摘要：【中文】本发明涉及智能交通领域，提供一种车道线拟合方法及系统。所述车道线拟合方法包括：获取针对本车当前位置的地图信息及导航信息，且所述地图信息包括道路类型、车道数量、道路宽度、道路特征点以及本车两侧车道线的线点和车道宽度；根据地图信息和/或导航信息确定本车的实际道路工况，并对应确定由所述实际道路工况触发的车道线拟合状态；结合地图信息和导航信息，确定符合所述车道线拟合状态的车道线偏移基准；基于车道线偏移基准偏移生成本车的多条车道线；以及对所生成的多条车道线上的线点的集合进行曲线拟合以得到对应的车道线方程。本发明的车道线拟合方法解决了现在技术中提取的车道线数目众多且相对复杂的问题。 【EN】The invention relates to the field of intelligent transportation and provides a lane line fitting method and system. The lane line fitting method comprises the following steps: obtaining map information and navigation information aiming at the current position of the vehicle, wherein the map information comprises road types, lane number, road width, road characteristic points, and line points and lane widths of lane lines on two sides of the vehicle; determining the actual road working condition of the vehicle according to the map information and/or the navigation information, and correspondingly determining the lane line fitting state triggered by the actual road working condition; determining a lane line deviation reference according with the fitting state of the lane line by combining map information and navigation information; generating a plurality of lane lines of the host vehicle based on the lane line offset reference offset; and performing curve fitting on the generated set of line points on the plurality of lane lines to obtain a corresponding lane line equation. The lane line fitting method solves the problems of numerous and relatively complex lane lines extracted in the prior art.

摘要：【中文】本发明实施例提供一种用于确定车辆的环境目标所处的区域的方法及装置，属于车辆领域。所述方法包括：获取处于车辆前端的第一特征点在行车坐标系下的第一坐标(X1，Y1)、处于车辆后端的第二特征点在行车坐标系下的第二坐标(X2，Y2)、环境目标的第三特征点在行车坐标系下的第三坐标(XT，YT)；根据第一坐标(X1，Y1)、第二坐标(X2，Y2)和第三坐标(XT，YT)来确定所述环境目标所处的区域，行车坐标系X_FO_FY_F以车辆的所在道路的边线为基准线，坐标原点O_F为在基准线上到车辆的第四特征点距离最短的点，横轴X_F与道路引导线方向平行，纵轴Y_F与道路引导线方向遵循左手或右手定则。其减少了决策系统的计算量，同时提高了弯道工况下区域划分和确定的准确度。 【EN】The embodiment of the invention provides a method and a device for determining an area where an environmental target of a vehicle is located, and belongs to the field of vehicles. The method comprises the following steps: acquiring first coordinates (X1, Y1) of a first characteristic point at the front end of a vehicle in a driving coordinate system, second coordinates (X2, Y2) of a second characteristic point at the rear end of the vehicle in the driving coordinate system, and third coordinates (XT, YT) of a third characteristic point of an environment target in the driving coordinate system; determining the area where the environmental target is located according to the first (X1, Y1), second (X2, Y2) and third (XT, YT) coordinates, the driving coordinate system X_FO_FY_FThe side line of the road where the vehicle is located is taken as a reference line, and the coordinate origin O is_FThe horizontal axis X is the point on the reference line where the distance to the fourth characteristic point of the vehicle is shortest_FParallel to the direction of the road-guiding line, the longitudinal axis Y_FFollowing either the left or right hand rule with the direction of the road guide line. It reduces the blockThe calculated amount of the system is determined, and meanwhile, the accuracy of region division and determination under the curve working condition is improved.

