A method, apparatus, device, and storage medium for fitting and optimizing the trajectory of a preceding vehicle.

Abstract

This invention discloses a method, apparatus, device, and storage medium for fitting and optimizing the trajectory of a preceding vehicle. The method includes: determining a first lane centerline based on lane line parameters of a first vehicle at the moment the lane line disappears; obtaining a second lane centerline and historical trajectory of a second vehicle based on its historical driving position and the first lane centerline, and determining the maximum jitter distance of the second vehicle; acquiring the current driving position of the second vehicle, and determining the current jitter distance of the second vehicle based on the second lane centerline and the current driving position, and detecting whether the current jitter distance is greater than the maximum jitter distance; and 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. Through the technical solution of this invention, the trajectory of a preceding vehicle is automatically fitted and optimized in real time, reducing the jitter amplitude of the preceding vehicle near the lane centerline, thereby improving the automatic following effect of the following vehicle.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving technology, and in particular to a method, apparatus, device, and storage medium for optimizing the trajectory of a preceding vehicle. Background Technology

[0002] In situations with congested traffic or unclear lane markings, relying on information from the vehicle ahead for path planning allows the vehicle to temporarily detach from road information for autonomous driving. In such cases, fitting and optimizing the trajectory of the vehicle ahead becomes particularly important.

[0003] Currently, traditional methods for optimizing the trajectory of a preceding vehicle typically involve fitting the position information of the preceding vehicle to form a driving trajectory, or using interpolation algorithms to fit historical vehicle position information. However, with traditional methods, the preceding vehicle may deviate from one side of the lane or vibrate near the lane centerline, resulting in significant fluctuations in the output trajectory and consequently poor automatic following performance. Summary of the Invention

[0004] This invention provides a method, apparatus, device, and storage medium for fitting and optimizing the trajectory of a preceding vehicle, thereby reducing the jitter of the preceding vehicle near the center line of the lane and improving the automatic following effect of the following vehicle.

[0005] In a first aspect, embodiments of the present invention provide a method for fitting and optimizing the trajectory of a preceding vehicle, comprising:

[0006] Based on the lane line parameters of the first vehicle at the moment when the lane line disappears, determine the center line of the first lane corresponding to the first vehicle;

[0007] Based on the historical driving position of the second vehicle located in front of the first vehicle and the center line of the first lane, the center line of the second lane and the historical driving trajectory of the second vehicle are obtained.

[0008] Based on the center line of the second lane and the historical driving trajectory, the maximum vibration distance of the second vehicle on the center line of the second lane is determined;

[0009] The current driving position of the second vehicle is obtained, and the current vibration distance of the second vehicle is determined based on the center line of the second lane and the current driving position. The current vibration distance is then checked to see if it is greater than the maximum vibration distance, and a first detection result is obtained.

[0010] 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.

[0011] Secondly, embodiments of the present invention also provide a device for fitting and optimizing the trajectory of a preceding vehicle, comprising:

[0012] The first centerline acquisition module is used to determine the first lane centerline corresponding to the first vehicle based on the lane line parameters of the currently traveling first vehicle at the moment when the lane line disappears.

[0013] The second centerline acquisition module is used to obtain the second lane centerline and historical driving trajectory of the second vehicle based on the historical driving position point of the second vehicle located in front of the first vehicle and the first lane centerline.

[0014] The maximum distance determination module is used to determine the maximum vibration 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] The current distance determination module is used to obtain the current driving position of the second vehicle, determine the current vibration distance of the second vehicle based on the center line of the second lane and the current driving position, and detect whether the current vibration distance is greater than the maximum vibration distance to obtain a first detection result;

[0016] The target trajectory acquisition module is used to fit and optimize 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 can follow the second vehicle based on the target driving trajectory.

[0017] Thirdly, embodiments of the present invention also provide 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, which enables the at least one processor to perform the vehicle trajectory fitting optimization method provided in any embodiment of the present invention.

[0020] Fourthly, embodiments of the present invention also provide a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions, which are used to enable a processor to execute the vehicle trajectory fitting optimization method provided in any embodiment of the present invention.

