CN111737633B - Calculation method and device for curvature radius of road in front of vehicle - Google Patents
Calculation method and device for curvature radius of road in front of vehicle Download PDFInfo
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Abstract
The invention provides a calculation method and a calculation device for the curvature radius of a road in front of a vehicle, which are used for acquiring road information in front of the vehicle according to a set frequency, calculating the curvature radius of a target position corresponding to each moment based on the road information acquired in a continuous preset time period at the current moment and before the current moment, averaging the calculated curvature radii, taking the average value as the curvature radius of the target position in front of the vehicle, and improving the accuracy of the calculated curvature radius of the target position in front of the vehicle.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a method and a device for calculating the curvature radius of a road in front of a vehicle.
Background
In the running process of the intelligent driving vehicle, the geometric shape of the front road is used as an important input of the intelligent driving system, the output size of the control item is determined to a great extent, and a final decision result is determined. Whereas in engineering applications, road geometry is often characterized by road curvature or road radius of curvature.
While intelligent driving systems can obtain road information in real time over a distance in front of the vehicle, the calculation of control items is primarily concerned with the current position of the vehicle or the radius of curvature of the road somewhere in front of the vehicle.
The most direct method is to directly calculate the radius of curvature of the road at the required position after the vehicle obtains the road information in front of the current moment. The road curvature radius thus calculated has a very large fluctuation in the calculation result since only the representation of the physical position of a single point ahead (hereinafter referred to as the target position) in the current time information is considered.
In general, in order to improve the fluctuation of the calculation result, an average road curvature radius in a distance around the target position is calculated based on the current road information; although the method can inhibit the fluctuation of the curvature radius of the road to a certain extent, the effect is not ideal; moreover, this method severely reduces the accuracy of the calculation result because road information at undesired locations is introduced; the stronger the suppression of the fluctuation, the lower the accuracy.
Disclosure of Invention
In view of the above, the embodiments of the present invention provide a method and an apparatus for calculating a radius of curvature of a road in front of a vehicle, so as to achieve accurate measurement of the radius of curvature at a target position in front of the vehicle.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
a method of calculating a radius of curvature of a road ahead of a vehicle, comprising:
collecting road information in front of a vehicle, wherein the road information comprises descriptions of the geometric shapes of roads within a preset distance in front of the vehicle;
combining the current moment and the road information acquired in a continuous preset time period before the current moment to obtain a road information matrix;
calculating to obtain the curvature radius of the target position corresponding to each moment based on the road information of each moment in the road information matrix;
And calculating an average value of the road curvature radius of the corresponding target position at each moment in the road information matrix, and taking the average value as the curvature radius of the road target position in front of the vehicle.
Optionally, the method for calculating the radius of curvature of the road in front of the vehicle further includes:
Calculating the distance between the vehicle position and the target position at the moment corresponding to each road information in the road information matrix;
screening to obtain road information with the distance between the vehicle position and the target position smaller than the preset distance in the road information matrix;
the calculating, based on the road information at each time in the road information matrix, a curvature radius of a target position corresponding to each time includes:
And calculating the curvature radius of the target position corresponding to each moment based on the road information obtained by screening.
Optionally, the method for calculating the radius of curvature of the road in front of the vehicle further includes:
Calculating the road information obtained by calculation and screening to obtain positive and negative value distribution rates of the curvature radius of the target position corresponding to each moment;
and matching positive and negative signs for the average value based on the positive and negative value distribution rate.
Optionally, the method for calculating the radius of curvature of the road in front of the vehicle further includes:
Judging whether the number of the road information obtained based on screening is odd, and when the number of the road information obtained based on screening is not odd, eliminating the road information corresponding to one time node which is farthest from the current moment on a time axis in the road information obtained based on screening.
Optionally, in the method for calculating a radius of curvature of a road in front of a vehicle, the number of road information included in the road information matrix is an odd number;
the screening to obtain the road information that the distance between the vehicle position and the target position in the road information matrix is smaller than the preset distance comprises the following steps:
traversing the distance between the vehicle position and the target position at each moment corresponding to each road information in the road information matrix in sequence based on the principle that the time axis is from far to near, and screening to obtain the road information that the distance between the vehicle position and the target position in the road information matrix is smaller than the preset distance;
Judging whether the number of the road information obtained based on screening is odd, and when the number of the road information obtained based on screening is not odd, eliminating the road information corresponding to one time node which is farthest from the current moment on a time axis in the road information obtained based on screening.
