阅读说明：本技术 自动驾驶的跟车轨迹规划系统、方法、车辆及存储介质 (Automatic driving following track planning system, method, vehicle and storage medium ) 是由 闫新庆 孔周维 贺勇 肖雄 于 2021-07-14 设计创作，主要内容包括：本发明公开了自动驾驶的跟车轨迹规划系统、方法、车辆及存储介质,包括：对接收到的车辆目标进行追踪融合处理,然后对于处理后的车辆目标进行位置跟踪得到各车辆的历史行驶轨迹,通过分析各个目标车辆的历史行驶轨迹,综合各个目标车辆的行驶轨迹信息估计出本车预期跟踪的车流轨迹线,同时输出1号目标跟车轨迹切入切出标志位,当1号目标存在且不存在切入切趋势时规划出1号目标预期跟踪的轨迹,当一好目标轨迹有效则输出1号目标轨迹用于横向控制跟踪,否则当车流轨迹有效时输出车流轨迹用于横向跟踪,其中在1号目标轨迹与车流轨迹切换时进行平滑过渡。本发明能够有效地剔除切入切除车辆,延长跟车距离,提高了驾驶体验与安全感。(The invention discloses a system and a method for planning a following track of automatic driving, a vehicle and a storage medium, wherein the system comprises: the method comprises the steps of tracking and fusing received vehicle targets, then carrying out position tracking on the processed vehicle targets to obtain historical driving tracks of all vehicles, analyzing the historical driving tracks of all target vehicles, estimating traffic flow track lines expected to be tracked by the vehicles by integrating the driving track information of all target vehicles, simultaneously outputting a No. 1 target and traffic track cut-in and cut-out flag bit, when the No. 1 target exists and no cut-in and cut-out trend exists, planning the track expected to be tracked by the No. 1 target, when a good target track is effective, outputting the No. 1 target track for transverse control tracking, otherwise, when the traffic flow track is effective, outputting the traffic flow track for transverse tracking, wherein smooth transition is carried out when the No. 1 target track and the traffic flow track are switched. The invention can effectively eliminate cut-in and cut-out vehicles, prolong the following distance and improve the driving experience and the safety.)

1. The utility model provides an automatic driving with car track planning system which characterized in that: the system comprises a sensing module (1), a vehicle motion state module (2), a No. 1 target track planning module (6), a traffic flow track planning module (3), a final following track processing module (4) and a transverse control execution module (5);

the sensing module (1) is used for detecting targets, fusing the detected targets and outputting the fused targets to a subsequent No. 1 target track planning module (6);

the vehicle motion state module (2) is used for providing current motion state signals of a vehicle, wherein the current motion state signals comprise a vehicle speed signal and a yaw rate signal;

the No. 1 target trajectory planning module (6) judges whether the No. 1 target vehicle is a trackable target or not according to the position, the motion state and the surrounding vehicle information of the No. 1 target vehicle, if so, a trajectory for transverse control is planned according to the position of the No. 1 target vehicle, wherein the No. 1 target vehicle refers to a target vehicle closest to the front of the vehicle channel, and the No. 1 target trajectory planning module (6) is respectively connected with the sensing module (1) and the vehicle motion state module (2);

the traffic flow trajectory planning module (3) obtains a historical driving trajectory by carrying out position tracking on each target vehicle in front, eliminates a cut-in and cut-out trend or other abnormal trajectories by analyzing the historical driving trajectory of each target vehicle and the historical driving trajectory of the vehicle, and estimates the driving center line in the lane by integrating the information of each effective target driving trajectory, wherein the traffic flow trajectory planning module (3) is respectively connected with the No. 1 target trajectory planning module (6) and the running state module of the vehicle;

the final car following track processing module (4) selects car following tracks for control according to the track effective state and the traffic flow track effective state planned by the No. 1 target, and performs smoothing processing during switching, and the final car following track processing module (4) is respectively connected with the No. 1 target track planning module (6) and the traffic flow track planning module (3);

the transverse control execution module (5) is used for following the replanned track after deviation, and the transverse control execution module (5) is connected with the final following track processing module (4).

