Method, device and equipment for judging whether track passes through hard boundary, medium and vehicle

Abstract

The invention relates to a method, device and equipment for judging whether a track passes through a hard boundary, a medium and a vehicle. The method comprises the steps of obtaining a to-be-judged target track and a hard boundary line of a lane where the target track is located; traversing track points in the target track and determining projection points of the track points in the Frenet coordinate system, and if positive and negative different signs exist between the Frenet coordinate of the currently accessed track point and the Frenet coordinate of any accessed track point, taking the currently accessed track point as a pre-selected track point, and taking the projection point of the pre-selected track point in the Frenet coordinate system as a pre-selected projection point; traversing projection points on the hard boundary line, and if a pre-selected projection point exists in the projection points, determining a hard boundary line segment between the pre-selected projection point and the previous visited projection point and a target track segment between the pre-selected track point and the previous visited track point; and if the hard boundary line segment intersects with the target track segment, determining that the target track passes through the hard boundary line. The accuracy of judging whether the target track passes through the hard boundary line can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, and in particular to a method, device, equipment, medium and vehicle for determining whether a trajectory crosses a hard boundary. Background Art

[0002] In autonomous driving technology, predicting the movement trajectory of obstacles or planning the vehicle's own trajectory has always been a key content.

[0003] At present, the method for judging whether the predicted trajectory of an obstacle or the planned trajectory of the ego vehicle crosses the hard boundary of the road is usually to connect the starting point and the end point of the trajectory into a line segment, and the starting point and the end point of the hard boundary of the road into a line segment, and then judge whether the two line segments intersect in the world coordinate system, so as to judge whether the trajectory crosses the hard boundary. However, the predicted trajectory of the obstacle and the planned trajectory of the ego vehicle often have curvature, and the shapes of the road boundary lines are also varied, not limited to straight lines. This diversity increases the complexity of judgment. Although the current method of judging whether the trajectory crosses the hard boundary has a small amount of calculation, it cannot accurately express and process the trajectory and road boundary lines of the curved shape, resulting in this judgment method. In some special cases, it will make wrong judgments, affecting the accuracy of judging whether the trajectory crosses the hard boundary. If the scene is constructed by using data simulation in the world coordinate system and then judging whether the trajectory crosses the hard boundary, it will consume very high computing resources. Therefore, how to more accurately judge whether the trajectory crosses the hard boundary while reducing resource consumption has become an urgent problem to be solved. Summary of the invention

[0004] In order to solve the above technical problems, the present disclosure provides a method, device, equipment, medium and vehicle for determining whether a trajectory crosses a hard boundary.

[0005] In a first aspect, the present disclosure provides a method for determining whether a trajectory crosses a hard boundary, comprising:

[0006] Obtaining a target trajectory to be determined and a hard boundary line of the lane in which it is located, wherein the target trajectory includes a predicted trajectory of the obstacle and a planned trajectory of the vehicle;

[0007] A Frenet coordinate system is constructed with the hard boundary line as a reference line, the trajectory points in the target trajectory are traversed and their projection points in the Frenet coordinate system are determined, and if the Frenet coordinates of the currently visited trajectory point and the Frenet coordinates of any visited trajectory point have different signs, the currently visited trajectory point is used as a pre-selected trajectory point, and the projection point of the pre-selected trajectory point in the Frenet coordinate system is used as a pre-selected projection point;

[0008] Traversing the projection points on the hard boundary line, if the pre-selected projection point exists among them, determining the hard boundary line segment between the pre-selected projection point and the last visited projection point, and the target trajectory segment between the pre-selected trajectory point and the last visited trajectory point;

[0009] If the hard boundary line segment intersects the target trajectory segment, it is determined that the target trajectory crosses the hard boundary line.

[0010] Optionally, obtaining the target trajectory to be determined and the hard boundary line of the lane where the target trajectory is located includes:

[0011] Obtain the target trajectory to be judged;

[0012] According to the coordinates of the track points in the target track under the global map, searching the global map for the road data of the lane where the target track is located;

[0013] The hard boundary line of the lane is screened from the road data.

[0014] Optionally, screening the hard boundary line of the lane from the road data includes:

[0015] Extracting road boundaries associated with the lanes in the road data to form a road boundary set, wherein the road boundaries have boundary attribute information;

[0016] The road boundary set is traversed, and a road boundary whose boundary attribute information meets a preset condition is determined as a hard boundary line of the lane.

[0017] Optionally, before traversing the trajectory points in the target trajectory, the method further includes:

[0018] Sampling trajectory points in the target trajectory to obtain sampled trajectory points;

[0019] The traversing the trajectory points in the target trajectory includes:

[0020] Traverse the sampling trajectory points.

[0021] Optionally, traversing the trajectory points in the target trajectory and determining the projection points thereof in the Frenet coordinate system, if the Frenet coordinates of the currently visited trajectory point and the Frenet coordinates of any visited trajectory point have different signs, taking the currently visited trajectory point as a pre-selected trajectory point, and taking the projection point of the pre-selected trajectory point in the Frenet coordinate system as a pre-selected projection point, includes:

[0022] For the currently visited trajectory point, the foot of the perpendicular from the trajectory point to the reference line is used as the projection point of the trajectory point in the Frenet coordinate system;

[0023] The distance from the starting point of the hard boundary line along the reference line to the foot of the perpendicular is used as the vertical axis coordinate of the track point in the Frenet coordinate system, and the distance from the track point to the foot of the perpendicular is used as the horizontal axis coordinate of the track point in the Frenet coordinate system, to obtain the Frenet coordinate of the track point, wherein the horizontal axis coordinate is positive when the track point is on one side of the reference line, and negative when the track point is on the other side of the reference line;

[0024] The horizontal axis coordinate of the trajectory point in the Frenet coordinate system is compared with the horizontal axis coordinate of the visited trajectory point in the Frenet coordinate system. If the horizontal axis coordinates have different signs, the trajectory point is used as the pre-selected trajectory point and the foot of the perpendicular is used as the pre-selected projection point. Otherwise, continue to visit the next trajectory point.