A computing device for a radius of curvature of a road ahead of a vehicle, comprising:
the road information acquisition unit is used for acquiring road information in front of the vehicle, wherein the road information comprises descriptions of geometric shapes of roads in a preset distance in front of the vehicle;
The matrix generation unit is used for combining the road information acquired in the current moment and the continuous preset time period before the current moment to obtain a road information matrix;
The curvature radius calculation unit is used for calculating the curvature radius of the target position corresponding to each moment based on the road information of each moment in the road information matrix; and calculating an average value of the road curvature radius of the corresponding target position at each moment in the road information matrix, and taking the average value as the curvature radius of the road target position in front of the vehicle.
Optionally, the apparatus for calculating a radius of curvature of a road ahead of a vehicle further includes:
The data screening unit is used for calculating the distance between the vehicle position and the target position at the moment corresponding to each road information in the road information matrix; screening to obtain road information with the distance between the vehicle position and the target position smaller than the preset distance in the road information matrix;
The curvature radius calculating unit is specifically configured to, when calculating the curvature radius of the target position corresponding to each time based on the road information of each time in the road information matrix:
And calculating the curvature radius of the target position corresponding to each moment based on the road information obtained by screening.
Optionally, the apparatus for calculating a radius of curvature of a road ahead of a vehicle further includes:
the positive and negative distribution unit is used for calculating the road information obtained by the screening to obtain positive and negative distribution rates of the curvature radius of the target position corresponding to each moment; and matching positive and negative signs for the average value based on the positive and negative value distribution rate.
Optionally, the apparatus for calculating a radius of curvature of a road ahead of a vehicle further includes:
And the parity judging unit is used for judging whether the number of the road information obtained based on screening is odd, and when the number of the road information obtained based on screening is not odd, eliminating the road information corresponding to one time node which is farthest from the current moment on the time axis in the road information obtained based on screening.
Optionally, in the calculating device for the radius of curvature of the road in front of the vehicle, the number of pieces of road information included in the road information matrix is an odd number;
The data screening unit is specifically configured to, when screening road information to obtain a road information matrix, where a distance between a vehicle position and a target position is smaller than a preset distance:
Traversing the distance between the vehicle position and the target position at each moment corresponding to each road information in the road information matrix in sequence based on the principle that the time axis is from far to near, and screening to obtain the road information that the distance between the vehicle position and the target position in the road information matrix is smaller than the preset distance; judging whether the number of the road information obtained based on screening is odd, and when the number of the road information obtained based on screening is not odd, eliminating the road information corresponding to one time node which is farthest from the current moment on a time axis in the road information obtained based on screening.
Based on the above technical solution, in the above solution provided by the embodiments of the present invention, road information in front of a vehicle is collected according to a set frequency, and based on the current time and the road information collected in a continuous preset time period before the current time, the radius of curvature of the target position corresponding to each time is calculated, the calculated radii of curvature are averaged, and the average value is used as the radius of curvature of the target position in front of the vehicle, thereby improving the accuracy of the calculated radius of curvature of the target position in front of the vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of a scenario of a technical solution disclosed in an embodiment of the present application;
FIG. 2 is a flow chart of a method for calculating a radius of curvature of a target position in front of a vehicle according to an embodiment of the present application;
FIG. 3 is a flowchart of a method for calculating a radius of curvature of a target position in front of a vehicle according to another embodiment of the present application;
FIG. 4 is a flowchart illustrating a method for calculating a radius of curvature of a target position in front of a vehicle according to another embodiment of the present application;
Fig. 5 is a flowchart of a device for calculating a radius of curvature of a target position in front of a vehicle according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a schematic view of a scenario of a technical solution disclosed in the embodiment of the present application, referring to fig. 1, at time t-n, a vehicle is located at Pn, and road information at the front P1 can be obtained. If the vehicle actually needs to use the road information at the position P+1 when arriving at the position P0, the vehicle can comprehensively utilize the road information obtained at the moments t-n, … …, t-2, t-1 and t0 to form a road information matrix, and the average value of the road curvature radius at the position P+1 can be calculated.
