CN115071720A - A method, device and electronic device for determining a drivable area of a vehicle - Google Patents

Abstract

The present application discloses a method, device and electronic device for determining a drivable area of a vehicle, and relates to the technical field of intelligent driving. The method includes: detecting a safe area without obstacles around the vehicle, and predicting the second road information corresponding to the next time period according to the first road information and the vehicle state information corresponding to the historical time period including the current time, and finally according to the first road information and the vehicle state information corresponding to the historical time period including the current time. Second, road information, in the safe area, determine each drivable area corresponding to the next time period. Through the above method, it is possible to avoid the determination of a wrong drivable area due to the failure or misrecognition of the vehicle-mounted sensor, and to improve the accuracy of the determination of the drivable area, thereby ensuring the safety of the vehicle.

Description

A method, device and electronic device for determining a drivable area of a vehicle

technical field

The present application relates to the technical field of intelligent driving, and in particular, to a method, device and electronic device for determining a drivable area of a vehicle.

Background technique

During the driving process of an intelligent driving vehicle, the vehicle front-view camera is usually used to identify the road lane line, road curvature and road width in front of the vehicle, and the current road information is determined according to the identification result. Then use the vehicle surround view camera, front radar and angle radar to identify the vehicles driving around the vehicle, and then judge the influence of the target objects around the vehicle on the drivable area, and finally determine the current drivable area and drive according to the current drivable area.

The above method for identifying the drivable area of a vehicle relies too much on the performance of on-board sensors such as cameras and radars. If the sensor fails or misidentifies, for example, the lane line information cannot be output correctly, it will directly affect the accuracy of the drivable area identification, which in turn affects driving. Safety.

SUMMARY OF THE INVENTION

The present application discloses a method, device and electronic device for determining a drivable area of a vehicle, which avoids determining a wrong drivable area due to faults or misidentification of on-board sensors, improves the accuracy of determining the drivable area, and ensures the safety of vehicle driving.

In a first aspect, the present application provides a method for determining a drivable area of a vehicle, the method comprising:

Detect safe areas around the vehicle without obstacles;

According to the first road information and vehicle state information corresponding to the historical time period including the current time, the second road information corresponding to the next time period is predicted, wherein the second road information at least includes lane lines, road curvature, road width, number of lanes;

According to the second road information, a drivable area corresponding to the next time period is determined in the safe area.

Through the above method, the safe area identified by the vehicle-mounted sensor is corrected according to the predicted road information, and then the drivable area corresponding to the next time period of the vehicle is obtained. Avoid determining the wrong drivable area due to the failure or misrecognition of the on-board sensor, and improve the accuracy of the determination of the drivable area, thereby ensuring the safety of the vehicle.

In a possible design, the detection of a safe area without obstacles around the vehicle includes:

Identifying first outer contour information corresponding to each static target around the vehicle, wherein the static target at least includes road edges, road guardrails and roadblocks;

Identifying the second outer contour information corresponding to each dynamic target around the vehicle, wherein the dynamic target includes at least a moving vehicle;

According to each of the first outer contour information and each of the second outer contour information, a safe area without obstacles around the vehicle is obtained.

Through the above method, a safe area without obstacles around the vehicle is identified, and the initial drivable area of the vehicle is obtained.

In a possible design, according to each of the first outer contour information and each of the second outer contour information, the obtained safe area without obstacles around the vehicle includes:

Connecting each target point in each first outer contour information to obtain a first physical space area;

Connecting each target point in each second outer contour information to obtain a second physical space area;

The first physical space area and the second physical space area are superimposed to obtain a safe area without obstacles around the vehicle.

Through the above method, a safe area without obstacles is generated according to the outer contour information of each target, which can reduce the amount of data processing in the process of determining the safe area.

In a possible design, predicting the second road information corresponding to the next time period according to the first road information and the vehicle state information corresponding to the historical time period including the current time includes:

Determine the lane line and road width corresponding to the next time period according to the lane line and road width in the first road information and the vehicle position in the vehicle state information;

Determine the road curvature corresponding to the next time period according to the road curvature in the first road information and the vehicle steering angle in the vehicle state information;

The second road information is obtained by calculation according to the lane line, road width and road curvature corresponding to the next time period, wherein the second road information includes lane line, road width, road curvature, and number of lanes.

Through the above method, the road information corresponding to the next time period of the vehicle is predicted based on the corresponding road information and vehicle status information in the historical time period including the current moment, thereby helping to further correct the safe area identified by the vehicle-mounted sensor.

In a possible design, each drivable area corresponding to the next time period is determined in the safe area according to the second road information, including:

determining the spatial boundary corresponding to the second road information within the safe area;

According to the lane line, road width, road curvature, and number of lanes in the second road information, the area within the space boundary is divided to obtain each lane-level drivable area;

Each lane-level drivable area is taken as each drivable area corresponding to the next time period.

