference benchmark for subsequent processing. Based on the historical driving position point of the second vehicle located in front of the first vehicle and the first lane centerline, the second lane centerline and historical driving trajectory corresponding to the second vehicle are obtained, so that the driving trajectory of the preceding vehicle can be accurately tracked. Based on the second lane centerline and the historical driving trajectory, the maximum jitter distance of the second vehicle on the second lane centerline is determined, so as to determine the stability of the driving trajectory of the preceding vehicle. The current driving position point of the second vehicle is obtained, and the current jitter distance of the second vehicle is determined according to the second lane centerline and the current driving position point, and whether the current jitter distance is greater than the maximum jitter distance is detected to obtain a first detection result, so that the driving state of the preceding vehicle can be monitored in real time, and possible dangerous situations can be discovered and responded to in time. Based on the first detection result, the historical driving trajectory of the second vehicle is fitted and optimized to obtain the target driving trajectory of the first vehicle, so that the first vehicle can follow the second vehicle based on the target driving trajectory, so that the first vehicle can follow the preceding vehicle more stably and safely. By comprehensively considering the lane line parameters, the driving trajectory of the second vehicle and its real-time status, accurate fitting and optimization of the driving trajectory of the front vehicle is achieved, providing a more reliable and safe following strategy for the automatic driving or assisted driving system, reducing the jitter amplitude of the front vehicle near the center line of the lane, thereby improving the automatic following effect of the rear vehicle.

[0097] Optionally, the second centerline acquisition module 320 is specifically used to: determine the starting position coordinates of the second vehicle based on the historical driving position points; translate the first lane centerline to the starting position coordinates to obtain the second lane centerline corresponding to the second vehicle.

[0098] Optionally, the current distance determination module 340 is specifically used to: extend the center line of the second lane to obtain a predicted driving center line of the second vehicle; and determine the current jitter distance of the second vehicle based on the predicted driving center line and the current driving position point.

[0099] Optionally, the target trajectory acquisition module 350 includes:

[0100] a first trajectory acquisition unit, configured to determine the current driving position point as an abnormal driving position point if the current jitter distance is greater than the maximum jitter distance, and detect whether the number of consecutive abnormal driving position points is greater than or equal to a preset number, obtain a second detection result, and perform fitting optimization on the historical driving trajectory of the second vehicle based on the second detection result to obtain a target driving trajectory of the first vehicle;

[0101] The second trajectory acquisition unit is used to obtain the target driving trajectory of the first vehicle by fitting and optimizing the historical driving trajectory according to the center line of the second lane, the current driving position point and the historical driving position point if the current jitter distance is less than or equal to the maximum jitter distance.

[0102] Optionally, the first trajectory acquisition unit is specifically used to: if the number of consecutive abnormal driving position points is greater than or equal to a preset number, perform fitting optimization based on the preset number of abnormal driving position points to generate a target driving trajectory of the first vehicle; if the number of consecutive abnormal driving position points is less than the preset number, directly use the historical driving trajectory of the second vehicle as the target driving trajectory of the first vehicle.

[0103] Optionally, the second trajectory acquisition unit includes:

[0104] A position prediction subunit, used for extending the center line of the second lane and selecting a predicted center position point in the extension line of the center line of the second lane;

[0105] The trajectory acquisition subunit is used to fuse the predicted central position point, the current driving position point and the historical driving position point, and perform fitting processing on the fused position points to obtain the target driving trajectory of the first vehicle.

[0106] Optionally, the trajectory acquisition subunit is specifically used to: perform weighted processing on the predicted central position point and the current driving position point based on preset weights to obtain the weighted predicted driving position point; perform fitting processing on the predicted driving position point and the historical driving position point to obtain the target driving trajectory of the first vehicle.