Based on the above-mentioned scenario, the present application provides a method for calculating a radius of curvature of a target position in front of a vehicle, referring to fig. 2, the method includes:
Step S101: collecting road information in front of a vehicle, wherein the road information comprises descriptions of the geometric shapes of roads within a preset distance in front of the vehicle;
In the automatic driving process of the vehicle, the intelligent driving system collects road information in front of the vehicle through devices such as sensors, and the road information mainly refers to the geometric shape of a road in front. In general, there are various expressions of road shapes in front of a vehicle, in which the road shapes in front of the vehicle are expressed as a curve equation with respect to a vehicle body coordinate system for the convenience of data processing and calculation, that is, in which the road information is the road shapes within a preset distance in front of the vehicle represented by the curve equation of the vehicle body coordinate system, whereas in engineering applications, the road geometries are often characterized by road curvatures or road radii of curvature, and thus the road information in front of the vehicle is the road curvatures or road radii of curvature of the respective road positions within the preset distance range in front of the vehicle.
Step S102: combining the current moment and the road information acquired in a continuous preset time period before the current moment to obtain a road information matrix;
In the step S101, when the road information in front of the vehicle is collected, the collection frequency may be set according to the user' S requirement, that is, the road condition in front of the vehicle is collected by the sensor, the processor and other components during the automatic driving process of the vehicle, and the road information in front of the vehicle is calculated.
In this scheme, the road information in the road information matrix is in a continuously adjusted state, when new road information is injected, the earliest road information in the road information matrix on the time axis is deleted, that is, the oldest road information in the road information matrix is deleted, and the latest road information is stored in the road information matrix, for example, the latest road information is the road information corresponding to the current time (t 0 time) and the oldest road information is the road information corresponding to the nth time before the current time. After the latest road information is obtained, the latest road information is injected into the road information matrix, the latest road information is used as the latest road information in the road information matrix, and the oldest road information in the road information matrix is removed. After updating, the road information matrix sequentially stores road information corresponding to time t 0 (current time), time t -1 (last time), … …, and time t N (last N time). In this way, the road information matrix is in a rolling update state at all times during the running of the vehicle.
Step S103: calculating to obtain the curvature radius of the target position corresponding to each moment based on the road information of each moment in the road information matrix;
in this step, it is assumed that it is necessary to obtain a road curvature radius x meters ahead of the vehicle at the present time (hereinafter referred to as a target position).
Since the road information matrix records the road information of n+1 times, if the n+1 pieces of road information each contain a description of the target position, the road curvature radius of the n+1 target positions can be calculated from the road information matrix. Since the relative positions of the target positions in each piece of road information are different, a change in the vehicle position while the vehicle is traveling is a direct cause of such a difference. For example, for time t 0, the target position is x meters in front of the starting position; for time t -1, the target position is at l1+x before the start position, where L1 is the vehicle movement distance from time t -1 to time t 0.
Step S104: calculating an average value of road curvature radii of the corresponding target positions at all moments in the road information matrix, and taking the average value as the curvature radius of the road target position in front of the vehicle;
In this step, after the road curvature radius at the target position corresponding to each road information is acquired, the average value of these curvature radii is obtained, and the average value is taken as the curvature radius at the road target position in front of the vehicle at the current time.
In the technical solution disclosed in another embodiment of the present application, since the distances between the vehicle and the target position are different, the reliability of the radius of curvature at the target position is different, and if the distances are too old, the reliability of the radius of curvature at the target position is seriously reduced, so that in the present application, some data with too low reliability may be eliminated to ensure the reliability of the calculation result, and specifically, referring to fig. 3, in the technical solution disclosed in the above embodiment of the present application, further includes:
Step S201: calculating the distance between the vehicle position and the target position at the moment corresponding to each road information in the road information matrix;
In the implementation process of the scheme, the vehicle is in a continuous running state, the distance between the vehicle and the target position is also dynamically changed, and in the scheme, when the moment corresponding to each piece of road information is calculated through each piece of road information in the road information matrix, the distance between the vehicle and the target position at different moments can be imported into the automobile running distance matrix.
In the technical scheme disclosed in the other embodiment of the application, the moving distance of the vehicle in two different time periods can be calculated by measuring the data such as the speed change of the vehicle in the two different time periods, and the moving distance is led into a vehicle driving distance matrix, wherein the vehicle driving distance matrix and the road information matrix have the same dimension, and elements in the matrix respectively record the distance from the moment of acquiring corresponding road information to the current position of the vehicle driving and the moving distance of the vehicle. For example, from time t -1 to time t 0 (current time), the vehicle moves by a distance L1, and the vehicle moves by a distance x+l1 from the target position; from time t N to time t 0 (current time), the distance traveled by the vehicle is LN, and the distance from the vehicle to the target position is x+ln; the vehicle moving distance at the present moment relative to the present moment is naturally 0, and the distance of the vehicle from the target position is x.