[0025] Optionally, comparing the horizontal axis coordinate of the trajectory point in the Frenet coordinate system with the horizontal axis coordinate of the visited trajectory point in the Frenet coordinate system, and if the horizontal axis coordinates have different signs, taking the trajectory point as the pre-selected trajectory point and the projection point as the pre-selected projection point, otherwise continuing to visit the next trajectory point, comprises:

[0026] For the trajectory point and the trajectory point visited before the trajectory point, calculate the product of the horizontal axis coordinates of both parties in the Frenet coordinate system. If the result is a negative number, take the trajectory point as the pre-selected trajectory point and the projection point as the pre-selected projection point, otherwise continue to visit the next trajectory point.

[0027] Optionally, before traversing the projection points on the hard boundary line, the method further includes:

[0028] For each projection point, determine whether the longitudinal coordinate of the projection point in the Frenet coordinate system is less than or equal to the longitudinal coordinate of the end point of the hard boundary line in the Frenet coordinate system, the longitudinal coordinate of the projection point in the Frenet coordinate system is the distance from the starting point of the hard boundary line along the reference line to the projection point, and the longitudinal coordinate of the end point of the hard boundary line in the Frenet coordinate system is the length of the hard boundary line;

[0029] If so, it is determined that the projection point is a projection point on the hard boundary line.

[0030] Optionally, traversing the projection points on the hard boundary line includes:

[0031] The vertical axis coordinate of the currently visited projection point in the Frenet coordinate system is compared with the vertical axis coordinate of the pre-selected projection point in the Frenet coordinate system. If both are equal, it is determined that the pre-selected projection point exists among the projection points on the hard boundary line.

[0032] In a second aspect, the present disclosure provides a device for determining whether a trajectory crosses a hard boundary, comprising:

[0033] An acquisition module is used to acquire a target trajectory to be determined and a hard boundary line of the lane where the target trajectory is located, wherein the target trajectory includes a predicted trajectory of an obstacle and a planned trajectory of the vehicle;

[0034] A first traversal module is used to construct a Frenet coordinate system with the hard boundary line as a reference line, traverse the trajectory points in the target trajectory and determine their projection points in the Frenet coordinate system, if the Frenet coordinates of the currently visited trajectory point and the Frenet coordinates of any visited trajectory point have different signs, then the currently visited trajectory point is used as a pre-selected trajectory point, and the projection point of the pre-selected trajectory point in the Frenet coordinate system is used as a pre-selected projection point;

[0035] A second traversal module is used to traverse the projection points on the hard boundary line, and if the pre-selected projection point exists therein, determine the hard boundary line segment between the pre-selected projection point and the last visited projection point, and the target trajectory segment between the pre-selected trajectory point and the last visited trajectory point;

[0036] A determination module is configured to determine that the target trajectory crosses the hard boundary line if the hard boundary line segment intersects the target trajectory segment.

[0037] Optionally, when acquiring the target trajectory to be judged and the hard boundary line of the lane in which it is located, the acquisition module is specifically used to obtain the target trajectory to be judged; search for road data of the lane in which the target trajectory is located in the global map according to the coordinates of the trajectory points in the target trajectory under the global map; and filter the hard boundary line of the lane from the road data.

[0038] Optionally, when screening the hard boundary line of the lane from the road data, the acquisition module is specifically used to extract road boundaries associated with the lane in the road data to form a road boundary set, and the road boundaries have boundary attribute information; traverse the road boundary set, and determine the road boundaries whose boundary attribute information meets preset conditions as the hard boundary lines of the lane.

[0039] Optionally, the device further includes a sampling module, which is used to sample the trajectory points in the target trajectory before traversing the trajectory points in the target trajectory to obtain sampled trajectory points; when traversing the trajectory points in the target trajectory, the first traversal module is specifically used to traverse the sampled trajectory points.

[0040] Optionally, when the first traversal module traverses the trajectory points in the target trajectory and determines the projection points thereof in the Frenet coordinate system, if the Frenet coordinates of the currently visited trajectory point and the Frenet coordinates of any visited trajectory point have different signs, the currently visited trajectory point is used as the pre-selected trajectory point, and the projection point of the pre-selected trajectory point in the Frenet coordinate system is used as the pre-selected projection point, specifically for the currently visited trajectory point, the foot of the perpendicular from the trajectory point to the reference line is used as the projection point of the trajectory point in the Frenet coordinate system; the distance from the starting point of the hard boundary line along the reference line to the foot of the perpendicular is used as the trajectory point; The vertical coordinate of the track point in the Frenet coordinate system, the distance from the track point to the foot of the perpendicular is used as the horizontal coordinate of the track point in the Frenet coordinate system, to obtain the Frenet coordinate of the track point, when the track point is on one side of the reference line, the horizontal coordinate is positive, and when it is on the other side of the reference line, the horizontal coordinate is negative; the horizontal coordinate of the track point in the Frenet coordinate system is compared with the horizontal coordinate of the visited track point in the Frenet coordinate system, if the horizontal coordinates are of different signs, the track point is used as the pre-selected track point, and the foot of the perpendicular is used as the pre-selected projection point, otherwise continue to visit the next track point.

[0041] Optionally, the first traversal module compares the horizontal axis coordinate of the trajectory point in the Frenet coordinate system with the horizontal axis coordinate of the visited trajectory point in the Frenet coordinate system. If the horizontal axis coordinates are of different signs, the trajectory point is used as the pre-selected trajectory point and the projection point is used as the pre-selected projection point. Otherwise, the next trajectory point is continued to be visited. Specifically, it is used to calculate the product of the horizontal axis coordinates of the trajectory point and the trajectory point visited before the trajectory point in the Frenet coordinate system. If the result is a negative number, the trajectory point is used as the pre-selected trajectory point and the projection point is used as the pre-selected projection point. Otherwise, the next trajectory point is continued to be visited.

[0042] Optionally, before traversing the projection points on the hard boundary line, the second traversal module is also used to determine, for each projection point, whether the longitudinal coordinate of the projection point in the Frenet coordinate system is less than or equal to the longitudinal coordinate of the end point of the hard boundary line in the Frenet coordinate system, the longitudinal coordinate of the projection point in the Frenet coordinate system being the distance from the starting point of the hard boundary line along the reference line to the projection point, and the longitudinal coordinate of the end point of the hard boundary line in the Frenet coordinate system being the length of the hard boundary line; if so, it is determined that the projection point is a projection point on the hard boundary line.