Through the above method, in the safe area identified by the on-board sensor, there is a further lane-level drivable area, and the lane-level drivable area includes road information, which provides guarantee for the automatic driving of the vehicle.

In a possible design, after the respective drivable areas corresponding to the next time period are determined in the safety area, the method further includes:

According to the vehicle state information, determining the driving priority between each drivable area, wherein the vehicle state information at least includes vehicle execution action and/or vehicle location information;

Based on the drivability priority, a target travel area is determined in each drivable area.

Through the above method, the target driving area is further determined based on the driving priority among each driving area, and the reliability and safety of intelligent driving are improved.

In a possible design, according to the vehicle state information, determining the driving priority between each drivable area includes:

Determine whether the vehicle performs a lane change operation;

When the vehicle performs a lane change operation and fails to change lanes, determine whether the vehicle crosses the lane line according to the vehicle position information;

If the vehicle crosses the lane line, the driving priority is determined as: the target driving area that the vehicle crosses has priority over each drivable area other than the target driving area;

If the vehicle does not cross the lane line, the driving priority is determined as: the current driving area of the vehicle has priority over each drivable area other than the current driving area.

Through the above method, when the vehicle fails to change lanes, the drivable area corresponding to the next time period is selected from each lane-level drivable area according to different scenarios.

In a possible design, according to the vehicle state information, determining the driving priority between each drivable area includes:

According to the vehicle location information, determine whether there is a drivable area in front of the current driving area of the vehicle;

When there is no drivable area in front of the current driving area of the vehicle, calculating the lateral distance between each drivable area other than the current driving area of the vehicle and the vehicle;

determining the first drivable area corresponding to the smallest distance in each lateral distance;

The driving priority is determined as: the first drivable area has priority over each drivable area other than the first drivable area.

Through the above method, when there is no drivable area in front of the current vehicle, the drivable area corresponding to the next time period is determined according to the lateral distance between the vehicle and each lane-level drivable area.

In a possible design, according to the vehicle state information, determining the driving priority between each drivable area includes:

When the vehicle performs a parking operation, the drivable vehicle speed corresponding to each drivable area is obtained, wherein the drivable vehicle speed is obtained according to the maximum speed limit corresponding to the drivable area or the moving speed of the vehicle in the drivable area;

Sort each drivable speed from low to high to obtain the serial numbers corresponding to each drivable speed;

The sequence number corresponding to any drivable vehicle speed among the various drivable vehicle speeds is used as the driving priority of the drivable area corresponding to the any drivable vehicle speed.

Through the above method, when the vehicle performs a parking operation, the drivable vehicle speed corresponding to the lowest drivable area is taken as the drivable area with the highest priority, which is convenient for safe parking.

In a second aspect, the present application provides a device for determining a drivable area of a vehicle, the device comprising:

The detection module is used to detect the safe area without obstacles around the vehicle;

The prediction module is used to predict the second road information corresponding to the next time period according to the first road information and the vehicle state information corresponding to the historical time period including the current time, wherein the second road information at least includes lane lines, roads Curvature, road width, number of lanes;

and a determining module, configured to determine a drivable area corresponding to the next time period in the safe area according to the second road information.

In a possible design, the detection module is specifically used for:

Identifying first outer contour information corresponding to each static target around the vehicle, wherein the static target at least includes road edges, road guardrails and roadblocks;

Identifying the second outer contour information corresponding to each dynamic target around the vehicle, wherein the dynamic target includes at least a moving vehicle;

According to each of the first outer contour information and each of the second outer contour information, a safe area without obstacles around the vehicle is obtained.

In a possible design, the detection module is also used for:

Connecting each target point in each first outer contour information to obtain a first physical space area;

Connecting each target point in each second outer contour information to obtain a second physical space area;

The first physical space area and the second physical space area are superimposed to obtain a safe area without obstacles around the vehicle.

In a possible design, the prediction module is specifically used for:

Determine the lane line and road width corresponding to the next time period according to the lane line and road width in the first road information and the vehicle position in the vehicle state information;

Determine the road curvature corresponding to the next time period according to the road curvature in the first road information and the vehicle steering angle in the vehicle state information;

The second road information is obtained by calculation according to the lane line, road width and road curvature corresponding to the next time period, wherein the second road information includes lane line, road width, road curvature, and number of lanes.

In a possible design, the determining module is specifically used for:

determining the spatial boundary corresponding to the second road information within the safe area;

According to the lane line, road width, road curvature, and number of lanes in the second road information, the area within the space boundary is divided to obtain each lane-level drivable area;

Each lane-level drivable area is taken as each drivable area corresponding to the next time period.

In a possible design, the determining module is also used for:

According to the vehicle state information, determining the driving priority between each drivable area;

Based on the drivability priority, a target travel area is determined in each drivable area.