[0021] The technical solution of this invention determines the center line of the first lane corresponding to the first vehicle based on the lane line parameters at the moment the lane line disappears, thus providing a reference benchmark for subsequent processing. Based on the historical driving position of the second vehicle located ahead of the first vehicle and the first lane center line, the center line of the second lane corresponding to the second vehicle and its historical driving trajectory are obtained, enabling precise tracking of the preceding vehicle's trajectory. Based on the second lane center line and the historical driving trajectory, the maximum jitter distance of the second vehicle on the second lane center line is determined, thereby determining the stability of the preceding vehicle's trajectory. The current driving position of the second vehicle is obtained, and based on the second lane center line and the current driving position, the current jitter distance of the second vehicle is determined. The system then detects whether the current jitter distance is greater than the maximum jitter distance, obtaining a first detection result. This allows for real-time monitoring of the preceding vehicle's driving status, timely detection and response to potential dangerous situations. 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, enabling the first vehicle to follow the second vehicle based on the target driving trajectory, thus allowing the first vehicle to follow the preceding vehicle more stably and safely. By comprehensively considering lane line parameters, the driving trajectory of the second vehicle, and its real-time status, the system achieves accurate fitting and optimization of the driving trajectory of the preceding vehicle, providing a more reliable and safer following strategy for autonomous driving or assisted driving systems, reducing the vibration amplitude of the preceding vehicle near the center line of the lane, thereby improving the automatic following effect of the following vehicle.

[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart of a method for fitting and optimizing the trajectory of a vehicle ahead, according to Embodiment 1 of the present invention;

[0025] Figure 2 This is a flowchart of a method for fitting and optimizing the trajectory of a preceding vehicle according to Embodiment 2 of the present invention;

[0026] Figure 3This is a flowchart of a process for fitting and optimizing the trajectory of a vehicle ahead, according to Embodiment 2 of the present invention.

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

[0028] Figure 5 This is a schematic diagram of the structure of an electronic device that implements the forward vehicle trajectory fitting and optimization method according to an embodiment of the present invention. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] Example 1

[0032] Figure 1 This is a flowchart illustrating a method for fitting and optimizing the trajectory of a vehicle ahead, as provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where the trajectory of a vehicle ahead is fitted. Figure 1 As shown, this method can be executed by a preceding vehicle trajectory fitting and optimization device, which can be implemented in hardware and / or software and can be configured in an electronic device. For example... Figure 1 As shown, the method specifically includes the following steps:

[0033] S110. Based on the lane line parameters of the first vehicle at the moment the lane line disappears, determine the center line of the first lane corresponding to the first vehicle.

[0034] Here, "first vehicle" can refer to a vehicle currently traveling and needing to follow the vehicle in front. Lane line parameters can refer to parameters describing the geometric characteristics of lane lines, such as shape, position, and curvature. The center line of the first lane can refer to the center line of the road where the first vehicle is located, generated based on the lane line parameters.

[0035] Specifically, when the first vehicle (following vehicle) travels to the area where the lane lines disappear, the center line of the first lane at the moment the lane lines disappear is calculated using previously recorded lane line parameters (such as slope, curvature, etc.). This provides a reference benchmark for subsequent vehicles even when the lane lines are not actually visible.

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

[0037] f(x) = C3*X 3 +C2*X 2 +C1*X+C0

[0038] Where (x, f(x)) can represent the position coordinates on the center line of the first lane, C3, C2, C1 represent the power terms of the curve equation corresponding to the center line of the first lane, and C0 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 of the second vehicle located in front of the first vehicle and the center line of the first lane, obtain the center line of the second lane and the historical driving trajectory of the second vehicle.

[0040] Here, the second vehicle can refer to a vehicle located in front of the first vehicle and being followed by it. Historical travel location points can refer to the specific geographical locations traversed by the second vehicle (the preceding vehicle) within a past period. The second lane center line can refer to the actual lane center line used by the second vehicle, determined based on its historical travel location points and the first lane center line.

