CN112735187A - System and method for automatically identifying emergency lane - Google Patents
System and method for automatically identifying emergency laneDownload PDFInfo
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- CN112735187A CN112735187ACN202110129412.5ACN202110129412ACN112735187ACN 112735187 ACN112735187 ACN 112735187ACN 202110129412 ACN202110129412 ACN 202110129412ACN 112735187 ACN112735187 ACN 112735187A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/007—Emergency override
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
The technical field is as follows:
the invention relates to the technical field of intelligent driving of automobiles, in particular to a system and a method for automatically identifying an emergency lane.
Background
As a new technology, the automatic driving technology is a current hotspot in the automobile industry, but because the existing automatic driving technology is not mature, when the automatic driving automobile encounters a scene beyond the ODD range, if the automobile gives up the control right when a driver cannot take over the automobile in time or has no taking over capability, great public safety and self potential safety hazards are brought, so that it is necessary that the driver can automatically reach a minimum risk state when the driver does not take over the automobile in time in a scene outside the ODD range.
The automatic driving automobile can automatically identify an emergency lane, and when the automobile has the condition that a driver does not take over the automobile in time or the driver does not have the taking over capacity, a control track is automatically planned and the automobile is controlled to the relatively safe emergency lane, so that the safety of personnel and the safety of the automobile are ensured. Therefore, it is important that the unmanned driving system algorithm can quickly and accurately identify the emergency lane and achieve the minimum risk state.
At present, in the prior art, there are few feasible schemes for solving the problem by an automatic driving system carrying the ADS map, because the ADS map cannot accurately position the current lane, the emergency lane cannot be identified singly according to the ADS map information.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a system and a method for automatically identifying an emergency lane, which automatically identify the position of the emergency lane by integrating data of a plurality of sensors and designing reasonable detection, judgment and operation logics, so that the system can automatically plan a path to drive to the emergency lane and achieve the minimum risk state.
The technical scheme of the invention is as follows:
a method of automatically identifying an emergency lane, comprising the steps of:
step 1, unifying a vehicle coordinate system;
step 2, monitoring the current road type output by the electronic map in real time;
step 3, if the current road type is the type meeting the emergency lane establishment standard, turning to step 4, otherwise, turning to step 8;
step 4, detecting whether a guardrail exists on the right side of the current position of the vehicle in real time, if so, turning to step 5, otherwise, turning to step 8;
step 5, detecting whether the lane line type on the right side of the current position of the vehicle is a solid line or not in real time, if so, turning to step 6, otherwise, turning to step 8;
step 6, assuming that an emergency lane is formed between the right solid line of the lane and the right guardrail, calculating the width of the emergency lane according to the distance between the right solid line of the lane and the right guardrail;
step 7, if the width of the emergency lane meets the standard, the lane is considered as the emergency lane, otherwise, the current position of the vehicle has no emergency lane;
and 8, outputting an emergency lane judgment result.
Further, the electronic map locates the road type of the current position of the vehicle, and outputting the current road type includes: urban expressways, urban major roads, minor roads and the like. The electronic map adopts an ADS map.
Further, in the step 3, if the type of the road where the ADS map outputs the current location is an urban expressway or an expressway, it is determined that the current road type is a type that meets an emergency lane establishment standard.
Further, in the step 4, whether a guardrail exists on the right side of the current position of the vehicle is detected in real time, information on two sides of the current position of the vehicle is detected by a radar sensor, and whether the guardrail exists and the position of the guardrail are identified after fusion processing.
Further, the method for detecting whether the lane line type on the right side of the current position of the vehicle is a solid line in real time comprises the following steps: and monitoring whether the lane line with the type of a solid line exists on the right side of the current position of the vehicle according to the lane line information output after the detection data fusion processing of the front camera and the all-round camera in real time.
Further, the step 6 specifically includes: assuming that an emergency lane is formed between the right solid line of the lane and the right guardrail, firstly unifying a lane line equation and a guardrail equation coordinate system to be a vehicle coordinate system, then calculating the assumed emergency lane width according to the lane line equation of the right solid line of the lane and equation coefficients of the right guardrail, and if a plurality of solid lines exist, simultaneously calculating the assumed emergency lane width corresponding to the plurality of solid lines and the guardrail.