Step S202: screening to obtain road information with the distance between the vehicle position and the target position smaller than the preset distance in the road information matrix;
In the step, elements in an automobile driving distance matrix are compared with preset distances, elements in the automobile driving distance matrix are screened according to a comparison result to obtain elements, the distance between the vehicle position and the target position in the road information matrix is smaller than the preset distance, then road information corresponding to the elements in the road information matrix is determined and deleted, and road information, the distance between the vehicle position and the target position in the road information matrix is smaller than the preset distance, is screened.
At this time, in the above step, the radius of curvature of the target position corresponding to each time is calculated based on the road information of each time in the road information matrix, specifically:
Calculating the curvature radius of the target position corresponding to each moment based on the road information obtained by screening; in this step, the radius of curvature of the target position included in each piece of road information remaining in the road information matrix is obtained, and the average value of these radii of curvature is obtained, thereby obtaining the radius of curvature at the target position.
In the technical solution disclosed in the embodiment of the present application, the radius of curvature of the target location may be a negative value or a positive value relative to the location of the vehicle, and in this solution, the positive and negative signs may be matched for the radius of curvature of the target location by obtaining a positive and negative value distribution of the radius of curvature of the target location included in each road information remaining in the road information matrix. Specifically, referring to fig. 4, in the above method, further includes:
Step S301: calculating the road information obtained by calculation and screening to obtain positive and negative value distribution rates of the curvature radius of the target position corresponding to each moment;
For example, if 1 of the remaining M road information calculation target positions has a negative value, the remaining M road information calculation target positions have a positive value, 1 of the remaining M road information calculation target positions has a positive value, and M-1 is greater than 1, the radius of curvature at the target positions is given a positive value.
Step S302: and matching positive and negative signs for the average value based on the positive and negative value distribution rate.
In the above-mentioned solution, if the positive and negative distribution rates of the curvature radius calculated in step S301 are equal, that is, the number of curvature radii of the target position with positive sign is the same as the number of curvature radii of the target position with negative sign, the number of curvature radii of the target position may not match with the positive and negative sign, and in this regard, in the technical solution disclosed in the above-mentioned embodiment of the present application, it is further necessary to determine whether the number of road information obtained based on the screening is odd, and if not, reject the road information corresponding to the one time node of the road information obtained by the screening that is farthest from the current time on the time axis, and if the number of remaining road information is odd, it is ensured that the sign of the road curvature radius at the target position is not positive or negative when the distribution probability is evaluated.
In addition to judging the parity of the number of the road information obtained by screening, the application can also make the number of the road information contained in the road information matrix odd by prescribing the size and sampling frequency of a preset time period;
at this time, the screening in the above scheme obtains the road information that the distance between the vehicle position and the target position in the road information matrix is smaller than the preset distance, including:
traversing the distance between the vehicle position and the target position at each time corresponding to each road information in the road information matrix in sequence based on the principle that the time axis is from far to near (the far to near is based on the current time), and screening to obtain the road information that the distance between the vehicle position and the target position in the road information matrix is smaller than the preset distance;
Judging whether the number of the road information obtained based on screening is odd, and when the number of the road information obtained based on screening is not odd, eliminating the road information corresponding to one time node which is farthest from the current moment on a time axis in the road information obtained based on screening. Or, in the process of screening and obtaining the road information that the distance between the vehicle position and the target position in the road information matrix is smaller than the preset distance, when one piece of road information needs to be removed, the road information needing to be removed and one piece of road information behind the adjacent time axis need to be removed directly, for example, the distance between the vehicle at the N time and the target position exceeds the furthest distance which can be described, and then the road information at the N time and the N-1 time before need to be removed. The road information at the two most distant moments (the most distant moment from the current moment) is omitted here (even though the road information at the N-1 th moment may completely cover the description of the target position) in order to ensure that the number of road information remaining in the road information matrix must be odd.
If the road information at the previous N-2 th time still cannot cover the description of the target position after the road information at the previous N-2 th time and the previous N-1 th time are discarded, the road information at the N-2 th time and the N-3 rd time should be continuously discarded; and so on, until the road information which is the most time far from the current moment, the description of the target position can be covered, and then the next operation is carried out.