In a possible design, the determining module is also used for:

Determine whether the vehicle performs a lane change operation;

When the vehicle performs a lane change operation and fails to change lanes, determine whether the vehicle crosses the lane line according to the vehicle position information;

If the vehicle crosses the lane line, the driving priority is determined as: the target driving area that the vehicle crosses has priority over each drivable area other than the target driving area;

If the vehicle does not cross the lane line, the driving priority is determined as: the current driving area of the vehicle is prior to each drivable area other than the current driving area.

In a possible design, the determining module is also used for:

According to the vehicle location information, determine whether there is a drivable area in front of the current driving area of the vehicle;

When there is no drivable area in front of the current driving area of the vehicle, calculating the lateral distance between each drivable area other than the current driving area of the vehicle and the vehicle;

determining the first drivable area corresponding to the smallest distance in each lateral distance;

The driving priority is determined as: the first drivable area has priority over each drivable area other than the first drivable area.

In a possible design, the determining module is also used for:

When the vehicle performs a parking operation, the drivable vehicle speed corresponding to each drivable area is obtained, wherein the drivable vehicle speed is obtained according to the maximum speed limit corresponding to the drivable area or the moving speed of the vehicle in the drivable area;

Sort each drivable speed from low to high to obtain the serial numbers corresponding to each drivable speed;

The sequence number corresponding to any drivable vehicle speed among the various drivable vehicle speeds is used as the driving priority of the drivable area corresponding to the any drivable vehicle speed.

In a third aspect, the present application provides an electronic device, comprising:

memory for storing computer programs;

The processor is configured to implement the steps of the above-mentioned method for determining a drivable area of a vehicle when executing the computer program stored in the memory.

In a fourth aspect, the present application provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned method for determining a drivable area of a vehicle are implemented.

Based on the above method for determining the drivable area of the vehicle, the safe area identified by the vehicle-mounted sensor is corrected according to the predicted road information, and then the drivable area corresponding to the next time period of the vehicle is obtained. Avoid determining the wrong drivable area due to the failure or misrecognition of the on-board sensor, and improve the accuracy of the determination of the drivable area, thereby ensuring the safety of the vehicle.

For each aspect of the above-mentioned second aspect to the fourth aspect and the possible technical effect achieved by each aspect, reference is made to the above description of the technical effect achieved by the first aspect or various possible solutions in the first aspect, which will not be repeated here.

Description of drawings

1 is a flow chart of a method for determining a drivable area of a vehicle provided by the present application;

2 is a schematic diagram of a first physical space provided by the application;

Fig. 3 is one of a kind of second physical space schematic diagrams provided by this application;

FIG. 4 is the second schematic diagram of a second physical space provided by the application;

5 is the third schematic diagram of a second physical space provided by the application;

Fig. 6 is one of the schematic diagrams of a kind of safe area provided by this application;

Fig. 7 is the second schematic diagram of a kind of safe area provided by this application;

FIG. 8 is a third schematic diagram of a safe area provided by the application;

9 is a schematic diagram of a drivable area of a vehicle provided by the application;

10 is an example diagram of a method for determining a drivable area of a vehicle provided by the application;

11 is a schematic structural diagram of a driveable area determination device provided by the application;

FIG. 12 is a schematic structural diagram of an electronic device provided by the present application.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings. The specific operation methods in the method embodiments may also be applied to the apparatus embodiments or the system embodiments. It should be noted that, in the description of this application, "a plurality" is understood as "at least two". "And/or", which describes the association relationship of the associated objects, means that there can be three kinds of relationships, for example, A and/or B, which can mean that A exists alone, A and B exist at the same time, and B exists alone. A and B are connected, which can be expressed as two cases: A and B are directly connected and A and B are connected through C. In addition, in the description of this application, words such as "first" and "second" are only used for the purpose of distinguishing and describing, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.

The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

When the current intelligent vehicle drives automatically, it generally relies too much on on-board sensors such as cameras and radars. If the sensor fails or misidentifies, for example, the lane line information cannot be output correctly, it will directly affect the accuracy of the identification of the drivable area, which in turn affects Driving safety.

In order to solve the above problems, the present application provides a method for determining a drivable area of a vehicle. According to the predicted road information, the safe area identified by the vehicle-mounted sensor is corrected to obtain the drivable area corresponding to the next time period of the vehicle. Avoid determining the wrong drivable area due to the failure or misrecognition of the on-board sensor, and improve the accuracy of the determination of the drivable area, thereby ensuring the safety of the vehicle. The methods and devices described in the embodiments of the present application are based on the same technical concept. Since the principles of the problems solved by the methods and devices are similar, the embodiments of the devices and methods can be referred to each other, and repeated descriptions are omitted.