Further, in step 7, the criteria are: the width of the emergency lane is more than or equal to 2.5m and less than or equal to 3.75m, and the width of the emergency lane is less than or equal to the width of the current lane of the vehicle,
the present invention further provides a system for automatically identifying an emergency lane, which implements the above method, comprising:
a coordinate system one module configured to unify vehicle coordinate systems;
the road type monitoring module is configured to monitor the current road type output by the ADS map in real time;
the first judgment module is configured to judge whether the current road type meets the type of an emergency lane establishment standard, if so, the current road type is output to the first detection module, and if not, the current road type is output to the output module;
the first detection module is configured to detect whether a guardrail exists on the right side of the current position of the vehicle in real time, if so, the guardrail is output to the second detection module, and if not, the guardrail is output to the output module;
the second detection module is configured to detect whether the lane line type on the right side of the current position of the vehicle is a solid line or not in real time, if so, the lane line type is output to the calculation module, and if not, the lane line type is output to the output module;
the calculation module is configured to calculate the width of the emergency lane according to the distance between the right solid line of the lane and the right guardrail on the assumption that the emergency lane is formed between the right solid line of the lane and the right guardrail;
the second judgment module is configured to judge whether the width of the emergency lane meets the standard, if so, the lane is regarded as the emergency lane, and otherwise, the current position of the vehicle has no emergency lane;
an output module configured to output an emergency lane determination result.
Aiming at an automatic driving system carrying an electronic map (especially an ADS map), the invention integrates multi-channel sensor data and ADS map data through reasonably designed detection, judgment and operation logics, and accurately identifies the driving emergency lane position according to the national standard emergency lane characteristics, thereby achieving the minimum risk state when a driver does not take over a vehicle in time under the scene outside the automatic driving ODD range.
Drawings
FIG. 1 is a logic flow diagram of the present invention.
Fig. 2 is a schematic diagram of the ISO coordinate system of the vehicle.
Detailed Description
The invention is further described with reference to the accompanying drawings in which:
example 1:
referring to fig. 1, the method for automatically identifying an emergency lane according to the present invention includes the following steps:
step 1, unifying the vehicle coordinate system to be an ISO standard coordinate system.
Step 2, the ADS map can output the road type of the current position in real time and accurately according to the current GPS positioning information, and the method mainly comprises the following steps: urban expressways, urban major roads, minor roads and the like.
And 3, according to relevant standards issued by the state, emergency lanes are mainly planned on two sides of urban expressways and expressways, so that if the type of the road where the current position is output by the ADS map is as follows: and 4, if the type of the current road is the type meeting the emergency lane establishment standard, turning to the step 4, otherwise, turning to the step 8.
And 4, judging whether the vehicle lane is on the right side of the vehicle lane according to the guardrail recognition result and the guardrail position output by the front radar and the angle radar in real time and the recognized guardrail position, preliminarily judging the possibility of the emergency lane, if so, turning to the step 5, and otherwise, turning to the step 8.
And step 5, according to relevant standards issued by the state, the left sides of the emergency lanes are all solid lines, so that whether lane lines of the solid lines exist on the right side of the current position of the vehicle or not can be monitored in real time according to lane line information output after data fusion of the front camera and the all-round camera, if yes, the step 6 is carried out, and if not, the step 8 is carried out.
Step 6, assuming that an emergency lane is formed between the right solid line of the lane and the right guardrail, unifying a lane line equation and a guardrail equation coordinate system to be a vehicle coordinate system, calculating the assumed emergency lane width according to the lane line equation of the right solid line of the lane and equation coefficients of the right guardrail, and if a plurality of solid lines exist, calculating the assumed emergency lane width corresponding to the plurality of solid lines and the guardrail at the same time;
wherein: the lane line/guardrail third-order equation model is as follows:
Y＝A0+A1X+A2X2+A3X3
where a0 is the lateral distance from the origin of the host vehicle's coordinate system to the lane line/guardrail.