The above solutions disclosed by the above embodiments of the present application can be seen that, according to the above solutions provided by the present application, by using multiple descriptions of information of the same target position in front of a vehicle at different positions at different times, obtaining the radius of curvature of the target position calculated by the vehicle at different positions at different times based on the description result, and averaging the radii of curvature, the precise radius of curvature of the target position in front can be obtained.
In the embodiment, the specific working content of each unit in the device is disclosed, please refer to the content of the foregoing method embodiment, the description of the device for calculating the curvature radius of the road ahead of the vehicle provided in the embodiment of the present invention is given below, and the device for calculating the curvature radius of the road ahead of the vehicle described below and the method for calculating the curvature radius of the road ahead of the vehicle described above may be referred to correspondingly.
Referring to fig. 5, the apparatus for calculating a radius of curvature of a road in front of a vehicle may include:
a road information collection unit 100 for collecting road information in front of a vehicle, the road information including a description of a geometric shape of a road within a preset distance in front of the vehicle;
The matrix generating unit 200 is configured to combine the current time and the road information acquired in a continuous preset time period before the current time to obtain a road information matrix;
a radius of curvature calculation unit 300, configured to calculate a radius of curvature of a target position corresponding to each time based on the road information at each time in the road information matrix; and calculating an average value of the road curvature radius of the corresponding target position at each moment in the road information matrix, and taking the average value as the curvature radius of the road target position in front of the vehicle.
Corresponding to the above method embodiment, the calculating device of the radius of curvature of the road ahead of the vehicle may further include:
The data screening unit is used for calculating the distance between the vehicle position and the target position at the moment corresponding to each road information in the road information matrix; screening to obtain road information with the distance between the vehicle position and the target position smaller than the preset distance in the road information matrix;
The curvature radius calculating unit is specifically configured to, when calculating the curvature radius of the target position corresponding to each time based on the road information of each time in the road information matrix:
And calculating the curvature radius of the target position corresponding to each moment based on the road information obtained by screening.
Corresponding to the above method embodiment, the calculating device of the radius of curvature of the road ahead of the vehicle may further include:
the positive and negative distribution unit is used for calculating the road information obtained by the screening to obtain positive and negative distribution rates of the curvature radius of the target position corresponding to each moment; and matching positive and negative signs for the average value based on the positive and negative value distribution rate.
Corresponding to the above method embodiment, the calculating device of the radius of curvature of the road ahead of the vehicle may further include:
And the parity judging unit is used for judging whether the number of the road information obtained based on screening is odd, and when the number of the road information obtained based on screening is not odd, eliminating the road information corresponding to one time node which is farthest from the current moment on the time axis in the road information obtained based on screening.
Corresponding to the above method embodiment, the number of pieces of road information contained in the road information matrix is an odd number; at this time, when the data screening unit screens road information that the distance between the vehicle position and the target position in the road information matrix is smaller than the preset distance, the data screening unit is specifically configured to:
Traversing the distance between the vehicle position and the target position at each moment corresponding to each road information in the road information matrix in sequence based on the principle that the time axis is from far to near, and screening to obtain the road information that the distance between the vehicle position and the target position in the road information matrix is smaller than the preset distance; judging whether the number of the road information obtained based on screening is odd, and when the number of the road information obtained based on screening is not odd, eliminating the road information corresponding to one time node which is farthest from the current moment on a time axis in the road information obtained based on screening.
For convenience of description, the above system is described as being functionally divided into various modules, respectively. Of course, the functions of each module may be implemented in the same piece or pieces of software and/or hardware when implementing the present invention.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for a system or system embodiment, since it is substantially similar to a method embodiment, the description is relatively simple, with reference to the description of the method embodiment being made in part. The systems and system embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed 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.
It is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A method of calculating a radius of curvature of a road ahead of a vehicle, comprising:
collecting road information in front of a vehicle, wherein the road information comprises descriptions of the geometric shapes of roads within a preset distance in front of the vehicle;
combining the current moment and the road information acquired in a continuous preset time period before the current moment to obtain a road information matrix;
calculating to obtain the curvature radius of the target position corresponding to each moment based on the road information of each moment in the road information matrix;
Calculating an average value of road curvature radii of the corresponding target positions at all moments in the road information matrix, and taking the average value as the curvature radius of the road target position in front of the vehicle;
wherein, still include:
Calculating the distance between the vehicle position and the target position at the moment corresponding to each road information in the road information matrix;
screening to obtain road information with the distance between the vehicle position and the target position smaller than the preset distance in the road information matrix;
the calculating, based on the road information at each time in the road information matrix, a curvature radius of a target position corresponding to each time includes:
Calculating the curvature radius of the target position corresponding to each moment based on the road information obtained by screening;
wherein, still include:
Calculating the road information obtained by calculation and screening to obtain positive and negative value distribution rates of the curvature radius of the target position corresponding to each moment;
and matching positive and negative signs for the average value based on the positive and negative value distribution rate.