2. The autonomous driving follow-up trajectory planning system according to claim 1, wherein: the sensing module (1) comprises a foresight camera, a millimeter wave radar and a perception fusion processing module, the perception fusion processing module is respectively connected with the foresight camera and the millimeter wave radar, and the perception fusion processing module fuses and outputs targets detected by the foresight camera and the millimeter wave radar to a subsequent No. 1 target track planning module (6).

3. A method for planning an automatic driving following track is characterized by comprising the following steps: a tracking planning system for automated driving according to claim 1 or 2, the method comprising the steps of:

step 1, after the whole vehicle is electrified, detecting a target through a sensing module (1) and carrying out tracking fusion processing, carrying out position tracking on the processed vehicle target to obtain the historical driving track of each vehicle, eliminating the track with cut-in and cut-out trend or other abnormal tracks by analyzing the historical driving track of each target vehicle, estimating the traffic track line expected to be tracked by the vehicle by integrating the driving track information of each target vehicle, and simultaneously outputting a No. 1 target and the traffic track cut-in and cut-out mark bit;

step 2, when the No. 1 target vehicle exists, the distance from the No. 1 target vehicle is smaller than a preset value, and no cut-in and cut-out trend exists, planning a No. 1 target vehicle following track in real time according to the current position of the No. 1 target vehicle, otherwise, the No. 1 target vehicle following track does not exist;

step 3, outputting the No. 1 target following track when the No. 1 target following track exists; and when the No. 1 target tracking track does not exist and the traffic flow track exists, outputting the traffic flow track for transverse tracking.

4. The automated driving follow-up trajectory planning method according to claim 3, characterized in that: and outputting the track subjected to smooth transition to control when the No. 1 target track is switched with the traffic flow track.

5. A vehicle, characterized in that: a follow-up trajectory planning system employing autonomous driving according to claim 1 or 2.

6. A storage medium having a computer-readable program stored therein, characterized in that: the computer readable program, when invoked, is capable of performing the steps of the automated driving trajectory planning method according to claim 3 or 4.

Technical Field

The invention belongs to the technical field of automatic driving, and particularly relates to a system and a method for planning a following track of automatic driving, a vehicle and a storage medium.

Background

The automatic driving following track plans a track for transverse control tracking through a target vehicle in front of the vehicle, and when the quality of a lane line is deteriorated or disappears, the vehicle can continue to control to run for a safe distance. In the prior art, the nearest No. 1 target in front of the lane is used as a following target for carrying out transverse control during automatic driving following, but the scheme has the problems that the system is easy to quit frequently when the cut-in and cut-out judgment of the No. 1 target is strict, and when the cut-in and cut-out judgment of the No. 1 target is loose, the cut-out lane of the preceding vehicle target can be followed to generate collision danger, but the speed is low and the target is frequently lost and switched under the condition of congestion following shutdown only by simply tracking the traffic flow track, so that the effective traffic flow track is difficult to form. For example, CN111797780A discloses a method, an apparatus, a server and a storage medium for planning following tracks, which determine the target No. 1 according to the vehicle information, the surrounding environment information and the map information when the lane lines are unclear, track the target No. 1 for control if the track planning is possible, and cannot continue control according to the surrounding traffic flow tracks when the target No. 1 is cut out or misjudged to be cut out.

Therefore, there is a need to develop an automatic driving tracking planning system, method, vehicle and storage medium.

Disclosure of Invention

The invention aims to provide a system, a method, a vehicle and a storage medium for planning a following track of automatic driving, which can continue to control through a surrounding traffic flow track when a No. 1 target vehicle is cut out or misjudged to be cut out.

The invention relates to an automatic driving following trajectory planning system, which comprises a sensing module, a vehicle motion state module, a No. 1 target trajectory planning module, a traffic flow trajectory planning module, a final following trajectory processing module and a transverse control execution module, wherein the sensing module is used for sensing the motion state of a vehicle;

the sensing module is used for detecting targets and outputting the detected targets to a subsequent No. 1 target track planning module after fusion processing;

the vehicle motion state module is used for providing current motion state signals of a vehicle, and the current motion state signals comprise a vehicle speed signal and a yaw rate signal;

the No. 1 target trajectory planning module judges whether the No. 1 target vehicle can follow the target or not according to the position, the motion state and the surrounding vehicle information of the No. 1 target vehicle, if so, the trajectory for transverse control is planned according to the position of the No. 1 target vehicle, wherein the No. 1 target vehicle refers to the nearest target vehicle in front of the own lane, and the No. 1 target trajectory planning module is respectively connected with the sensing module and the own vehicle motion state module;