[0041] Specifically, sensors (such as radar and cameras) are used to collect the historical driving position points of the second vehicle (the preceding 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, the center line of the second lane that the second vehicle may follow and its historical driving trajectory are calculated through data fitting methods. This allows for accurate tracking of the preceding vehicle's driving trajectory and provides a data foundation for subsequent trajectory prediction and optimization.

[0042] For example, the aforementioned historical driving trajectory can be obtained by fitting historical driving position points using the least squares method.

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

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

[0045] Specifically, the historical driving positions of the second vehicle over a period of time are obtained. These positions record the vehicle's coordinates at different points in time. From these historical driving positions, the coordinates of the most recent position are selected as the starting coordinates of the second vehicle. The center line of the first lane is translated based on the starting coordinates of the second vehicle. The direction and distance of the translation depend on the direction and length of the perpendicular segment from the starting coordinates of the second vehicle to the center line of the first lane. The first lane center line is translated perpendicularly to the perpendicular segment to the position of the second vehicle in its lane, thus obtaining the center line of the second lane corresponding to the second vehicle. This allows for a more accurate determination of the second vehicle's position in the current lane, thereby improving the accuracy of vehicle positioning.

[0046] S130. Based on the center line of the second lane and the historical driving trajectory, determine the maximum vibration distance of the second vehicle on the center line of the second lane.

[0047] The maximum vibration distance can 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, its deviation from the center line of the second lane (i.e., the shaking distance) is calculated, and the maximum shaking distance is found to reflect the instability of the second vehicle's driving.

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

[0050] Here, "current driving position" can refer to the coordinates of the second vehicle's current location. "Current vibration distance" can refer to the distance between the current driving position and the center line of the second lane. "First detection result" can refer to the judgment result indicating whether the current vibration distance is greater than the maximum vibration distance.

[0051] Specifically, the system acquires the current driving position of the second vehicle in real time, calculates the current jitter distance relative to the center line of the second lane, and compares the current jitter distance with the maximum jitter distance to obtain the first detection result. This allows for real-time monitoring of the driving status of the vehicle in front and timely detection and response to possible abnormal driving situations.

[0052] For example, "determining the current vibration 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; and determining the current vibration distance of the second vehicle based on the predicted driving center line and the current driving position point.

[0053] The predicted driving centerline can refer to the extension of the centerline of the second lane.

[0054] Specifically, the acquired centerline of the second lane is extended to predict its possible path over a future period, i.e., the predicted driving centerline. The current position of the second vehicle is obtained, and the vertical distance or minimum distance (i.e., the current jitter distance) between the current position and the predicted driving centerline is calculated. This distance reflects the degree of deviation of the second vehicle from its expected driving centerline at the current moment. By monitoring the current jitter distance of the second vehicle in real time, deviations from the expected driving path can be detected promptly, alerting the driver or the autonomous driving system to take appropriate corrective measures, avoiding potential collision risks, and improving driving safety.

[0055] S150. 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.

[0056] The target driving trajectory can refer to the ideal driving path planned by the first vehicle for a future period of time when it 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 and predicting lane changes, 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 this invention determines the center line of the first lane corresponding to the first vehicle based on the lane line parameters at the moment the lane line disappears, thus providing a reference benchmark for subsequent processing. Based on the historical driving position of the second vehicle located ahead of the first vehicle and the center line of the first lane, the center line of the second lane corresponding to the second vehicle and its historical driving trajectory are obtained, enabling precise tracking of the preceding vehicle's trajectory. 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, thereby determining the stability of the preceding vehicle's trajectory. The current driving position of the second vehicle is obtained, and based on the center line of the second lane and the current driving position, the current jitter distance of the second vehicle is determined. It is then checked whether the current jitter distance is greater than the maximum jitter distance to obtain a first detection result. This allows for real-time monitoring of the preceding vehicle's driving status, timely detection and response to potential dangerous situations. 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, enabling the first vehicle to follow the second vehicle based on the target driving trajectory, allowing the first vehicle to follow the preceding vehicle more stably and safely. By comprehensively considering lane line parameters, the driving trajectory of the second vehicle, and its real-time status, the system achieves accurate fitting and optimization of the driving trajectory of the preceding vehicle, providing a more reliable and safer following strategy for autonomous driving or assisted driving systems, reducing the vibration amplitude of the preceding vehicle near the center line of the lane, thereby improving the automatic following effect of the following vehicle.