[0107] The preceding vehicle trajectory fitting and optimization device provided in the embodiment of the present invention can execute the preceding vehicle trajectory fitting and optimization method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0108] Figure 5 A schematic diagram of the structure of an electronic device 12 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as desktop computers, workstations, servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0109] like Figure 5As shown, the electronic device 12 is in the form of a general purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0110] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0111] The electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0112] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 5 not shown, usually called a "hard drive"). Although Figure 5 Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0113] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0114] The electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), may communicate with one or more devices that enable a user to interact with the electronic device 12, and / or may communicate with any device that enables the electronic device 12 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via an input / output (I / O) interface 22. Furthermore, the electronic device 12 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 via a bus 18. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0115] The processing unit 16 executes various functional applications and data processing by running the program stored in the system memory 28, for example, implementing a preceding vehicle trajectory fitting optimization method provided by the present embodiment, the method comprising:

[0116] Determining a first lane centerline corresponding to the first vehicle based on lane line parameters of the first vehicle currently traveling at the time when the lane line disappears;

[0117] Based on the historical driving position points of a second vehicle located in front of the first vehicle and the center line of the first lane, obtaining a second lane center line and a historical driving trajectory corresponding to the second vehicle;

[0118] Determining a maximum jitter distance of the second vehicle on the center line of the second lane based on the center line of the second lane and the historical driving trajectory;

[0119] Acquire the current driving position of the second vehicle, determine the current jitter distance of the second vehicle according to the center line of the second lane and the current driving position, and detect whether the current jitter distance is greater than the maximum jitter distance to obtain a first detection result;

[0120] The historical driving trajectory of the second vehicle is fitted and optimized based on the first detection result to obtain a target driving trajectory of the first vehicle, so that the first vehicle follows the second vehicle based on the target driving trajectory.

[0121] Of course, those skilled in the art can understand that the processor can also implement the technical solution of the preceding vehicle trajectory fitting optimization method provided by any embodiment of the present invention.

[0122] This embodiment provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the steps of the preceding vehicle trajectory fitting optimization method provided in any embodiment of the present invention are implemented. The method includes:

[0123] Determining a first lane centerline corresponding to the first vehicle based on lane line parameters of the first vehicle currently traveling at the time when the lane line disappears;

[0124] Based on the historical driving position points of a second vehicle located in front of the first vehicle and the center line of the first lane, obtaining a second lane center line and a historical driving trajectory corresponding to the second vehicle;

[0125] Determining a maximum jitter distance of the second vehicle on the center line of the second lane based on the center line of the second lane and the historical driving trajectory;

[0126] Acquire the current driving position of the second vehicle, determine the current jitter distance of the second vehicle according to the center line of the second lane and the current driving position, and detect whether the current jitter distance is greater than the maximum jitter distance to obtain a first detection result;

[0127] The historical driving trajectory of the second vehicle is fitted and optimized based on the first detection result to obtain a target driving trajectory of the first vehicle, so that the first vehicle follows the second vehicle based on the target driving trajectory.

[0128] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0129] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0130] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0131] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0132] It should be understood by those skilled in the art that the modules or steps of the present invention described above can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, optionally, they can be implemented by a program code executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0133] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for optimizing the trajectory fitting of a preceding vehicle, characterized in that: include: Determining a first lane centerline corresponding to the first vehicle based on lane line parameters of the first vehicle currently traveling at the time when the lane line disappears; Based on the historical driving position point of a second vehicle located in front of the first vehicle and the center line of the first lane, obtaining a second lane center line and a historical driving trajectory corresponding to the second vehicle; Determining a maximum jitter distance of the second vehicle on the center line of the second lane based on the center line of the second lane and the historical driving trajectory; Acquire the current driving position of the second vehicle, determine the current jitter distance of the second vehicle according to the center line of the second lane and the current driving position, and detect whether the current jitter distance is greater than the maximum jitter distance to obtain a first detection result; The historical driving trajectory of the second vehicle is fitted and optimized based on the first detection result to obtain a target driving trajectory of the first vehicle, so that the first vehicle follows the second vehicle based on the target driving trajectory.