As shown in FIG. 1 , the flow chart of a method for determining a drivable area of a vehicle provided by the present application specifically includes the following steps:

S11, detecting a safe area without obstacles around the vehicle;

In the embodiment of the present application, the detection of an unobstructed safety area around the vehicle is mainly completed based on on-board sensors, and the specific detection method includes:

The edge of each static target within the sensing range is detected and identified by the vehicle-mounted sensor, and the first outer contour information corresponding to each static target is obtained, wherein the static target at least includes road edges, road guardrails and roadblocks, and these first outer contour information is determined by The information of each target point is composed, and the information of these target points is integrated, and the position and heading angle of each target point can be obtained.

At the same time, the edge of each dynamic target within the sensing range is detected and identified by the vehicle-mounted sensor, and the second outer contour information corresponding to each dynamic target is obtained, wherein the dynamic target at least includes a moving vehicle, and these second outer contour information is determined by each target. Point information is composed, and the information of these target points is integrated and processed, and the position and heading angle of each target point can be obtained.

Further, according to each first outer contour information and each second outer contour information, a safe area without obstacles around the vehicle is obtained.

Specifically, edge integration and connection sorting processing are performed on each target point information in each first outer contour information, so as to obtain a target line or a target surface, wherein each target point is located in the first outer contour information within the range of straight line connection with the vehicle Obstacle-free target surface. These target points, target lines, and target surfaces are connected to form a first physical space area within a preset range around the vehicle.

For example, referring to FIG. 2 , the vehicle M in FIG. 2 is a vehicle that is performing an intelligent driving function, and the dotted line is the outer contour information of the road edge. According to the outer contour information of the road edge, the safety area is preliminarily divided, and it is obtained that there is no surrounding area of the vehicle. obstacles, and belong to the first physical space of the road range.

At the same time, edge integration and connection sorting processing are performed on each target point information in each second outer contour information to obtain a target point line or target point surface composed of all dynamic target points around the vehicle. These points, lines, and surfaces will constitute A second physical space area within a preset range around the vehicle.

For example, referring to FIG. 3 , the vehicle M in FIG. 3 is a vehicle that is performing an intelligent driving function, and the vehicles A and B are respectively the moving vehicles identified by the on-board sensors of the vehicle M. At this time, the outer contour information of the vehicles A and B is further obtained. , wherein the outer contour information is composed of the information of each target point, and then these target points are connected to form a dashed surface formed by the dashed line in Figure 3, and the right side of the dashed surface is the second physical space area.

You can also refer to FIG. 4. The vehicle M in FIG. 4 is a vehicle that is performing an intelligent driving function, and the vehicles A, B, D, and E are respectively the moving vehicles identified by the vehicle M on-board sensors. The outer contour information of D and E, wherein these outer contour information is composed of the information of each target point, and then these target points are connected to form a dashed surface formed by the dashed line in Figure 3, the dashed line on the left of the vehicle M The area between the face and the right dashed face is the second physical space area.

You can also refer to FIG. 5. The vehicle M in FIG. 5 is a vehicle that is performing an intelligent driving function, and the vehicles A, B, C, D, and E are respectively the moving vehicles identified by the on-board sensors of the vehicle M. At this time, the vehicle A is further obtained. , B, C, D, E outer contour information, wherein, these outer contour information is composed of each target point information, and then these target points are connected to form each target surface formed by the dotted line in Figure 5 area shown. The area surrounded by these dotted lines is the second physical space area.

Finally, the first physical space area and the second physical space area are superimposed to obtain a continuous physical space without any target point, and the physical space is a safe area without obstacles. For example, reference may be made to FIGS. 6 , 7 and 8 . Among them, FIG. 6 is a safe area obtained by superimposing the first physical space in FIG. 2 and the second physical space in FIG. 3 , and FIG. 7 is the superposition of the first physical space in FIG. 2 and the second physical space in FIG. 4 . Figure 8 shows the security area obtained by superimposing the first physical space in FIG. 2 and the second physical space in FIG. 3 .

S12, predicting the second road information corresponding to the next time period according to the first road information and the vehicle state information corresponding to the historical time period including the current time;

After obtaining a safe area without obstacles, because the shape corresponding to the safe area usually cannot match the lane, and thus cannot meet the requirements of intelligent vehicle driving, for example, the safe area is irregular circle, sector, polygon, etc., so it cannot be directly As the path for the vehicle to travel intelligently.

Therefore, after obtaining the safe area without obstacles, the safe area needs to be further processed. The processing method includes: predicting the second road information corresponding to the next time period of the vehicle, wherein the second road information at least includes the number of lanes, road Width, road curvature, lane lines, including road centerlines and lane boundaries. Then, the safe area identified by the vehicle-mounted sensor is corrected according to the predicted second road information, and then each drivable area corresponding to the next time period of the vehicle is obtained, wherein each drivable area is an area that meets the intelligent driving requirements of the vehicle .