[0059] Example 2

[0060] Figure 2 This is a flowchart of a method for fitting and optimizing the trajectory of a preceding vehicle according to Embodiment 2 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". Explanations of terms that are the same as or corresponding to those in the above embodiments will not be repeated here.

[0061] See Figure 2 The alternative method for fitting and optimizing the trajectory of the preceding vehicle provided in this embodiment specifically includes the following steps:

[0062] S210. Based on the lane line parameters of the first vehicle at the moment the lane line disappears, determine the center line of the first lane corresponding to the first vehicle.

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

[0064] S230. Based on the center line of the second lane and historical driving trajectory, determine the maximum vibration distance of the second vehicle on the center line of the second lane.

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

[0066] S250. If the current shaking distance is greater than the maximum shaking distance, the current driving position is determined as an abnormal driving position, and the number of consecutively occurring abnormal driving position points is checked to see if it is greater than or equal to a preset number, to obtain a second detection result. 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 can refer to the current driving position point whose distance from the center line of the second lane is greater than the maximum vibration distance. The second detection result can refer to the judgment result indicating whether the number of abnormal driving position points is greater than or equal to a preset number.

[0068] Specifically, such as Figure 3 As shown, when the current jitter distance is detected to be greater than the maximum jitter distance, the current driving position is immediately marked as an abnormal driving position. Continuous monitoring and recording of consecutively occurring abnormal driving positions are performed, with a preset number (e.g., 3, 5, etc., the specific value can be determined according to design and safety requirements). When the number of consecutively occurring abnormal driving positions reaches or exceeds the preset number, a second detection result is generated. Based on the second detection result, it can be determined that the second vehicle may be performing a lane change, emergency stop, or other emergency operation. At this point, it is necessary to reassess the driving intention of the second vehicle and optimize the historical driving trajectory. The optimization process may include increasing the flexibility of the trajectory and predicting possible lane change trajectories. Finally, a target driving trajectory that better matches the actual driving situation of the preceding vehicle is generated for the first vehicle to reference, thereby improving the adaptability and robustness of the autonomous driving or assisted driving system.

[0069] For example, the step S250 of "fitting and optimizing the historical driving trajectory of the second vehicle based on the second detection result to obtain the target driving trajectory of the first vehicle" may include: if the number of consecutive abnormal driving position points is greater than or equal to a preset number, then fitting and optimizing 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, then 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 consecutive abnormal driving position points is greater than or equal to a preset number, it indicates that the abnormality in this driving trajectory is relatively serious or lasts for a long time, requiring specialized fitting and optimization processing. Mathematical methods (such as least squares) can be used to fit the preset number of abnormal driving position points to generate a smooth driving trajectory that conforms to actual road conditions. The optimized trajectory is then used as the target driving trajectory for the first vehicle to improve driving safety and efficiency. If the number of consecutive abnormal driving position points is less than the preset number, it indicates that the abnormality in this driving trajectory is relatively minor or sporadic, insufficient to significantly affect the overall trajectory. Therefore, the historical driving trajectory of the second vehicle can be directly used as the target driving trajectory for the first vehicle to reduce computation and avoid unnecessary trajectory adjustments. By performing targeted fitting and optimization on the abnormal parts of the second vehicle's driving trajectory, a safer, more efficient, and adaptive target driving trajectory can be provided for the first vehicle.

[0071] S260. If the current shaking distance is less than or equal to the maximum shaking distance, then the historical driving trajectory is fitted and optimized based on 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, such as Figure 3 As shown, when the detected current jitter distance is less than or equal to the maximum jitter distance, it indicates that the second vehicle is traveling along a normal trajectory. In this case, the trajectory of the preceding vehicle can be predicted more stably. Using information such as the center line of the second lane, the current driving position, and historical driving position, the historical driving trajectory is fine-tuned or smoothed to eliminate possible noise or errors, ultimately generating a smoother and more accurate target driving trajectory for the first vehicle to reference, thus improving the stability of following vehicles.