2. The method according to claim 1, characterized in that The obtaining, based on the historical driving position points of the second vehicle located in front of the first vehicle and the first lane centerline, a second lane centerline corresponding to the second vehicle includes: Based on the historical driving position points, determining the starting position coordinates of the second vehicle; The first lane centerline is translated to the starting position coordinates to obtain a second lane centerline corresponding to the second vehicle.

3. The method according to claim 1, characterized in that The determining, according to the center line of the second lane and the current driving position point, a current jitter distance of the second vehicle includes: Extending the center line of the second lane to obtain a predicted driving center line of the second vehicle; Based on the predicted driving center line and the current driving position point, a current jitter distance of the second vehicle is determined.

4. The method according to claim 1, characterized in that The fitting and optimizing the historical driving trajectory of the second vehicle based on the first detection result to obtain the target driving trajectory of the first vehicle includes: If the current jitter distance is greater than the maximum jitter distance, the current driving position point is determined as an abnormal driving position point, and whether the number of consecutive abnormal driving position points is greater than or equal to a preset number is detected to obtain a second detection result, and based on the second detection result, the historical driving trajectory of the second vehicle is fitted and optimized to obtain a target driving trajectory of the first vehicle; If the current jitter distance is less than or equal to the maximum jitter distance, the historical driving trajectory is fitted and optimized according to the center line of the second lane, the current driving position point and the historical driving position point to obtain the target driving trajectory of the first vehicle.

5. The method according to claim 4, characterized in that The performing fitting optimization on the historical driving trajectory of the second vehicle based on the second detection result to obtain the target driving trajectory of the first vehicle includes: If the number of consecutive abnormal driving position points is greater than or equal to a preset number, performing fitting optimization based on the preset number of abnormal driving position points to generate a target driving trajectory of the first vehicle; If the number of consecutive abnormal driving position points is less than a preset number, the historical driving trajectory of the second vehicle is directly used as the target driving trajectory of the first vehicle.

6. The method according to claim 4, characterized in that The fitting and optimization of the historical driving trajectory according to the center line of the second lane, the current driving position point and the historical driving position point to obtain the target driving trajectory of the first vehicle includes: Extending the center line of the second lane, and selecting a predicted center position point on the extension line of the center line of the second lane; The predicted central position point, the current driving position point and the historical driving position point are fused, and the fused position points are fitted to obtain the target driving trajectory of the first vehicle.

7. The method according to claim 6, characterized in that The step of fusing the predicted central position point, the current driving position point and the historical driving position point, and performing fitting processing on the fused position points to obtain the target driving trajectory of the first vehicle includes: Performing weighted processing on the predicted central position point and the current driving position point based on a preset weight to obtain a weighted predicted driving position point; The predicted driving position points and the historical driving position points are fitted to obtain a target driving trajectory of the first vehicle.

8. A preceding vehicle trajectory fitting optimization device, characterized in that: include: A first centerline acquisition module, configured to determine a first lane centerline corresponding to a first vehicle currently traveling based on lane line parameters of the first vehicle at a time when the lane line disappears; A second centerline acquisition module, configured to obtain a second lane centerline and a historical driving trajectory corresponding to the second vehicle based on a historical driving position point of a second vehicle located in front of the first vehicle and the first lane centerline; A maximum distance determination module, configured to determine a maximum jitter distance of the second vehicle on the center line of the second lane based on the center line of the second lane and the historical driving trajectory; a current distance determination module, used to obtain the current driving position point of the second vehicle, and determine the current jitter distance of the second vehicle according to the center line of the second lane and the current driving position point, and detect whether the current jitter distance is greater than the maximum jitter distance to obtain a first detection result; The target trajectory acquisition module is used to perform fitting optimization on the historical driving trajectory of the second vehicle based on the first detection result to obtain the target driving trajectory of the first vehicle, so that the first vehicle follows the second vehicle based on the target driving trajectory.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the preceding vehicle trajectory fitting optimization method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the preceding vehicle trajectory fitting optimization method according to any one of claims 1 to 7 when executed.

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