[0043] Optionally, when traversing the projection points on the hard boundary line, the second traversal module is specifically used to compare the longitudinal coordinate of the currently visited projection point in the Frenet coordinate system with the longitudinal coordinate of the pre-selected projection point in the Frenet coordinate system. If both are equal, it is determined that the pre-selected projection point exists among the projection points on the hard boundary line.

[0044] In a third aspect, the present disclosure provides a computer device, comprising:

[0045] Memory;

[0046] Processor; and

[0047] Computer programs;

[0048] The computer program is stored in the memory and is configured to be executed by the processor to implement the method as described in any one of the first aspects.

[0049] In a fourth aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method as described in any one of the first aspects.

[0050] In a fifth aspect, the present disclosure provides a vehicle, comprising the device for determining whether a trajectory crosses a hard boundary as described in the second aspect and / or the computer device as described in the third aspect.

[0051] The method, device, equipment, medium and vehicle for judging whether a trajectory crosses a hard boundary provided by the present disclosure obtain the hard boundary line of the target trajectory to be judged and the lane in which it is located, then construct a Frenet coordinate system with the hard boundary line as the reference line, traverse the trajectory points in the target trajectory and determine their projection points in the Frenet coordinate system, and preliminarily determine that the target trajectory crosses the hard boundary line when the Frenet coordinates of the currently visited trajectory point and the Frenet coordinates of any visited trajectory point have different positive and negative signs, and at the same time, the currently visited trajectory point is used as a pre-selected trajectory point, and the pre-selected trajectory point is selected in the Frenet coordinate system. The projection point in the Frenet coordinate system is used as the pre-selected projection point, and then the projection points on the hard boundary line are traversed. When the pre-selected projection point exists among the projection points on the hard boundary line, the hard boundary line segment between the pre-selected projection point and the previously visited projection point and the target trajectory segment between the pre-selected trajectory point and the previously visited trajectory point are determined. By judging whether the hard boundary line segment intersects with the target trajectory segment, it is checked whether the target trajectory crosses the hard boundary line. If the hard boundary line segment intersects with the target trajectory segment, it can be determined that the target trajectory crosses the hard boundary line, thereby improving the accuracy of judging whether the target trajectory crosses the hard boundary line. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0054] Figure 1 A flow chart of a method for determining that a trajectory crosses a hard boundary provided in an embodiment of the present disclosure;

[0055] Figure 2 A schematic diagram of an application scenario provided by an embodiment of the present disclosure;

[0056] Figure 3 A schematic diagram of another application scenario provided by an embodiment of the present disclosure;

[0057] Figure 4 A schematic diagram of the structure of a device for determining that a trajectory crosses a hard boundary provided by an embodiment of the present disclosure;

[0058] Figure 5 It is a structural schematic diagram of an electronic device in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0059] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0060] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0061] Figure 1 A flow chart of a method for determining whether a track crosses a hard boundary provided in an embodiment of the present disclosure. The method can be executed by a device for determining whether a track crosses a hard boundary, and the device for determining whether a track crosses a hard boundary can be implemented in software and / or hardware. The device for determining whether a track crosses a hard boundary can be configured in an electronic device, such as a vehicle computer, a vehicle-mounted computer, a domain controller, or other device with data processing and computing capabilities. The method for determining whether a track crosses a hard boundary includes the following steps:

[0062] S101, obtaining a target trajectory to be determined and a hard boundary line of the lane where the target trajectory is located, wherein the target trajectory includes a predicted trajectory of an obstacle and / or a planned trajectory of the vehicle.

[0063] During the driving process, the onboard computer can obtain the environmental information and traffic information around the vehicle through the vehicle's various perception modules or V2X (vehicle to everything) system. Based on this information, the onboard computer can predict the trajectory of obstacles that may interact with the vehicle (such as other vehicles and cyclists) and obtain the predicted trajectory of the obstacles. After that, the onboard computer can further plan the driving path of the vehicle based on this information and the predicted trajectory of the obstacles to obtain the planned trajectory of the driving path of the vehicle.

[0064] After obtaining the predicted trajectory of the obstacle and the planned trajectory of the ego vehicle, the onboard computer needs to determine whether the initially obtained predicted trajectory and planned trajectory cross the hard boundary of the road. The hard boundary of the road refers to the lane boundary that the vehicle cannot cross, such as fences, stone piers or high curbs. If the predicted trajectory crosses the hard boundary of the road, it means that the obstacle will collide with the hard boundary of the road if it follows the predicted trajectory, indicating that the predicted motion trajectory for the obstacle is unreasonable. Similarly, if the planned trajectory crosses the hard boundary of the road, it means that the driving trajectory planned for the ego vehicle is unreasonable.

[0065] In order to determine whether the predicted trajectory and / or planned trajectory crosses the hard boundary of the road, the on-board computer also needs to obtain the hard boundary lines of the lanes where these trajectories are located. The hard boundary lines refer to the lines that describe the position and shape of the hard boundaries of the road under the global map. The vehicle computer can extract the hard boundary lines of the lanes where the target trajectory is located from the map data by searching the map data of the lane where the target trajectory is located.

[0066] In some embodiments, obtaining a target trajectory to be determined and a hard boundary line of a lane in which the target trajectory is located includes: obtaining the target trajectory to be determined; searching for road data of a lane in which the target trajectory is located in the global map according to coordinates of trajectory points in the target trajectory under a global map; and filtering the hard boundary line of the lane from the road data.

[0067] Taking the predicted trajectory of an obstacle as an example, when the on-board computer predicts the obstacle's motion trajectory, it predicts the obstacle's position and motion information at the next moment based on the obstacle's current position and motion information, and then predicts the obstacle's position and motion information at the next moment based on the predicted position and motion information of the obstacle, and so on, the predicted position coordinates of the obstacle at each moment are represented by predicted trajectory points in the global map, and the predicted trajectory of the obstacle can be formed based on the multiple predicted trajectory points obtained by the prediction. For example, the on-board computer predicts the obstacle's motion trajectory for a duration of F (in seconds), and the obstacle's motion trajectory predicted per second contains N predicted trajectory points, and the entire predicted trajectory contains NF trajectory points.