[0073] For example, the step S260 of "fitting and optimizing the historical driving trajectory based on 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" may include: extending the center line of the second lane and selecting a predicted center position point in the extended 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 point, and fitting the fused position point to obtain the target driving trajectory of the first vehicle.

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

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

[0076] For example, the predicted center position point, the current driving position point, and the historical driving position point are fused together, and the fused position point is fitted to obtain the target driving trajectory of the first vehicle, including: weighting the predicted center position point and the current driving position point based on preset weights to obtain the weighted predicted driving position point; and 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 center position and the current driving position according to actual needs. These weights can be allocated based on different factors, such as the reliability of the predicted center position, the real-time performance of the current driving position, and the continuity of historical driving positions. Based on the preset weights, the predicted center position and the current driving position are weighted. Specifically, the coordinate values ​​of the two positions are multiplied by their respective weights, and the results are summed to obtain the weighted predicted driving position. The weighted predicted driving position and historical driving positions are used as data input for fitting. These data points contain the vehicle's position information at different times, reflecting the vehicle's driving trajectory. A preset fitting method (such as least squares) is used to fit the position points to obtain a smooth curve or path that conforms to the trend of the data points, which serves as the target driving trajectory for the first vehicle. This avoids abrupt changes and jumps in the target driving trajectory, improving the stability and comfort of the first vehicle following other vehicles.

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

[0079] f(x) = a3*X 3 +a2*X 2 +a1*X+a0

[0080] Where (x, f(x)) can represent the position coordinates on the center line of the first lane, a3, a2, a1 represent the power terms of the curve equation corresponding to the center line of the second lane, and a0 represents the constant term of the curve equation corresponding to the center line of the second lane.

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

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

[0083]

[0084] Where 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 (X) represents the current driving position. Fusion Y Fusion () represents the predicted driving position.

[0088] The technical solution of this invention, by determining the current driving position as an abnormal driving position if the current jitter distance is greater than the maximum jitter distance, and detecting whether the number of consecutively occurring abnormal driving position points is greater than or equal to a preset number to obtain a second detection result, and then fitting and optimizing the historical driving trajectory of the second vehicle based on the second detection result to obtain the target driving trajectory of the first vehicle, can flexibly adjust the following strategy according to the actual driving situation of the preceding vehicle, thereby improving the stability of the autonomous driving or assisted driving system. If the current jitter distance is less than or equal to the maximum jitter distance, then fitting and optimizing the historical driving trajectory based on the second lane center line, the current driving position, and the historical driving position to obtain the target driving trajectory of the first vehicle, further reducing the jitter and sway of the first vehicle and improving driving stability. By timely detecting the abnormal driving behavior of the preceding vehicle and further flexibly adjusting the following strategy according to the actual driving situation of the preceding vehicle, the adaptability and robustness of the autonomous driving or assisted driving system are improved, enabling the following vehicle to generate more stable following instructions, reducing the jitter and sway of the first vehicle, and improving driving stability.

[0089] Example 3

[0090] Figure 4 This is a schematic diagram of a 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 currently traveling first vehicle at the moment when the lane line disappears.

[0092] The second centerline acquisition module 320 is used to obtain the second lane centerline and historical driving trajectory of the second vehicle based on the historical driving position point of the second vehicle located in front of the first vehicle and the first lane centerline.

[0093] The maximum distance determination module 330 is used to determine the maximum vibration 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] The current distance determination module 340 is used to obtain the current driving position of the second vehicle, determine the current vibration distance of the second vehicle based on the center line of the second lane and the current driving position, and detect whether the current vibration distance is greater than the maximum vibration distance to obtain a first detection result;

[0095] The target trajectory acquisition module 350 is used to fit and optimize 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 can follow the second vehicle based on the target driving trajectory.