摘要：【中文】本发明涉及智能交通领域，提供一种自动驾驶车辆的道路信息融合系统及方法。其中，所述道路信息融合系统包括：信息获取单元，用于获取本车的各种类型的道路感知传感器所采集的多种道路信息；信息初始融合单元，用于对所述多种道路信息进行初始融合，其中所述初始融合包括信息预处理和信息有效性验证；以及信息深度融合单元，用于对经初始融合后的所述多种道路信息进行深度融合以输出本车的道路模型，其中所述深度融合包括信息坐标转换、道路特征点提取、车道线拟合、车道线计算以及信息综合管理。本发明对相似的道路信息进行了初始融合和二次融合，减少了重复的数据处理过程，且提高了输出的道路模型的精准性。 【EN】The invention relates to the field of intelligent transportation, and provides a road information fusion system and method for automatically driving a vehicle. Wherein, the road information fusion system includes: the information acquisition unit is used for acquiring various road information acquired by various road perception sensors of the vehicle; the information initial fusion unit is used for carrying out initial fusion on the various road information, wherein the initial fusion comprises information preprocessing and information validity verification; and the information deep fusion unit is used for performing deep fusion on the various kinds of initially fused road information to output the road model of the vehicle, wherein the deep fusion comprises information coordinate conversion, road characteristic point extraction, lane line fitting, lane line calculation and information comprehensive management. The method and the device perform initial fusion and secondary fusion on similar road information, reduce repeated data processing processes and improve the accuracy of the output road model.

摘要：【中文】本发明涉及自动驾驶技术领域，提供一种自动驾驶系统的节能控制方法、装置及该自动驾驶系统。其中，所述节能控制方法包括：在响应于车辆预期行驶的路径中具有所述地理围栏而开启所述自动驾驶系统的第一情况下，启用所述自动驾驶系统中的域控制器的微控制单元MCU，并控制所述域控制器的系统级芯片SOC进入预先设置的休眠模式；基于所述MCU判断所述车辆是否处于所述地理围栏；以及在所述车辆处于所述地理围栏的第二情况下，唤醒处于所述休眠模式的所述SOC。本发明使得在车辆运行中，只有MCU始终在工作，功耗较低，而功耗高的SOC只有在条件允许时才会被唤醒，避免了不必要的能源消耗。 【EN】The invention relates to the technical field of automatic driving, and provides an energy-saving control method and device of an automatic driving system and the automatic driving system. The energy-saving control method comprises the following steps: in a first case that the automatic driving system is started in response to the geographic fence being arranged in a path expected to be driven by the vehicle, starting a Micro Control Unit (MCU) of a domain controller in the automatic driving system, and controlling a system level chip (SOC) of the domain controller to enter a preset sleep mode; determining whether the vehicle is in the geofence based on the MCU; and waking up the SOC in the sleep mode in a second instance of the vehicle being in the geofence. According to the invention, only the MCU works all the time in the running of the vehicle, the power consumption is lower, and the SOC with high power consumption can be awakened only when the condition allows, so that unnecessary energy consumption is avoided.

摘要：【中文】本发明涉及智能交通技术领域，提供一种自动驾驶车辆的安全监测方法及系统。所述方法包括：横向控制安全监测步骤，建立车辆的侧向加速度与纵向车速及方向盘转角之间的对应关系，获取不同车速下给定的最大的所述侧向加速度对应的最大的方向盘转角以作为转角阈值，判断方向盘转角是否大于转角阈值，若是，则将方向盘转角限制在转角阈值，否则正常输出；纵向控制安全监测步骤，针对不同的纵向控制状态，获取不同车速下给定的最大的目标加速度对应的加速度阈值，并判断目标加速度是否大于加速度阈值，若是，则将目标加速度限制在加速度阈值，否则正常输出。本发明从横向控制和纵向控制分别出发来设计用于自动驾驶系统的安全监测策略，使设计更具完整性。 【EN】The invention relates to the technical field of intelligent traffic, and provides a safety monitoring method and system for an automatic driving vehicle. The method comprises the following steps: a transverse control safety monitoring step, namely establishing a corresponding relation between lateral acceleration of a vehicle, longitudinal vehicle speed and steering wheel rotation angle, acquiring the maximum steering wheel rotation angle corresponding to the given maximum lateral acceleration under different vehicle speeds to serve as a rotation angle threshold value, judging whether the steering wheel rotation angle is larger than the rotation angle threshold value, if so, limiting the steering wheel rotation angle to the rotation angle threshold value, otherwise, normally outputting; and a longitudinal control safety monitoring step, namely acquiring acceleration threshold values corresponding to given maximum target acceleration under different vehicle speeds according to different longitudinal control states, judging whether the target acceleration is greater than the acceleration threshold value, if so, limiting the target acceleration to the acceleration threshold value, and otherwise, normally outputting. The safety monitoring strategy for the automatic driving system is designed from the aspects of transverse control and longitudinal control, so that the design is more complete.