[0068] The coordinates of the predicted trajectory points in the obstacle prediction trajectory under the global map indicate the position that the predicted trajectory will pass through. The on-board computer can search the map for the road data of the lane through which the predicted trajectory passes according to the coordinates of the predicted trajectory points under the global map. The road data includes the road boundary data of the lane, and then the hard boundary line of the lane is filtered from the road data. Specifically, the on-board computer can extract the road boundary associated with the lane from the road data to form a road boundary set. Each road boundary data has boundary attribute information, and the boundary attribute information of the road boundary can describe the elements that constitute the road boundary. Then the on-board computer traverses the above road boundary set and determines the road boundary whose boundary attribute information meets the preset conditions as the hard boundary line of the lane. For example, when the boundary attribute information is a fence, a stone pier or a high curb, the on-board computer can determine that the road boundary is a hard boundary of the road, and the line representing the road boundary under the global map is the hard boundary line of the lane.

[0069] S102, constructing a Frenet coordinate system with the hard boundary line as a reference line, traversing the trajectory points in the target trajectory and determining their projection points in the Frenet coordinate system, if the Frenet coordinates of the currently visited trajectory point and the Frenet coordinates of any visited trajectory point have different signs, then the currently visited trajectory point is used as a pre-selected trajectory point, and the projection point of the pre-selected trajectory point in the Frenet coordinate system is used as a pre-selected projection point.

[0070] After obtaining the target trajectory and the hard boundary line of the lane it is in, the on-board computer constructs the Frenet coordinate system with the hard boundary line as the reference line. The Frenet coordinate system is a coordinate system commonly used to describe curves. It is one of the existing coordinate systems. It uses the curve itself as a reference and uses two coordinate axes to represent the position of a point on the curve. From the perspective of expression, the curve itself can be displayed in the Frenet coordinates as a straight-line coordinate axis. For example, the hard boundary line is a curve in the actual space. After the Frenet coordinate system is constructed with the hard boundary line as the reference line, the hard boundary line will be used as a coordinate axis in the Frenet coordinate system and can be displayed in the form of a straight line. In actual application, no conversion is required and the coordinate axis in the form of a curve can be directly displayed and used. The Frenet coordinate system consists of two coordinate axes, the ordinate coordinate s and the abscissa coordinate l. The ordinate coordinate s represents the distance along the direction of the curve, and the starting point is usually a fixed point on the curve. The abscissa coordinate l represents the distance between the point on the curve and the tangent of the curve, that is, the direction perpendicular to the curve. In the Frenet coordinate system, the positive direction of the s-axis is consistent with the tangent direction of the curve, and s = 0 represents the starting point on the curve. The positive direction of the l-axis is perpendicular to the tangent of the curve, and l = 0 represents the position where the point on the curve is tangent to the tangent. The Frenet coordinate system can more intuitively describe the position of a point on the curve trajectory on the curve.

[0071] Then the on-board computer traverses the trajectory points in the target trajectory. Traversal means visiting or detecting each node in the search route in turn according to the search route. Each time a trajectory point is visited, the on-board computer will project the trajectory point into the Frenet coordinate system constructed with the hard boundary line as the reference line, and obtain the projection point of the trajectory point in the Frenet coordinate system, that is, the projection point of the trajectory point on the reference line, thereby converting the coordinates of the trajectory point in the global coordinate system into Frenet coordinates. Then, it is determined whether there is a positive or negative difference in sign between the Frenet coordinates of the currently visited trajectory point and the Frenet coordinates of any visited trajectory point. If there is a positive or negative difference in sign, it is preliminarily determined that the currently visited trajectory point is the first trajectory point to cross the hard boundary. The on-board computer will use the currently visited trajectory point as the pre-selected trajectory point, and the projection point of the pre-selected trajectory point in the Frenet coordinate system as the pre-selected projection point, so as to further check whether the target trajectory crosses the hard boundary line.

[0072] In some embodiments, before traversing the trajectory points in the target trajectory, the method further includes: sampling the trajectory points in the target trajectory to obtain sampled trajectory points; traversing the trajectory points in the target trajectory includes: traversing the sampled trajectory points.

[0073] Considering that there are many trajectory points in the target trajectory points, and the interval between adjacent trajectory points is very small, the positions of both sides are relatively close. Therefore, before traversing the trajectory points in the target trajectory, the trajectory points in the target trajectory can be sampled, and then the sampled trajectory points are traversed. Taking the predicted trajectory containing NF trajectory points in the above embodiment as an example, the predicted trajectory is sampled every 3 points, and only NF / 3 trajectory points need to be traversed.

[0074] In some embodiments, the trajectory points in the target trajectory are traversed and their projection points in the Frenet coordinate system are determined. If the Frenet coordinates of the currently visited trajectory point and the Frenet coordinates of any visited trajectory point have different signs, the currently visited trajectory point is used as a pre-selected trajectory point, and the projection point of the pre-selected trajectory point in the Frenet coordinate system is used as the pre-selected projection point, including: for the currently visited trajectory point, taking the foot of the perpendicular from the trajectory point to the reference line as the projection point of the trajectory point in the Frenet coordinate system; taking the distance from the starting point of the hard boundary line along the reference line to the foot of the perpendicular as the projection point of the trajectory point in the Frenet coordinate system; is the ordinate coordinate of the trajectory point in the Frenet coordinate system, and the distance from the trajectory point to the foot of the perpendicular is used as the abscissa coordinate of the trajectory point in the Frenet coordinate system to obtain the Frenet coordinate of the trajectory point. When the trajectory point is on one side of the reference line, the abscissa coordinate is positive, and when it is on the other side of the reference line, the abscissa coordinate is negative. The abscissa coordinate of the trajectory point in the Frenet coordinate system is compared with the abscissa coordinate of the visited trajectory point in the Frenet coordinate system. If the abscissa coordinates are of different signs, the trajectory point is taken as the pre-selected trajectory point and the foot of the perpendicular is taken as the pre-selected projection point, otherwise, continue to visit the next trajectory point.