[0096] The technical solution of this embodiment determines the center line of the first lane corresponding to the first vehicle based on the lane line parameters at the moment the lane line disappears, thus providing a reference benchmark for subsequent processing. Based on the historical driving position of the second vehicle located in front of the first vehicle and the first lane center line, the center line of the second lane corresponding to the second vehicle and its historical driving trajectory are obtained, enabling precise tracking of the preceding vehicle's trajectory. Based on the second lane center line and the historical driving trajectory, the maximum jitter distance of the second vehicle on the second lane center line is determined, thereby determining the stability of the preceding vehicle's trajectory. The current driving position of the second vehicle is obtained, and based on the second lane center line and the current driving position, the current jitter distance of the second vehicle is determined. It is then detected whether the current jitter distance is greater than the maximum jitter distance, obtaining a first detection result. This allows for real-time monitoring of the preceding vehicle's driving status, timely detection and response to potential dangerous situations. 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, enabling the first vehicle to follow the second vehicle based on the target driving trajectory, allowing the first vehicle to follow the preceding vehicle more stably and safely. By comprehensively considering lane line parameters, the driving trajectory of the second vehicle, and its real-time status, the system achieves accurate fitting and optimization of the driving trajectory of the preceding vehicle, providing a more reliable and safer following strategy for autonomous driving or assisted driving systems, reducing the vibration amplitude of the preceding vehicle near the center line of the lane, thereby improving the automatic following effect of the following 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; and 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 the 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] The first trajectory acquisition unit is configured to determine the current driving position as an abnormal driving position if the current jitter distance is greater than the maximum jitter distance, detect whether the number of consecutively occurring 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 the target driving trajectory of the first vehicle.

[0101] The second trajectory acquisition unit is used to, if the current jitter distance is less than or equal to the maximum jitter distance, fit and optimize the historical driving trajectory based on 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.

[0102] Optionally, the first trajectory acquisition unit is specifically used to: if the number of consecutively occurring abnormal driving position points is greater than or equal to a preset number, then perform 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 consecutively occurring abnormal driving position points is less than the preset number, then 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] The position prediction subunit is used to extend the center line of the second lane and select the 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 center position point, the current driving position point, and the historical driving position points, and to 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 for: weighting the predicted center position point and the current driving position point based on preset weights to obtain a weighted predicted driving position point; and fitting the predicted driving position point and the historical driving position point to obtain the target driving trajectory of the first vehicle.

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

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

[0109] like Figure 5As shown, the electronic device 12 is represented 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, system memory 28, and bus 18 connecting different system components (including system memory 28 and processing unit 16).

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

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

[0112] 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. Electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (… Figure 5 Not shown; usually referred to as a "hard drive"). Although Figure 5 Not shown, 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, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the 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 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of the present invention.

[0114] Electronic device 12 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with electronic device 12, and / or with any device that enables electronic device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 22. Furthermore, electronic device 12 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 20. As shown, network adapter 20 communicates with other modules of electronic device 12 via bus 18. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with 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] Processing unit 16 executes various functional applications and data processing by running programs stored in system memory 28, such as implementing the steps of a vehicle trajectory fitting optimization method provided in this embodiment, the method including:

[0116] Based on the lane line parameters of the first vehicle at the moment when the lane line disappears, determine the center line of the first lane corresponding to the first vehicle;

[0117] Based on the historical driving position of the second vehicle located in front of the first vehicle and the center line of the first lane, the center line of the second lane and the historical driving trajectory of the second vehicle are obtained.

[0118] Based on the center line of the second lane and the historical driving trajectory, the maximum vibration distance of the second vehicle on the center line of the second lane is determined;

[0119] The current driving position of the second vehicle is obtained, and the current vibration distance of the second vehicle is determined based on the center line of the second lane and the current driving position. The current vibration distance is then checked to see if it is greater than the maximum vibration distance, and a first detection result is obtained.

[0120] 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.

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

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

[0123] Based on the lane line parameters of the first vehicle at the moment when the lane line disappears, determine the center line of the first lane corresponding to the first vehicle;

[0124] Based on the historical driving position of the second vehicle located in front of the first vehicle and the center line of the first lane, the center line of the second lane and the historical driving trajectory of the second vehicle are obtained.