In the above process, the method for predicting the second road information corresponding to the next time period of the vehicle includes:

Obtain the first road information and vehicle status information corresponding to the historical time period including the current moment, wherein the first road information includes the road width, road curvature and lane line of the vehicle driving lane and adjacent lanes, and the lane line includes the road center Lines and lane boundary lines, vehicle status information includes vehicle speed, vehicle heading, vehicle steering angle, and vehicle position. Specifically, the first road information corresponding to the current moment is obtained through on-board sensors, and the first road information and vehicle status information corresponding to a specified time period other than the current moment in the historical time period are obtained through a preset database, wherein all the The preset database may be an in-vehicle information storage module.

Further, the lane line and the road width corresponding to the next time period are determined according to the lane line and the road width in the first road information and the vehicle position in the vehicle state information.

Specifically, according to the road line and vehicle position corresponding to the specified time period, the lane line in front of the vehicle at the current moment, and the current position of the vehicle, the road lane line corresponding to the next time period is fitted and calculated; and according to the road width corresponding to the specified time period, The vehicle position, the road width in front of the vehicle at the current moment, and the current position of the vehicle are fitted to calculate the road width corresponding to the next time period.

At the same time, the road curvature corresponding to the next time period is determined according to the road curvature in the first road information and the vehicle steering angle in the vehicle state information. Specifically, the road curvature corresponding to the next time period is calculated by fitting according to the road curvature and vehicle steering angle corresponding to the specified time period, the road curvature in front of the vehicle at the current moment, and the current vehicle steering angle.

Finally, the second road information is calculated and obtained according to the lane line, road width and road curvature corresponding to the next time period.

S13, according to the second road information, determine a drivable area corresponding to the next time period in the safe area.

After obtaining the second road information, the lane line, road width and road curvature in the second road information are checked against the safe area identified by the vehicle-mounted sensor, and then the corresponding second road information is determined in the safe area. The spatial boundary of , wherein the area within the spatial boundary includes all lanes within the range of the car's perception.

Further, according to the lane line, road width, road curvature, and number of lanes in the second road information, cutting and position matching are performed on the area within the space boundary to obtain each lane-level drivable area, wherein the lane-level drivable area is That is, the drivable area that matches the lane boundary. For example, if the number of lanes contained in the second road information is 3, the area within the space boundary is divided into 3 lanes according to the road width and road curvature of each of the 3 lanes, and the lane-level drivable area 1 and the lane-level drivable area are obtained. 2 and lane-level drivable area 3. If the current vehicle is located in the lane-level drivable area 2, the lane-level drivable area 1 and the lane-level drivable area 3 are adjacent lane-level drivable areas.

Specifically, please refer to FIG. 9. The vehicle M in FIG. 9 is a vehicle that is performing an intelligent driving function, and the range formed by the dotted lines corresponding to the vehicles A, B, C, D, and E, respectively, is recognized by the on-board sensors. , the black parallel lines in Figure 3 are lane lines obtained by dividing the safety area according to the second road information. Compared with the safe area shown in FIG. 8 that is not divided by lane lines, the lane-level drivable area shown in FIG. 3 can adapt to the intelligent driving of the vehicle.

Finally, each lane-level drivable area is taken as each drivable area for intelligent driving of the vehicle in the next time period.

In a possible application scenario, if each determined drivable area has only one lane, the vehicle can drive on this road according to the intelligent driving rules. If each drivable area contains multiple lanes, then it is necessary to determine the driving priority between each drivable area according to the vehicle state information, wherein the vehicle state information at least includes the vehicle execution action and/or the vehicle position, the vehicle execution action At least include the normal driving of the vehicle, the vehicle performing a lane change operation, and the vehicle performing a parking operation.

Specifically, when the vehicle system fails, if the control strategy currently received by the vehicle is not parking processing, at least the following three scenarios are included:

In the first scenario, when the vehicle performs a lane change operation and fails to change lanes, it is determined whether the vehicle crosses the lane line according to the vehicle position information. Step into the right lane, if yes, it is determined that the vehicle has crossed the lane line, if not, it is determined that the vehicle has not crossed the lane line. Of course, the judging method may also be: detecting whether the center axle or the rear axle of the vehicle crosses the lane line, and if so, it is determined that the vehicle has crossed the lane line, and if not, it is determined that the vehicle has not crossed the lane line. All in all, the method of judging whether the vehicle crosses the line can be adjusted by judging the sensitivity, wherein different sensitivities correspond to different judging methods.

If the vehicle crosses the lane line, determine the priority of driving between the drivable areas as follows: the target driving area that the vehicle crosses has priority over the drivable areas outside the target driving area; if the vehicle does not cross the lane line, determine that each drivable area The exercise priority between the areas is: the current driving area of the vehicle has priority over each drivable area other than the current driving area.