[0075] Exemplarily, the reference line where the hard boundary line is located is R, the starting point is Z, the coordinates of the trajectory point P in the global coordinate system are (x, y), the foot of the perpendicular obtained by projecting the trajectory point P onto the reference line R is T, the distance from the trajectory point P to the foot of the perpendicular T is the horizontal axis coordinate L1 of the trajectory point P in the Frenet coordinate system, and the distance from the starting point Z of the reference line R to the foot of the perpendicular T is the vertical axis coordinate S1 of the trajectory point P in the Frenet coordinate system. The horizontal axis coordinate of the trajectory point P can be set to be positive when it is on one side of the reference line R, and to be negative when it is on the other side of the reference line R, so that the coordinates (x, y) of the trajectory point P in the global coordinate system are converted to the coordinates (S1, L1) in the Frenet coordinate system.

[0076] Figure 2A schematic diagram of an application scenario provided by an embodiment of the present disclosure. The scenario includes a hard boundary line 200 and a target trajectory 210, wherein the starting point of the hard boundary line 200 is 201 and the end point is 202, and the target trajectory 210 includes trajectory points 211, 212, 213, 214, and 215. In the Frenet coordinate system with the hard boundary line 200 as the reference line, the direction from the starting point 201 along the hard boundary line 200 to the end point 201 is the positive direction of the vertical axis coordinate of the Frenet coordinate system, and vice versa. When the trajectory point is on the side below the hard boundary line 200, the horizontal axis coordinate of the trajectory point in the Frenet coordinate system is positive, and when the trajectory point is on the side above the hard boundary line 200, the horizontal axis coordinate of the trajectory point in the Frenet coordinate system is negative.

[0077] The onboard computer starts traversing the track points in the target track 210 from track point 211. When the track point currently accessed by the onboard computer is track point 211, the onboard computer projects track point 211 onto the hard boundary line 200. The foot of the perpendicular from track point 211 to the hard boundary line 200 is projection point 221. The distance from starting point 201 along the hard boundary line 200 to track point 211 is S211, and the distance from track point 211 to projection point 221 is L211. Because track point 211 is on the lower side of the hard boundary line 200, the horizontal axis coordinate of track point 211 in the Frenet coordinate system can be taken as positive, and the Frenet coordinate of track point 211 can be obtained as (S211, L211). Track point 211 is the first track point accessed by the onboard computer. The track point that has been visited is 0. The Frenet coordinates of track point 211 will not have the opposite sign from the Frenet coordinates of the track points that have been visited. The onboard computer continues to visit the next track point 212. The set of horizontal axis coordinates of visited trajectory points in the Frenet coordinate system is denoted as M.

[0078] Similarly, the projection point of track point 212 is 222. Since track point 212 is located on the side below hard boundary line 200, the horizontal coordinate of track point 212 in the Frenet coordinate system is also positive. The Frenet coordinate of track point 212 is recorded as (S212, L212). The onboard computer compares the horizontal coordinate of track point 212 in the Frenet coordinate system with the horizontal coordinate in set M. Both L212 and L211 are positive, and the onboard computer continues to access the next track point 213. Similarly, the projection point of track point 213 is 223. The Frenet coordinate of track point 213 is recorded as (S213, L213). Since L213, L212 and L211 are all positive, the onboard computer continues to access the next track point 214. The projection point of the track point 214 is 224. Since the track point 214 is located on the upper side of the hard boundary line 200, the horizontal coordinate of the track point 214 in the Frenet coordinate system can be taken as negative. The Frenet coordinate of the track point 214 is recorded as (S214, -L214). The on-board computer compares the horizontal coordinate -L214 of the track point 214 in the Frenet coordinate system with the horizontal coordinate in the set M. -L214 and L213 have opposite signs. Therefore, the on-board computer takes the track point 214 as the pre-selected track point, and the projection point 224 of the track point 214 on the hard boundary line 200 as the pre-selected projection point. When the signs are opposite, the on-board computer stops traversing the track points and no longer visits the track point 215.

[0079] In some embodiments, the horizontal axis coordinate of the trajectory point in the Frenet coordinate system is compared with the horizontal axis coordinate of the visited trajectory point in the Frenet coordinate system. If the horizontal axis coordinates have different signs, the trajectory point is used as a pre-selected trajectory point and the projection point is used as a pre-selected projection point. Otherwise, the next trajectory point is visited, including: for the trajectory point and the trajectory point visited before the trajectory point, the product of the horizontal axis coordinates of both parties in the Frenet coordinate system is calculated. If the result is a negative number, the trajectory point is used as a pre-selected trajectory point and the projection point is used as a pre-selected projection point. Otherwise, the next trajectory point is visited.

[0080] In order to reduce the amount of calculation, the on-board computer does not need to compare the horizontal axis coordinates of the currently visited trajectory point in the Frenet coordinate system with the horizontal axis coordinates of the visited trajectory points in the Frenet coordinate system in sequence. During the traversal process, the on-board computer calculates the product of the horizontal axis coordinates of the currently visited trajectory point and the previous visited trajectory point of the currently visited trajectory point in the Frenet coordinate system, and determines whether there is a positive or negative sign difference by whether the product is a negative number. For example, when the currently visited trajectory point is trajectory point 212, the result of multiplying L212 and L211 is a positive number, which can determine that there is no positive or negative sign difference between trajectory point 212 and the visited trajectory point 211. When the currently visited trajectory point is trajectory point 214, the result of multiplying -L214 and L211 is a negative number, then it can be determined that the trajectory point 214 and the visited trajectory points 211, 212, and 213 have different signs, and trajectory point 214 is used as the pre-selected trajectory point and projection point 224 is used as the pre-selected projection point.

[0081] S103, traversing the projection points on the hard boundary line, if there is a pre-selected projection point, determining the hard boundary line segment between the pre-selected projection point and the last visited projection point, and the target trajectory segment between the pre-selected trajectory point and the last visited trajectory point.