Referring to FIG. 2, the coordinate system is an ISO coordinate system with the origin of coordinates in the middle of the front bumper of the vehicle.
And 7, judging the rationality of the assumed emergency lane in the step 6:
(1) calculating the lane width of the lane at the current position: calculating the lane width of the vehicle according to the coordinate system of the vehicle and the equation coefficients of the left lane line and the right lane line of the vehicle;
(2) according to the relevant standards issued by the state, the width of the emergency lane in the step 6 must meet the following rules at the same time: if the minimum width (2.5m) of the emergency lane is less than or equal to the width of the emergency lane is less than or equal to the standard vehicle width (3.75m) of the trunk road, and the width of the emergency lane is less than or equal to the width of the main road, the lane is considered to be in accordance with the characteristics of the emergency lane, otherwise, the lane is not in accordance with the characteristics of the emergency lane, and the step 8 is carried out;
(3) if a plurality of lanes simultaneously accord with the emergency lane characteristics, taking the lane closest to the right side as the emergency lane, and turning to the step 8;
and 8, outputting an emergency lane judgment result.
Example 2:
the vehicle using the automatic identification emergency lane system of the invention needs to be provided with a front camera, a look-around camera, a radar sensor, an ADS map and the like.
The front camera is used for detecting a lane line in front of the running vehicle and identifying the type of the lane line as a solid line or a dotted line.
The radar sensor comprises a front radar and four corner radars and is used for detecting whether guardrails exist on two sides of the current position of the vehicle or not and the positions of the guardrails.
And the all-round looking camera is used for detecting the lane line positions of the left side, the right side and the rear side of the vehicle near the vehicle.
The ADS map is used to locate the road type of the current position of the vehicle.
The system for automatically identifying the emergency lane needs to receive the data information of the front camera, the data information of the radar, the data information of the all-round camera and the positioning information of the ADS map and comprises the following module units.
A coordinate system module configured to unify the vehicle coordinate system.
And the road type monitoring module is configured to monitor the current road type output by the ADS map in real time.
The first judgment module is configured to judge whether the current road type meets the type of an emergency lane establishment standard, if so, the current road type is output to the first detection module, and if not, the current road type is output to the output module;
the first detection module is configured to detect whether a guardrail exists on the right side of the current position of the vehicle in real time, if so, the guardrail is output to the second detection module, and if not, the guardrail is output to the output module;
the second detection module is configured to detect whether the lane line type on the right side of the current position of the vehicle is a solid line or not in real time, if so, the lane line type is output to the calculation module, and if not, the lane line type is output to the output module;
the calculation module is configured to calculate the width of the emergency lane according to the distance between the right solid line of the lane and the right guardrail on the assumption that the emergency lane is formed between the right solid line of the lane and the right guardrail;
the second judgment module is configured to judge whether the width of the emergency lane meets the standard, if so, the lane is regarded as the emergency lane, and otherwise, the current position of the vehicle has no emergency lane;
an output module configured to output an emergency lane determination result.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
Also, the above description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Techniques and apparatus known to those of ordinary skill in the relevant art are not discussed in detail, but are intended to be part of the specification where appropriate.
In addition, in all examples shown herein, any particular value should be construed as merely illustrative, and not restrictive. Thus, other examples of the exemplary embodiments may have different values.
Claims (10)
1. A method for automatically identifying an emergency lane comprises
Step 1, unifying a vehicle coordinate system;
step 2, monitoring the current road type output by the electronic map in real time;
step 3, if the current road type is the type meeting the emergency lane establishment standard, turning to step 4, otherwise, turning to step 8;
step 4, detecting whether a guardrail exists on the right side of the current position of the vehicle in real time, if so, turning to step 5, otherwise, turning to step 8;
step 5, detecting whether the lane line type on the right side of the current position of the vehicle is a solid line or not in real time, if so, turning to step 6, otherwise, turning to step 8;
step 6, assuming that an emergency lane is formed between the right solid line of the lane and the right guardrail, calculating the width of the emergency lane according to the distance between the right solid line of the lane and the right guardrail;
step 7, if the width of the emergency lane meets the standard, the lane is considered as the emergency lane, otherwise, the current position of the vehicle has no emergency lane;
and 8, outputting an emergency lane judgment result.