In the second scenario, when there is no drivable area in front of the current driving area of the vehicle, calculate the lateral distance between each driving area other than the current driving area of the vehicle and the vehicle itself, where the lateral distance may be the lane between the vehicle and each drivable area The distance between the center lines may also be the distance between the vehicle and the preset boundary lines of each drivable area, which is not specifically limited here. Then, determine the first drivable area corresponding to the smallest distance among the various lateral distances, and further determine the exercise priority between the various drivable areas as follows: the first drivable area has priority over each drivable area other than the first drivable area. driving area.

In this scenario, if there are two drivable areas corresponding to the minimum distance, the drivable vehicle speeds corresponding to the two drivable areas are further determined, and then the driving priority between the two drivable areas can be determined as: The drivable area corresponding to the smaller drivable vehicle speed among the drivable vehicle speeds has priority over the drivable area corresponding to the larger drivable vehicle speed.

In the above process, the method for determining the drivable vehicle speed is determined according to the moving objects in each drivable area. Specifically: if there is a moving target in the designated drivable area in front of the vehicle, the moving speed of the moving target will be taken as the drivable vehicle speed corresponding to the designated drivable area; if there is no target in the designated drivable area in front of the vehicle, the designated drivable area will be designated The maximum speed limit of the drivable area is taken as the drivable vehicle speed corresponding to the specified drivable area.

For example, when the vehicle is driving in the drivable area 2, there is a moving object in the drivable area 1 in front of the vehicle, and the moving speed of the moving object is 50km/h, then the drivable vehicle speed corresponding to the drivable area 1 is 50km/h h; If there is no target in the drivable area 1 in front of the vehicle, and the speed limit of the drivable area 1 is 60km/h, then 60km/h is taken as the drivable vehicle speed corresponding to the drivable area 1.

In the third scenario, under the condition that the vehicle state information corresponding to the first scenario and the second scenario is not satisfied, the driving priority between each drivable area is sequentially decreased according to the drivable vehicle speed of each drivable area from fast to slow.

The above is a method for determining the drivable area corresponding to the next time period in each lane-level drivable area when the vehicle system fails and the control strategy currently received by the vehicle is not parking.

In a possible application scenario, if the vehicle system is faulty and the control strategy currently received by the vehicle is parking processing, the drivable vehicle speed corresponding to each drivable area is obtained, wherein the drivable vehicle speed is determined according to the drivable area. The corresponding maximum speed limit or the moving speed of the vehicle in the drivable area is obtained; sort each drivable vehicle speed from low to high to obtain the corresponding serial number of each drivable vehicle speed; , as the driving priority of the drivable area corresponding to any drivable vehicle speed.

For example, there are drivable area 1, drivable area 2, drivable area 3, and drivable area 4, wherein the drivable vehicle speed corresponding to drivable area 1 is 40km/h, and the drivable vehicle speed corresponding to drivable area 2 is 50km/h /h, the drivable vehicle speed corresponding to the drivable area 3 is 60 km/h, and the drivable vehicle speed corresponding to the drivable area 4 is 70 km/h. The vehicle is driving in the drivable area 2. When the vehicle is ready to stop, the 4 drivable areas are sorted according to the drivable speed from small to large, and the exercise priority of the 4 drivable areas is determined according to the sequence number: drivable area 1>Driving area 2>Driving area 3>Driving area 4.

After the driving priorities among the drivable areas are determined by the above method, a target driving area is further determined in each drivable area according to the determined driving priorities.

Based on the above method for determining the drivable area, the safe area identified by the vehicle-mounted sensor is corrected according to the predicted road information, and then the drivable area corresponding to the next time period of the vehicle is obtained. In this way, the determination of a wrong drivable area due to the failure or misrecognition of the on-board sensor is avoided, the accuracy of the determination of the drivable area is improved, and the driving safety of the vehicle is ensured.

In order to describe in more detail a method for determining a drivable area provided by the present application, the following describes the method for determining a drivable area through specific application scenarios, specifically:

As shown in Figure 10, the on-board sensors include cameras, millimeter-wave radars and lidars, and the physical environment around the vehicle is detected through the on-board sensors, including static target detection and dynamic target detection. According to the static target detection results, a The second-level physical space can be obtained according to the dynamic target detection, and an initial drivable area can be obtained by combining the first-level physical space and the second-level physical space.

At the same time, the current motion state information of the vehicle and the current road information detected by the camera in the vehicle-mounted sensor are entered into the current information storage module. And further according to the road information and vehicle status information in the current information storage module, and the road information and vehicle status information in the vehicle history storage module, the road information corresponding to the next time period is predicted.