摘要：【中文】本发明涉及智能交通领域，提供一种自动驾驶车辆的数据融合系统、方法及自动驾驶系统。所述数据融合方法包括道路融合步骤和目标融合步骤。其中，所述道路融合步骤包括：获取本车的各个环境感知传感器所采集的多种道路信息；对所述多种道路信息进行初始融合；以及对经初始融合后的所述多种道路信息进行深度融合以输出本车的道路模型。其中，所述目标融合步骤包括：获取每一个所述环境感知传感器所采集的每一个环境目标的参数属性集合；根据所获取参数属性集合生成当前时刻的目标融合列表；以及根据所述当前时刻的目标融合列表生成并输出当前时刻的目标跟踪列表。本发明可向决策系统提供更为精准的道路模型和跟踪目标列表。 【EN】The invention relates to the field of intelligent transportation, and provides a data fusion system and method for an automatic driving vehicle and an automatic driving system. The data fusion method comprises a road fusion step and a target fusion step. Wherein the road fusion step comprises: acquiring various road information acquired by each environment perception sensor of the vehicle; performing initial fusion on the various road information; and performing deep fusion on the various kinds of road information subjected to initial fusion to output a road model of the vehicle. Wherein the target fusion step comprises: acquiring a parameter attribute set of each environmental target acquired by each environmental perception sensor; generating a target fusion list at the current moment according to the acquired parameter attribute set; and generating and outputting a target tracking list at the current moment according to the target fusion list at the current moment. The invention can provide a more accurate road model and a tracking target list for a decision system.

摘要：【中文】本发明实施例提供一种用于确定车辆的环境目标所处的区域的方法及装置，属于车辆领域。所述方法包括：获取处于车辆前端的第一特征点在行车坐标系下的第一坐标；获取处于车辆后端的第二特征点在行车坐标系下的第二坐标；获取环境目标的每个角点在行车坐标系下的角点坐标；以及根据第一坐标、第二坐标和环境目标的每个角点在行车坐标系下的角点坐标来确定环境目标所处的区域，其中行车坐标系X_FO_FY_F以车辆所在道路的边线为基准线，坐标原点O_F为在基准线上到车辆的第四特征点距离最短的点，横轴X_F与道路引导线方向平行，纵轴Y_F与道路引导线方向遵循左手或右手定则。其减少了决策系统的计算量，同时提高了弯道工况下区域划分和确定的准确度。 【EN】The embodiment of the invention provides a method and a device for determining an area where an environmental target of a vehicle is located, and belongs to the field of vehicles. The method comprises the following steps: acquiring a first coordinate of a first characteristic point at the front end of a vehicle in a driving coordinate system; acquiring a second coordinate of a second characteristic point at the rear end of the vehicle in a driving coordinate system; acquiring corner point coordinates of each corner point of the environment target under a driving coordinate system; and determining the area of the environment target according to the first coordinate, the second coordinate and the corner point coordinate of each corner point of the environment target in a driving coordinate system, wherein the driving coordinate system X is_FO_FY_FThe side line of the road where the vehicle is located is taken as a reference line, and the origin of coordinates O_FThe horizontal axis X is the point on the reference line where the distance to the fourth characteristic point of the vehicle is shortest_FAnd roadThe directions of the guide lines are parallel and the longitudinal axis is Y_FFollowing either the left or right hand rule with the direction of the road guide line. The method reduces the calculated amount of a decision-making system, and improves the accuracy of region division and determination under the curve working condition.