[0082] Reference Figure 2 After the onboard computer determines the trajectory point 214 as the pre-selected trajectory point and the projection point 224 as the pre-selected projection point, it needs to traverse the projection points on the hard boundary line 200 to check whether the target trajectory 210 crosses the hard boundary line 200. This is because during the calculation of the onboard computer, the range of the target trajectory may be larger than the hard boundary line. At this time, the onboard computer will extend the reference line where the hard boundary line is located, causing the projection point of the trajectory point on the reference line to exceed the hard boundary line. Figure 3 A schematic diagram of another application scenario provided by the embodiment of the present disclosure, referring to Figure 3, which includes a hard boundary line 300 and a target track 310. The starting point of the hard boundary line 300 is 301, and the end point is 302. The dotted line 320 represents the extension line of the hard boundary line 300. The dotted line 320 and the hard boundary line 300 form the reference line of the Frenet coordinate system. It can be seen that the horizontal axis coordinate of the track point 312 in the Frenet coordinate system and the horizontal axis coordinate of the track point 311 in the Frenet coordinate system have different signs. The projection point 321 of the track point 311 is on the hard boundary line 300, but the projection point 322 of the track point 312 is not on the hard boundary line 300. At this time, although the horizontal axis coordinate of the track point 312 in the Frenet coordinate system and the horizontal axis coordinate of the track point 311 in the Frenet coordinate system have different signs, the target track 310 does not actually cross the hard boundary line 300. In addition, the target track that turns around along the hard boundary line will also have such a situation.

[0083] Therefore, before traversing the projection points on the hard boundary line, it is also necessary to determine the projection points on the hard boundary line. Specifically, before traversing the projection points on the hard boundary line, it also includes: for each projection point, determining whether the longitudinal coordinate of the projection point in the Frenet coordinate system is less than or equal to the longitudinal coordinate of the end point of the hard boundary line in the Frenet coordinate system, the longitudinal coordinate of the projection point in the Frenet coordinate system is the distance from the starting point of the hard boundary line along the reference line to the projection point, and the longitudinal coordinate of the end point of the hard boundary line in the Frenet coordinate system is the length of the hard boundary line; if so, it is determined that the projection point is a projection point on the hard boundary line.

[0084] Reference Figure 2 The on-board computer can determine that the vertical axis coordinates of the projection points 221, 222, 223, 224 of the trajectory points 211, 212, 213, 214 projected onto the reference line where the hard boundary line 200 is located are all smaller than the vertical axis coordinate of the end point 202 of the hard boundary line 200, so the projection points 221, 222, 223, 224 are all on the hard boundary line 200.

[0085] Reference Figure 3 , the longitudinal coordinate of the projection point 321 of the trajectory point 311 projected onto the reference line where the hard boundary line 300 is located is less than the longitudinal coordinate of the end point 302 of the hard boundary line 300, so the on-board computer can determine that the projection point 321 is on the hard boundary line 300, and the longitudinal coordinate of the projection point 322 of the trajectory point 312 projected onto the reference line where the hard boundary line 300 is located is greater than the longitudinal coordinate of the end point 302 of the hard boundary line 300, so the on-board computer can determine that the projection point 322 is not on the hard boundary line 300.

[0086] In some embodiments, traversing the projection points on the hard boundary line includes: comparing the longitudinal coordinate of the currently visited projection point in the Frenet coordinate system with the longitudinal coordinate of the pre-selected projection point in the Frenet coordinate system; if the two are equal, it is determined that the pre-selected projection point exists among the projection points on the hard boundary line.

[0087] Reference Figure 2 The on-board computer traverses the projection points 221, 222, 223, and 224, and can determine that there is a projection point 224 as a pre-selected projection point among the projection points on the hard boundary line 200. At this time, the on-board computer intercepts the hard boundary line segment between the projection point 224 and the previously visited projection point 223, and the target trajectory segment between the trajectory point 214 and the previously visited trajectory point 213.

[0088] And in Figure 3 In the illustrated scenario, since there is no projection point 322 on the hard boundary line 300 that is a pre-selected projection point, it is determined that the target trajectory 310 does not cross the hard boundary line 300 .

[0089] S104: If the hard boundary line segment intersects with the target trajectory segment, it is determined that the target trajectory crosses the hard boundary line.

[0090] Reference Figure 3 After the on-board computer intercepts the hard boundary line segment between the projection point 224 and the previously visited projection point 223, and the target trajectory segment between the trajectory point 214 and the previously visited trajectory point 213, the on-board computer can determine in the global coordinate system that the hard boundary line segment intersects with the target trajectory segment, so the on-board computer determines that the target trajectory 210 crosses the hard boundary line 200.

[0091] The disclosed embodiment obtains the hard boundary line of the target trajectory to be determined and the lane where it is located, then constructs a Frenet coordinate system with the hard boundary line as a reference line, traverses the trajectory points in the target trajectory and determines its projection point in the Frenet coordinate system. When the Frenet coordinates of the currently visited trajectory point and the Frenet coordinates of any visited trajectory point have different signs, it is preliminarily determined that the target trajectory crosses the hard boundary line. At the same time, the currently visited trajectory point is used as a preselected trajectory point, and the projection point of the preselected trajectory point in the Frenet coordinate system is used as a preselected projection point. Then, the projection points on the hard boundary line are traversed. When the preselected projection point exists in the projection points on the hard boundary line, the hard boundary line segment between the preselected projection point and the previous visited projection point and the target trajectory segment between the preselected trajectory point and the previous visited trajectory point are determined. Whether the target trajectory crosses the hard boundary line is checked by judging whether the hard boundary line segment intersects with the target trajectory segment. If the hard boundary line segment intersects with the target trajectory segment, it can be determined that the target trajectory crosses the hard boundary line, thereby improving the accuracy of judging whether the target trajectory crosses the hard boundary line.

[0092] Figure 4 The schematic diagram of the structure of the apparatus for determining that a track crosses a hard boundary provided by an embodiment of the present disclosure. The apparatus for determining that a track crosses a hard boundary can execute the processing flow provided by the method embodiment for determining that a track crosses a hard boundary. Figure 4 As shown, the device 400 for determining whether a trajectory crosses a hard boundary includes:

[0093] An acquisition module 401 is used to acquire a target trajectory to be determined and a hard boundary line of the lane where the target trajectory is located, wherein the target trajectory includes a predicted trajectory of an obstacle and a planned trajectory of the vehicle;

[0094] The first traversal module 402 is used to construct a Frenet coordinate system with the hard boundary line as a reference line, traverse the trajectory points in the target trajectory and determine their projection points in the Frenet coordinate system. If the Frenet coordinates of the currently visited trajectory point have different signs from the Frenet coordinates of any visited trajectory point, the currently visited trajectory point is used as a pre-selected trajectory point, and the projection point of the pre-selected trajectory point in the Frenet coordinate system is used as the pre-selected projection point;

[0095] A second traversal module 403 is used to traverse the projection points on the hard boundary line, and if there is a pre-selected projection point, determine the hard boundary line segment between the pre-selected projection point and the last visited projection point, and the target trajectory segment between the pre-selected trajectory point and the last visited trajectory point;

[0096] The determination module 404 is configured to determine that the target trajectory crosses the hard boundary line if the hard boundary line segment intersects the target trajectory segment.