Further, by adjusting and dividing the initial drivable area identified by the vehicle-mounted sensor according to the road information corresponding to the next time period, each vehicle can safely take over the drivable area. Finally, the drivable area corresponding to the next time period can be determined by prioritizing the drivable area for each vehicle to safely take over.

Based on the same inventive concept, an embodiment of the present application also provides a device for determining a drivable area of a vehicle, as shown in FIG. 11 , which is a schematic structural diagram of a device for determining a drivable area of a vehicle in the application, and the device includes:

The detection module 111 is used to detect the safe area without obstacles around the vehicle;

The prediction module 112 is configured to predict the second road information corresponding to the next time period according to the first road information and the vehicle state information corresponding to the historical time period including the current time, wherein the second road information at least includes lane lines, Road curvature, road width, number of lanes;

The determining module 113 is configured to determine, according to the second road information, a drivable area corresponding to the next time period in the safe area.

In a possible design, the detection module 111 is specifically used for:

Identifying first outer contour information corresponding to each static target around the vehicle, wherein the static target at least includes road edges, road guardrails and roadblocks;

Identifying the second outer contour information corresponding to each dynamic target around the vehicle, wherein the dynamic target includes at least a moving vehicle;

According to each of the first outer contour information and each of the second outer contour information, a safe area without obstacles around the vehicle is obtained.

In a possible design, the detection module 111 is also used for:

Connecting each target point in each first outer contour information to obtain a first physical space area;

Connecting each target point in each second outer contour information to obtain a second physical space area;

The first physical space area and the second physical space area are superimposed to obtain a safe area without obstacles around the vehicle.

In a possible design, the prediction module 112 is specifically used for:

Determine the lane line and road width corresponding to the next time period according to the lane line and road width in the first road information and the vehicle position in the vehicle state information;

Determine the road curvature corresponding to the next time period according to the road curvature in the first road information and the vehicle steering angle in the vehicle state information;

The second road information is obtained by calculation according to the lane line, road width and road curvature corresponding to the next time period, wherein the second road information includes lane line, road width, road curvature, and number of lanes.

In a possible design, the determining module 113 is specifically used for:

determining the spatial boundary corresponding to the second road information within the safe area;

According to the lane line, road width, road curvature, and number of lanes in the second road information, the area within the space boundary is divided to obtain each lane-level drivable area;

Each lane-level drivable area is taken as each drivable area corresponding to the next time period.

In a possible design, the determining module 113 is further configured to:

According to the vehicle state information, determining the driving priority between each drivable area, wherein the vehicle state information at least includes vehicle execution action and/or vehicle location information;

Based on the drivability priority, a target travel area is determined in each drivable area.

In a possible design, the determining module 113 is further configured to:

Determine whether the vehicle performs a lane change operation;

When the vehicle performs a lane change operation and fails to change lanes, determine whether the vehicle crosses the lane line according to the vehicle position information;

If the vehicle crosses the lane line, the driving priority is determined as: the target drivable area that the vehicle crosses has priority over each drivable area other than the target driving area;

If the vehicle does not cross the lane line, the current lane of the vehicle is used as the drivable area corresponding to the next time period.

In a possible design, the determining module 113 is further configured to:

According to the vehicle location information, determine whether there is a drivable area in front of the current driving area of the vehicle;

When there is no drivable area in front of the current driving area of the vehicle, calculating the lateral distance between each drivable area other than the current driving area of the vehicle and the vehicle;

determining the first drivable area corresponding to the smallest distance in each lateral distance;

The driving priority is determined as: the first drivable area has priority over each drivable area other than the first drivable area.

In a possible design, the determining module 113 is further configured to:

When the vehicle performs a parking operation, the drivable vehicle speed corresponding to each drivable area is obtained, wherein the drivable vehicle speed is obtained according to the maximum speed limit corresponding to the drivable area or the moving speed of the vehicle in the drivable area;

Sort each drivable speed from low to high to obtain the serial numbers corresponding to each drivable speed;

The sequence number corresponding to any drivable vehicle speed among the various drivable vehicle speeds is used as the driving priority of the drivable area corresponding to the any drivable vehicle speed.

Based on the above drivable area determination device, the safe area identified by the vehicle-mounted sensor is corrected according to the predicted road information, and then the drivable area corresponding to the next time period of the vehicle is obtained. In this way, it is avoided to determine a wrong drivable area due to the failure or misrecognition of the on-board sensor, and the accuracy of the determination of the drivable area is improved, thereby ensuring the driving safety of the vehicle.