the traffic flow trajectory planning module obtains a historical driving trajectory by tracking the position of each front target vehicle, eliminates a cut-in and cut-out trend or other abnormal trajectories by analyzing the historical driving trajectory of each target vehicle and the historical driving trajectory of the vehicle, integrates the information of each effective target driving trajectory to estimate the driving center line in the lane, and is respectively connected with the No. 1 target trajectory planning module and the vehicle running state module;

the final car following track processing module selects car following tracks for control according to the track effective state planned by the No. 1 target and the traffic flow track effective state and performs smoothing processing during switching, and the final car following track processing module is respectively connected with the No. 1 target track planning module and the traffic flow track planning module;

and the transverse control execution module is used for following the replanned track after deviation and is connected with the final following track processing module.

Optionally, the sensing module includes a forward-looking camera, a millimeter wave radar and a perception fusion processing module, the perception fusion processing module is respectively connected with the forward-looking camera and the millimeter wave radar, and the perception fusion processing module fuses and processes targets detected by the forward-looking camera and the millimeter wave radar and outputs the fused targets to the subsequent number 1 target trajectory planning module.

In a second aspect, the present invention provides an automatic driving tracking planning method, which adopts the automatic driving tracking planning system according to the present invention, and the method includes the following steps:

step 1, after the whole vehicle is electrified, detecting a target through a sensing module, carrying out tracking fusion processing, carrying out position tracking on the processed vehicle target to obtain the historical driving track of each vehicle, eliminating the track with cut-in and cut-out trend or other abnormal track by analyzing the historical driving track of each target vehicle, estimating the traffic flow track line expected to be tracked by the vehicle by integrating the driving track information of each target vehicle, and outputting a No. 1 target and vehicle track cut-in and cut-out mark bit;

step 2, when the No. 1 target vehicle exists, the distance from the No. 1 target vehicle is smaller than a preset value, and no cut-in and cut-out trend exists, planning a No. 1 target vehicle following track in real time according to the current position of the No. 1 target vehicle, otherwise, the No. 1 target vehicle following track does not exist;

step 3, outputting the No. 1 target following track when the No. 1 target following track exists; and when the No. 1 target tracking track does not exist and the traffic flow track exists, outputting the traffic flow track for transverse tracking.

Optionally, the track after smooth transition is output to the control when the target track No. 1 is switched with the traffic flow track.

In a third aspect, the invention provides a vehicle, which employs the automatic driving tracking planning system according to the invention.

In a fourth aspect, the present invention provides a storage medium having a computer readable program stored therein, where the computer readable program is capable of executing the steps of the automatic driving tracking planning method according to the present invention when the computer readable program is called.

The invention has the following advantages: the characteristics of a No. 1 target car following track and a traffic flow track are combined, when the No. 1 target car following is effective, the track is planned through the No. 1 target, when the No. 1 target car following is ineffective, the track is cut into the track for tracking the traffic flow, the method can be used for effectively removing cut vehicles, the car following distance is prolonged, and the driving experience and the safety sense are improved.

Drawings

FIG. 1 is a schematic block diagram of the present embodiment;

FIG. 2 is a flowchart of the present embodiment;

in the figure: 1. the system comprises a sensing module, a vehicle motion state module, a vehicle flow path planning module, a final vehicle following path processing module, a transverse control execution module and a No. 6 and No. 1 target path planning module.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings.