[0125] Based on the center line of the second lane and the historical driving trajectory, the maximum vibration distance of the second vehicle on the center line of the second lane is determined;

[0126] The current driving position of the second vehicle is obtained, and the current vibration distance of the second vehicle is determined based on the center line of the second lane and the current driving position. The current vibration distance is then checked to see if it is greater than the maximum vibration distance, and a first detection result is obtained.

[0127] 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.

[0128] The computer storage medium of this invention can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0129] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0130] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

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

[0132] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computing device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

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

Claims

1. A method for fitting and optimizing the trajectory of a preceding vehicle, characterized in that, include: Based on the lane line parameters of the first vehicle at the moment when the lane line disappears, determine the center line of the first lane corresponding to the first vehicle; Based on the historical driving position of the second vehicle located in front of the first vehicle and the center line of the first lane, the center line of the second lane and the historical driving trajectory of the second vehicle are obtained. Based on the center line of the second lane and the historical driving trajectory, the maximum vibration distance of the second vehicle on the center line of the second lane is determined; The current driving position of the second vehicle is obtained, and the current vibration distance of the second vehicle is determined based on the center line of the second lane and the current driving position. The current vibration distance is then checked to see if it is greater than the maximum vibration distance, and a first detection result is obtained. 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.

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

3. The method according to claim 1, characterized in that, Determining the current vibration distance of the second vehicle based on the center line of the second lane and the current driving position includes: The center line of the second lane is extended to obtain the predicted driving center line of the second vehicle; Based on the predicted driving centerline and the current driving position, the current vibration distance of the second vehicle is determined.

4. The method according to claim 1, characterized in that, 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 includes: If the current jitter distance is greater than the maximum jitter distance, the current driving position is determined as an abnormal driving position, and the number of consecutively occurring abnormal driving position points is detected to be greater than or equal to a preset number to obtain a second detection result. 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. If the current jitter distance is less than or equal to the maximum jitter distance, then the historical driving trajectory is fitted and optimized based on 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 step of fitting and optimizing 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 location points is greater than or equal to a preset number, then the fitting optimization is performed based on the preset number of abnormal driving location points to generate the target driving trajectory of the first vehicle. If the number of consecutive abnormal driving locations is less than the preset number, the historical driving trajectory of the second vehicle will be directly used as the target driving trajectory of the first vehicle.

6. The method according to claim 4, characterized in that, The step of fitting and optimizing the historical driving trajectory based on the center line of the second lane, the current driving position, and the historical driving position to obtain the target driving trajectory of the first vehicle includes: The center line of the second lane is extended, and a predicted center position point is selected in the extension of the center line of the second lane. The predicted center location, current driving location, and historical driving location are fused together, and the fused location is 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 center location point, the current driving location point, and the historical driving location points, and then fitting the fused location points to obtain the target driving trajectory of the first vehicle, includes: The predicted center position point and the current driving position point are weighted based on preset weights to obtain the weighted predicted driving position point. The predicted driving position and the historical driving position are fitted to obtain the target driving trajectory of the first vehicle.

8. A device for fitting and optimizing the trajectory of a preceding vehicle, characterized in that, include: The first centerline acquisition module is used to determine the first lane centerline corresponding to the first vehicle based on the lane line parameters of the currently traveling first vehicle at the moment when the lane line disappears. The second centerline acquisition module is used to obtain the second lane centerline and historical driving trajectory of the second vehicle based on the historical driving position point of the second vehicle located in front of the first vehicle and the first lane centerline. The maximum distance determination module is used to determine the maximum vibration 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. The current distance determination module is used to obtain the current driving position of the second vehicle, determine the current vibration distance of the second vehicle based on the center line of the second lane and the current driving position, and detect whether the current vibration distance is greater than the maximum vibration distance to obtain a first detection result; The target trajectory acquisition module is used to fit and optimize 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 can follow the second vehicle based on the target driving trajectory.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the forward trajectory fitting optimization method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the forward vehicle trajectory fitting optimization method according to any one of claims 1-7.

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