2. The method of calculating a radius of curvature of a road ahead of a vehicle according to claim 1, further comprising:
Judging whether the number of the road information obtained based on screening is odd, and when the number of the road information obtained based on screening is not odd, eliminating the road information corresponding to one time node which is farthest from the current moment on a time axis in the road information obtained based on screening.
3. The calculation method of the radius of curvature of a road ahead of a vehicle according to claim 1, the number of pieces of road information included in the road information matrix being an odd number;
the screening to obtain the road information that the distance between the vehicle position and the target position in the road information matrix is smaller than the preset distance comprises the following steps:
traversing the distance between the vehicle position and the target position at each moment corresponding to each road information in the road information matrix in sequence based on the principle that the time axis is from far to near, and screening to obtain the road information that the distance between the vehicle position and the target position in the road information matrix is smaller than the preset distance;
Judging whether the number of the road information obtained based on screening is odd, and when the number of the road information obtained based on screening is not odd, eliminating the road information corresponding to one time node which is farthest from the current moment on a time axis in the road information obtained based on screening.
4. A computing device for a radius of curvature of a road ahead of a vehicle, comprising:
the road information acquisition unit is used for acquiring road information in front of the vehicle, wherein the road information comprises descriptions of geometric shapes of roads in a preset distance in front of the vehicle;
The matrix generation unit is used for combining the road information acquired in the current moment and the continuous preset time period before the current moment to obtain a road information matrix;
the curvature radius calculation unit is used for calculating the curvature radius of the target position corresponding to each moment based on the road information of each moment in the road information matrix; calculating an average value of road curvature radii of the corresponding target positions at all moments in the road information matrix, and taking the average value as the curvature radius of the road target position in front of the vehicle;
wherein, still include:
The data screening unit is used for calculating the distance between the vehicle position and the target position at the moment corresponding to each road information in the road information matrix; screening to obtain road information with the distance between the vehicle position and the target position smaller than the preset distance in the road information matrix;
The curvature radius calculating unit is specifically configured to, when calculating the curvature radius of the target position corresponding to each time based on the road information of each time in the road information matrix:
Calculating the curvature radius of the target position corresponding to each moment based on the road information obtained by screening;
wherein, still include:
the positive and negative distribution unit is used for calculating the road information obtained by the screening to obtain positive and negative distribution rates of the curvature radius of the target position corresponding to each moment; and matching positive and negative signs for the average value based on the positive and negative value distribution rate.
5. The apparatus for calculating a radius of curvature of a road ahead of a vehicle according to claim 4, further comprising:
And the parity judging unit is used for judging whether the number of the road information obtained based on screening is odd, and when the number of the road information obtained based on screening is not odd, eliminating the road information corresponding to one time node which is farthest from the current moment on the time axis in the road information obtained based on screening.
6. The calculation device for the radius of curvature of the road ahead of the vehicle according to claim 4, the number of pieces of road information included in the road information matrix being an odd number;
The data screening unit is specifically configured to, when screening road information to obtain a road information matrix, where a distance between a vehicle position and a target position is smaller than a preset distance:
Traversing the distance between the vehicle position and the target position at each moment corresponding to each road information in the road information matrix in sequence based on the principle that the time axis is from far to near, and screening to obtain the road information that the distance between the vehicle position and the target position in the road information matrix is smaller than the preset distance; judging whether the number of the road information obtained based on screening is odd, and when the number of the road information obtained based on screening is not odd, eliminating the road information corresponding to one time node which is farthest from the current moment on a time axis in the road information obtained based on screening.
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| EP1714108A4 (en) * | 2003-12-24 | 2010-01-13 | Automotive Systems Lab | Road curvature estimation system |
| JP4297087B2 (en) * | 2005-06-17 | 2009-07-15 | トヨタ自動車株式会社 | Road curvature detection device and steering assist device using the same |
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| KR101676145B1 (en) * | 2014-12-29 | 2016-11-14 | 한국공항공사 | Curvature calculation device and curvature correction method |
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