[0097] In some embodiments, when acquiring the target trajectory to be judged and the hard boundary line of the lane in which it is located, the acquisition module 401 is specifically used to obtain the target trajectory to be judged; according to the coordinates of the trajectory points in the target trajectory under the global map, search for the road data of the lane in which the target trajectory is located in the global map; and filter the hard boundary line of the lane from the road data.

[0098] In some embodiments, when the acquisition module 401 screens the hard boundary lines of lanes from the road data, it is specifically used to extract the road boundaries associated with the lanes in the road data to form a road boundary set, and the road boundaries have boundary attribute information; traverse the road boundary set, and determine the road boundaries whose boundary attribute information meets the preset conditions as the hard boundary lines of the lanes.

[0099] In some embodiments, the device further includes a sampling module 405, which is used to sample the trajectory points in the target trajectory before traversing the trajectory points in the target trajectory to obtain sampled trajectory points; when traversing the trajectory points in the target trajectory, the first traversal module is specifically used to traverse the sampled trajectory points.

[0100] In some embodiments, the first traversal module 402 traverses the trajectory points in the target trajectory and determines the projection points thereof in the Frenet coordinate system. If the Frenet coordinates of the currently visited trajectory point and the Frenet coordinates of any visited trajectory point have different signs, the currently visited trajectory point is used as the pre-selected trajectory point, and the projection point of the pre-selected trajectory point in the Frenet coordinate system is used as the pre-selected projection point. Specifically, for the currently visited trajectory point, the foot of the perpendicular from the trajectory point to the reference line is used as the projection point of the trajectory point in the Frenet coordinate system; the starting point of the hard boundary line is taken along the reference line to the projection point of the target trajectory point in the Frenet coordinate system. The distance from the foot of the perpendicular is used as the vertical coordinate of the trajectory point in the Frenet coordinate system, and the distance from the trajectory point to the foot of the perpendicular is used as the horizontal coordinate of the trajectory point in the Frenet coordinate system to obtain the Frenet coordinate of the trajectory point. When the trajectory point is on one side of the reference line, the horizontal coordinate is positive, and when it is on the other side of the reference line, the horizontal coordinate is negative; the horizontal coordinate of the trajectory point in the Frenet coordinate system is compared with the horizontal coordinate of the visited trajectory point in the Frenet coordinate system. If the horizontal coordinates are of different signs, the trajectory point is taken as the pre-selected trajectory point and the foot of the perpendicular is taken as the pre-selected projection point, otherwise continue to visit the next trajectory point.

[0101] In some embodiments, the first traversal module 402 compares the horizontal axis coordinate of the trajectory point in the Frenet coordinate system with the horizontal axis coordinate of the visited trajectory point in the Frenet coordinate system. If the horizontal axis coordinates are of different signs, the trajectory point is used as a pre-selected trajectory point and the projection point is used as a pre-selected projection point. Otherwise, when continuing to visit the next trajectory point, it is specifically used to calculate the product of the horizontal axis coordinates of the trajectory point and the trajectory point visited before the trajectory point in the Frenet coordinate system. If the result is a negative number, the trajectory point is used as a pre-selected trajectory point and the projection point is used as a pre-selected projection point. Otherwise, when continuing to visit the next trajectory point.

[0102] In some embodiments, before traversing the projection points on the hard boundary line, the second traversal module 403 is also used to determine, for each projection point, whether the longitudinal coordinate of the projection point in the Frenet coordinate system is less than or equal to the longitudinal coordinate of the end point of the hard boundary line in the Frenet coordinate system, the longitudinal coordinate of the projection point in the Frenet coordinate system is the distance from the starting point of the hard boundary line along the reference line to the projection point, and the longitudinal coordinate of the end point of the hard boundary line in the Frenet coordinate system is the length of the hard boundary line; if so, it is determined that the projection point is a projection point on the hard boundary line.

[0103] In some embodiments, when traversing the projection points on the hard boundary line, the second traversal module 403 is specifically used to compare the longitudinal coordinate of the currently visited projection point in the Frenet coordinate system with the longitudinal coordinate of the pre-selected projection point in the Frenet coordinate system. If the two are equal, it is determined that the pre-selected projection point exists among the projection points on the hard boundary line.

[0104] Figure 4 The device for determining that a trajectory crosses a hard boundary in the illustrated embodiment can be used to execute the technical solution of the above method embodiment, and its implementation principle and technical effect are similar and will not be described in detail here.

[0105] Figure 5 Schematic diagram of the structure of an electronic device in the embodiment of the present disclosure. Figure 5 , which shows a structural schematic diagram of an electronic device 500 suitable for implementing the embodiments of the present disclosure. Figure 5 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0106] like Figure 5 As shown, the electronic device 500 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage device 508 to a random access memory (RAM) 503 to implement the method for determining that a trajectory crosses a hard boundary according to an embodiment of the present disclosure. In the RAM 503, various programs and data required for the operation of the electronic device 500 are also stored. The processing device 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0107] Typically, the following devices may be connected to the I / O interface 505: an input device 506 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 507 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 508 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 509. The communication device 509 may allow the electronic device 500 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 5 The electronic device 500 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0108] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart, thereby implementing the method for determining whether a trajectory crosses a hard boundary as described above. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device 509, or installed from a storage device 508, or installed from a ROM 502. When the computer program is executed by the processing device 501, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0109] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may 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 of computer-readable storage media may include, but are not limited to: 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 the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium 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. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0110] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0111] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0112] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, 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 foregoing.

[0113] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0114] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0115] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

[0116] The embodiments of the present disclosure further provide a vehicle, which includes the device and / or electronic device for determining that a trajectory crosses a hard boundary as described in the above embodiments.