As shown in fig. 1, in this embodiment, an automatic driving tracking planning system includes a sensing module 1, a vehicle motion state module 2, a target trajectory planning module 1, a traffic flow trajectory planning module 3, a final tracking trajectory processing module 4, and a lateral control execution module 5. The sensing module 1 is used for detecting targets, fusing the detected targets and outputting the fused targets to a subsequent No. 1 target trajectory planning module 6. The vehicle motion state module 2 is used for providing current motion state signals of the vehicle, including a vehicle speed signal and a yaw rate signal. The No. 1 target trajectory planning module 6 judges whether the No. 1 target vehicle is a trackable target or not according to the position, the motion state and the surrounding vehicle information of the No. 1 target vehicle, if so, a trajectory for transverse control is planned according to the position of the No. 1 target vehicle, wherein the No. 1 target vehicle refers to the nearest target vehicle in front of the vehicle channel, and the No. 1 target trajectory planning module 6 is respectively connected with the sensing module 1 and the vehicle motion state module 2. The traffic flow trajectory planning module 3 obtains a historical driving trajectory by tracking the position of each front target vehicle, eliminates a cut-in and cut-out trend or other abnormal trajectories by analyzing the historical driving trajectory of each target vehicle and the historical driving trajectory of the vehicle, and estimates the driving center line in the lane by integrating the information of each effective target driving trajectory, wherein the traffic flow trajectory planning module 3 is respectively connected with the No. 1 target trajectory planning module 6 and the vehicle running state module. The final following track processing module 4 selects a following track for control according to the track effective state and the traffic flow track effective state of the No. 1 target planning, and performs smoothing processing during switching, and the final following track processing module 4 is respectively connected with the No. 1 target track planning module 6 and the traffic flow track planning module 3. The transverse control execution module 5 is used for following the re-planned track after deviation, and the transverse control execution module 5 is connected with the final following track processing module 4.

In this embodiment, the sensing module 1 includes a forward-looking camera, a millimeter wave radar, and a sensing fusion processing module, the sensing fusion processing module is connected to the forward-looking camera and the millimeter wave radar, and the sensing fusion processing module fuses and outputs the targets detected by the forward-looking camera and the millimeter wave radar to the subsequent No. 1 target trajectory planning module 6.

As shown in fig. 2, in this embodiment, a method for planning a following track of an automatic driving system adopts the system for planning a following track of an automatic driving system described in this embodiment, and the method includes the following steps:

step 1, after the whole vehicle is electrified, detecting a target through a sensing module 1, carrying out tracking fusion processing, carrying out position tracking on the processed vehicle target to obtain the historical driving track of each vehicle, eliminating the track with cut-in and cut-out trend or other abnormity by analyzing the historical driving track of each target vehicle, estimating the traffic track line expected to be tracked by the vehicle by integrating the driving track information of each target vehicle, and simultaneously outputting a No. 1 target and the traffic track cut-in and cut-out mark position.

In this embodiment, the traffic trajectory is expressed by a cubic polynomial, such as:

y＝A₀+A₁*x+A₂*x²+A₃*x³；

wherein x is the longitudinal distance under the coordinate system of the vehicle, y is the transverse distance under the coordinate system of the vehicle, A₀、A₁、A₂、A₃For the trajectory coefficient output to the control, A₀Corresponding to the transverse position, A, of the origin of the coordinates of the vehicle₁Corresponding to course angle 2A of original point of vehicle coordinate₂Corresponding to the curvature of the original point of the vehicle coordinate, 6A₃Corresponding to the rate of curvature change at the origin of the coordinates of the host vehicle.

And 2, when the No. 1 target vehicle exists, the distance from the No. 1 target vehicle is smaller than a preset value, and the No. 1 target does not have a cut-in and cut-out trend, planning a No. 1 target vehicle following track in real time according to the current position of the No. 1 target vehicle, otherwise, the No. 1 target is invalid, namely the No. 1 target vehicle following track does not exist.

Wherein, the No. 1 target following track is expressed by a polynomial of degree 2:

wherein x is the longitudinal distance under the vehicle coordinate system, y is the transverse distance under the vehicle coordinate system, k is a proportionality coefficient, OBJY is the transverse position of the No. 1 target, and OBJX is the longitudinal position of the No. 1 target.

And 3, outputting the No. 1 target following track when the No. 1 target following track exists. When the number 1 target tracking track does not exist and the traffic flow track exists, the tracking points are selected on the traffic flow track according to the n times of pre-tracing distance and converted into the polynomial of degree 2 to be output to the control, namely the traffic flow track is output for transverse tracking, and if the traffic flow track does not exist, the tracking points are indicated to be invalid finally, the control is quitted.

In this embodiment, the trajectory after the smooth transition is output to the control when the No. 1 target trajectory and the traffic flow trajectory are switched.

In this embodiment, a vehicle adopts the automatic driving following trajectory planning system described in this embodiment.

In this embodiment, a storage medium stores therein a computer readable program, and when the computer readable program is called, the steps of the automatic driving following trajectory planning method according to this embodiment can be executed.