摘要：【中文】本发明实施例提供一种用于确定车辆的环境目标所处的区域的方法及装置，属于车辆领域。所述方法包括：获取处于车辆前端的第一特征点在行车坐标系下的第一坐标(X1，Y1)；获取环境目标的第三特征点在行车坐标系下的第三坐标(XT，YT)；以及根据第一坐标(X1，Y1)和第三坐标(XT，YT)来确定环境目标是否处于随动区域，其中随动区域为位于车辆行驶方向的前方且与道路方向平行的区域，其中所述行车坐标系X_FO_FY_F以所述车辆的所在道路的边线为基准线，坐标原点O_F为在所述基准线上到所述车辆的第四特征点距离最短的点，横坐标X_F与道路引导线方向平行，纵坐标Y_F与道路引导线方向遵循左手或右手定则。其能够确保对车辆前方环境目标所处区域的确定的准确率。 【EN】The embodiment of the invention provides a method and a device for determining an area where an environmental target of a vehicle is located, and belongs to the field of vehicles. The method comprises the following steps: acquiring first coordinates (X1, Y1) of a first characteristic point at the front end of the vehicle in a driving coordinate system; acquiring a third coordinate (XT, YT) of a third feature point of the environment target under a driving coordinate system; and determining whether the environment target is in a follow-up zone according to the first coordinates (X1, Y1) and the third coordinates (XT, YT), wherein the follow-up zone is a zone located in front of a vehicle traveling direction and parallel to a road direction, wherein the traveling coordinate system X is_FO_FY_FThe side line of the road where the vehicle is located is used as a reference line and a coordinate sourcePoint O_FThe abscissa X is the point on the reference line having the shortest distance to the fourth characteristic point of the vehicle_FParallel to the direction of the road-guiding line, ordinate Y_FFollowing either the left or right hand rule with the direction of the road guide line. Which can ensure the accuracy of the determination of the area in which the environmental target in front of the vehicle is located.

摘要：【中文】本发明实施例提供一种用于环境目标的时间同步方法及装置，属于自动驾驶领域。所述方法包括：每接收到传感器发送的环境目标的参数属性集合，为接收到的所述环境目标赋予接收时刻的时间戳信息，其中所述参数属性集合至少包括以下属性中的一者或多者：纵向速度和纵向距离；以及基于每个环境目标的接收时刻的时间戳信息和预定时刻的时间戳信息来执行所述每个环境目标的参数属性集合的时间同步。其使得每个环境目标的参数属性集合可以同步到同一时刻，从而促使后续对各传感器数据进行数据处理的准确性。 【EN】The embodiment of the invention provides a time synchronization method and device for an environment target, and belongs to the field of automatic driving. The method comprises the following steps: each time a parameter attribute set of an environment target sent by a sensor is received, giving the received environment target time stamp information of a receiving moment, wherein the parameter attribute set at least comprises one or more of the following attributes: longitudinal speed and longitudinal distance; and performing time synchronization of the parameter attribute set of each environment target based on the time stamp information of the reception time of the each environment target and the time stamp information of the predetermined time. The method and the device enable the parameter attribute sets of each environment target to be synchronized to the same time, and therefore accuracy of data processing of the sensor data is promoted.

摘要：【中文】本发明实施例提供一种用于环境目标的融合方法及装置，属于自动驾驶领域。所述方法包括：读取布置在车辆上的传感器探测的每一个环境目标的参数属性集合；根据所读取的每一个所述传感器探测的每一个环境目标的参数属性集合来生成当前时刻的目标融合列表，其中所述目标融合列表包括与一个或多个环境目标中每一个环境目标相对应的目标属性集合，所述目标属性集合包括由一个或多个传感器各自测得的环境目标的参数属性集合；以及根据所述当前时刻的目标融合列表生成当前时刻的目标跟踪列表，其中所述目标跟踪列表包括与筛选出的每一个环境目标对应的参数属性集合以及融合跟踪ID。其有利于对感兴趣环境目标的跟踪。 【EN】The embodiment of the invention provides a fusion method and device for environmental targets, and belongs to the field of automatic driving. The method comprises the following steps: reading a set of parameter attributes of each environmental target detected by a sensor disposed on the vehicle; generating a target fusion list at the current moment according to the read parameter attribute sets of each environmental target detected by each sensor, wherein the target fusion list comprises a target attribute set corresponding to each environmental target in one or more environmental targets, and the target attribute sets comprise parameter attribute sets of the environmental targets respectively measured by one or more sensors; and generating a target tracking list of the current moment according to the target fusion list of the current moment, wherein the target tracking list comprises a parameter attribute set corresponding to each screened environment target and a fusion tracking ID. Which facilitates the tracking of environmental objects of interest.