[0117] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A method for determining whether a trajectory crosses a hard boundary, It is characterized in that include: Obtaining a target trajectory to be determined and a hard boundary line of the lane in which it is located, wherein the target trajectory includes a predicted trajectory of the obstacle and a planned trajectory of the vehicle; A Frenet coordinate system is constructed with the hard boundary line as a reference line, the trajectory points in the target trajectory are traversed and their projection points in the Frenet coordinate system are determined, and if the Frenet coordinates of the currently visited trajectory point and the Frenet coordinates of any visited trajectory point have different signs, the currently visited trajectory point is used as a pre-selected trajectory point, and the projection point of the pre-selected trajectory point in the Frenet coordinate system is used as a pre-selected projection point; Traversing the projection points on the hard boundary line, if the pre-selected projection point exists among them, determining the hard boundary line segment between the pre-selected projection point and the last visited projection point, and the target trajectory segment between the pre-selected trajectory point and the last visited trajectory point; If the hard boundary line segment intersects the target trajectory segment, it is determined that the target trajectory crosses the hard boundary line.

2. The method according to claim 1, It is characterized in that The step of obtaining the target trajectory to be determined and the hard boundary line of the lane where the target trajectory is located includes: Obtain the target trajectory to be judged; According to the coordinates of the track points in the target track under the global map, searching the global map for the road data of the lane where the target track is located; The hard boundary line of the lane is screened from the road data.

3. The method according to claim 2, It is characterized in that The step of screening the hard boundary line of the lane from the road data comprises: Extracting road boundaries associated with the lanes in the road data to form a road boundary set, wherein the road boundaries have boundary attribute information; The road boundary set is traversed, and a road boundary whose boundary attribute information meets a preset condition is determined as a hard boundary line of the lane.

4. The method according to claim 1, It is characterized in that Before traversing the trajectory points in the target trajectory, the method further includes: Sampling trajectory points in the target trajectory to obtain sampled trajectory points; The traversing the trajectory points in the target trajectory includes: Traverse the sampling trajectory points.

5. The method according to claim 1, It is characterized in that The traversing of the trajectory points in the target trajectory and determining the projection points thereof in the Frenet coordinate system, if the Frenet coordinates of the currently visited trajectory point and the Frenet coordinates of any visited trajectory point have different signs, the currently visited trajectory point is used as a pre-selected trajectory point, and the projection point of the pre-selected trajectory point in the Frenet coordinate system is used as a pre-selected projection point, including: For the currently visited trajectory point, the foot of the perpendicular from the trajectory point to the reference line is used as the projection point of the trajectory point in the Frenet coordinate system; The distance from the starting point of the hard boundary line along the reference line to the foot of the perpendicular is used as the vertical axis coordinate of the track point in the Frenet coordinate system, and the distance from the track point to the foot of the perpendicular is used as the horizontal axis coordinate of the track point in the Frenet coordinate system, to obtain the Frenet coordinate of the track point, wherein the horizontal axis coordinate is positive when the track point is on one side of the reference line, and negative when the track point is on the other side of the reference line; The horizontal axis coordinate of the trajectory point in the Frenet coordinate system is compared with the horizontal axis coordinate of the visited trajectory point in the Frenet coordinate system. If the horizontal axis coordinates have different signs, the trajectory point is used as the pre-selected trajectory point and the foot of the perpendicular is used as the pre-selected projection point. Otherwise, continue to visit the next trajectory point.

6. The method according to claim 5, It is characterized in that The step of comparing the horizontal axis coordinate of the trajectory point in the Frenet coordinate system with the horizontal axis coordinate of the visited trajectory point in the Frenet coordinate system, and if the horizontal axis coordinates have different signs, taking the trajectory point as the pre-selected trajectory point and the projection point as the pre-selected projection point, otherwise continuing to visit the next trajectory point, includes: For the trajectory point and the trajectory point visited before the trajectory point, calculate the product of the horizontal axis coordinates of both parties in the Frenet coordinate system. If the result is a negative number, take the trajectory point as the pre-selected trajectory point and the projection point as the pre-selected projection point, otherwise continue to visit the next trajectory point.

7. The method according to claim 5, It is characterized in that Before traversing the projection points on the hard boundary line, the method further includes: For each projection point, determine whether the longitudinal coordinate of the projection point in the Frenet coordinate system is less than or equal to the longitudinal coordinate of the end point of the hard boundary line in the Frenet coordinate system, the longitudinal coordinate of the projection point in the Frenet coordinate system is the distance from the starting point of the hard boundary line along the reference line to the projection point, and the longitudinal coordinate of the end point of the hard boundary line in the Frenet coordinate system is the length of the hard boundary line; If so, it is determined that the projection point is a projection point on the hard boundary line.

8. The method according to claim 7, It is characterized in that The traversing the projection points on the hard boundary line includes: The vertical axis coordinate of the currently visited projection point in the Frenet coordinate system is compared with the vertical axis coordinate of the pre-selected projection point in the Frenet coordinate system. If both are equal, it is determined that the pre-selected projection point exists among the projection points on the hard boundary line.

9. A device for determining whether a trajectory crosses a hard boundary, It is characterized in that include: An acquisition module is used to acquire a target trajectory to be determined and a hard boundary line of the lane where the target trajectory is located, wherein the target trajectory includes a predicted trajectory of an obstacle and a planned trajectory of the vehicle; A first traversal module is used to construct a Frenet coordinate system with the hard boundary line as a reference line, traverse the trajectory points in the target trajectory and determine their projection points in the Frenet coordinate system, if the Frenet coordinates of the currently visited trajectory point and the Frenet coordinates of any visited trajectory point have different signs, then the currently visited trajectory point is used as a pre-selected trajectory point, and the projection point of the pre-selected trajectory point in the Frenet coordinate system is used as a pre-selected projection point; A second traversal module is used to traverse the projection points on the hard boundary line, and if the pre-selected projection point exists therein, determine the hard boundary line segment between the pre-selected projection point and the last visited projection point, and the target trajectory segment between the pre-selected trajectory point and the last visited trajectory point; A determination module is configured to determine that the target trajectory crosses the hard boundary line if the hard boundary line segment intersects the target trajectory segment.

10. A computer device, It is characterized in that include: Memory; processor; as well as Computer programs; The computer program is stored in the memory and is configured to be executed by the processor to implement the method according to any one of claims 1 to 8.

11. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

12. A vehicle, It is characterized in that The method comprises the device for determining that a trajectory crosses a hard boundary as claimed in claim 9 and / or the computer device as claimed in claim 10.

Images