2. The method for automatically identifying an emergency lane according to claim 1, wherein in the step 2, the electronic map locates a road type of the current position of the vehicle, and the outputting the current road type comprises: road types such as urban expressways, urban main roads, secondary roads and the like; and further, the electronic map is an ADS map.
3. The method as claimed in claim 1, wherein in the step 3, if the type of the road where the current position of the electronic map output is located is an urban expressway or an expressway, the current road type is considered as a type meeting emergency lane establishment criteria.
4. The method for automatically identifying an emergency lane according to claim 1, wherein in step 4, detecting whether a guardrail exists on the right side of the current position of the vehicle in real time is to detect information on both sides of the current position of the vehicle by using a radar sensor, and identify whether the guardrail exists and the position of the guardrail after fusion processing.
5. The method for automatically identifying an emergency lane according to claim 1, wherein in the step 5, the method for detecting whether the lane line type on the right side of the current position of the vehicle is a solid line in real time comprises the following steps: and monitoring whether the lane line with the type of a solid line exists on the right side of the current position of the vehicle according to the lane line information output after the detection data fusion processing of the front camera and the all-round camera in real time.
6. The method for automatically identifying an emergency lane according to claim 1, wherein the step 6 specifically comprises: assuming that an emergency lane is formed between the right solid line of the lane and the right guardrail, firstly unifying a lane line equation and a guardrail equation coordinate system to be a vehicle coordinate system, then calculating the assumed emergency lane width according to the lane line equation of the right solid line of the lane and equation coefficients of the right guardrail, and if a plurality of solid lines exist, simultaneously calculating the assumed emergency lane width corresponding to the plurality of solid lines and the guardrail.
7. The method for automatically identifying an emergency lane according to claim 1, wherein in the step 7, the criteria are: the width of the emergency lane is more than or equal to 2.5m and less than or equal to 3.75m, and the width of the emergency lane is less than or equal to the width of the current lane at the current position of the vehicle.
8. The method for automatically identifying an emergency lane according to claim 1, wherein the current position of the vehicle in the step 7 is calculated according to the coordinate system of the vehicle, and the equation coefficients of the left lane line and the right lane line of the vehicle.
9. The method for automatically identifying an emergency lane according to claim 1, wherein in the step 7, if a plurality of lanes simultaneously accord with the emergency lane characteristics, the right-most lane is taken as the emergency lane.
10. A system for automatically identifying emergency lanes implementing the method of claims 1-9, comprising:
a coordinate system one module configured to unify vehicle coordinate systems;
the road type monitoring module is configured to monitor the current road type output by the electronic map in real time;
the first judgment module is configured to judge whether the current road type meets the type of an emergency lane establishment standard, if so, the current road type is output to the first detection module, and if not, the current road type is output to the output module;
the first detection module is configured to detect whether a guardrail exists on the right side of the current position of the vehicle in real time, if so, the guardrail is output to the second detection module, and if not, the guardrail is output to the output module;
the second detection module is configured to detect whether the lane line type on the right side of the current position of the vehicle is a solid line or not in real time, if so, the lane line type is output to the calculation module, and if not, the lane line type is output to the output module;
the calculation module is configured to calculate the width of the emergency lane according to the distance between the right solid line of the lane and the right guardrail on the assumption that the emergency lane is formed between the right solid line of the lane and the right guardrail;
the second judgment module is configured to judge whether the width of the emergency lane meets the standard, if so, the lane is regarded as the emergency lane, and otherwise, the current position of the vehicle has no emergency lane;
an output module configured to output an emergency lane determination result.
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| CN115166744A (en)* | 2022-06-21 | 2022-10-11 | 重庆长安汽车股份有限公司 | Lane positioning method based on multiple sensors and storage medium |
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