Based on the same inventive concept, an embodiment of the present application also provides an electronic device, which can implement the functions of the foregoing method and apparatus for determining a drivable area of a vehicle. Referring to FIG. 12 , the electronic device includes:

At least one processor 121, and a memory 122 connected to at least one processor 121, the specific connection medium between the processor 121 and the memory 122 is not limited in the embodiments of this application. Take the connection via the bus 120 as an example. The bus 120 is represented by a thick line in FIG. 12 , and the connection manners between other components are only for schematic illustration and are not intended to be limiting. The bus 120 can be divided into an address bus, a data bus, a control bus, etc. For convenience of illustration, only one thick line is used in FIG. 12, but it does not mean that there is only one bus or one type of bus. Alternatively, the processor 121 may also be called a controller, and the name is not limited.

In this embodiment of the present application, the memory 122 stores instructions that can be executed by at least one processor 121 , and the at least one processor 121 can execute the foregoing method for determining a drivable area of a vehicle by executing the instructions stored in the memory 122 . The processor 121 may implement the functions of each module in the apparatus shown in FIG. 11 .

The processor 121 is the control center of the device, and can use various interfaces and lines to connect various parts of the entire control device, and by running or executing the instructions stored in the memory 122 and calling the data stored in the memory 122, the Various functions and processing data of the device to monitor the device as a whole.

In one possible design, the processor 121 may include one or more processing units, and the processor 121 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface and application programs etc., the modem processor mainly deals with wireless communication. It can be understood that, the above-mentioned modulation and demodulation processor may not be integrated into the processor 121. In some embodiments, the processor 121 and the memory 122 may be implemented on the same chip, and in some embodiments, they may be implemented separately on separate chips.

Processor 121 may be a general-purpose processor, such as a central processing unit (CPU), digital signal processor, application specific integrated circuit, field programmable gate array or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, may The methods, steps, and logic block diagrams disclosed in the embodiments of the present application are realized or executed. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method for determining a drivable area of a vehicle disclosed in conjunction with the embodiments of the present application may be directly embodied as executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

The memory 122, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs and modules. The memory 122 may include at least one type of storage medium, for example, may include a flash memory, a hard disk, a multimedia card, a card-type memory, a random access memory (Random Access Memory, RAM), a static random access memory (Static Random Access Memory, SRAM), a Programmable Read Only Memory (PROM), Read Only Memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Magnetic Memory, Disk, CD etc. Memory 122 is, but is not limited to, any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory 122 in this embodiment of the present application may also be a circuit or any other device capable of implementing a storage function, for storing program instructions and/or data.

By designing and programming the processor 121, the code corresponding to the method for determining the drivable area of the vehicle introduced in the foregoing embodiment can be solidified into the chip, so that the chip can execute the vehicle drivable area of the embodiment shown in FIG. 1 during operation. The steps of the driving area determination method. How to design and program the processor 121 is a well-known technology by those skilled in the art, and details are not repeated here.

Based on the same inventive concept, an embodiment of the present application further provides a storage medium, where computer instructions are stored in the storage medium, and when the computer instructions are executed on the computer, the computer executes the method for determining the drivable area of a vehicle discussed above.

In some possible implementations, various aspects of the method for determining a drivable area of a vehicle provided by the present application can also be implemented in the form of a program product, which includes program code, and when the program product runs on the device, the program code is used for The control device is caused to execute the steps in the method for determining a drivable area of a vehicle according to various exemplary embodiments of the present application described above in this specification.

As will be appreciated by those skilled in the art, the embodiments of the present application may be provided as a method, a system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It will be understood that each flow and/or block in the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims (12)

1. A method for determining a drivable area of a vehicle, wherein the method comprises: Detect safe areas around the vehicle without obstacles; According to the first road information and vehicle state information corresponding to the historical time period including the current time, the second road information corresponding to the next time period is predicted, wherein the second road information at least includes lane lines, road curvature, road width, number of lanes; According to the second road information, each drivable area corresponding to the next time period is determined in the safe area. 2. The method of claim 1, wherein the detecting a safe area without obstacles around the vehicle comprises: Identify the first outer contour information corresponding to each static target around the vehicle, wherein the first outer contour information is composed of each target point information; Identifying the second outer contour information corresponding to each dynamic target around the vehicle; According to each of the first outer contour information and each of the second outer contour information, a safe area without obstacles around the vehicle is obtained. 3. The method according to claim 2, wherein, according to each first outer contour information and each second outer contour information, obtaining a safe area without obstacles around the vehicle, comprising: Connecting each target point in each first outer contour information to obtain a first physical space area; Connecting each target point in each second outer contour information to obtain a second physical space area; The first physical space area and the second physical space area are superimposed to obtain a safe area without obstacles around the vehicle. 4. The method according to claim 1, wherein, predicting the second road information corresponding to the next time period according to the first road information and the vehicle state information corresponding to the historical time period including the current time, comprising: Determine the lane line and road width corresponding to the next time period according to the lane line and road width in the first road information and the vehicle position in the vehicle state information; Determine the road curvature corresponding to the next time period according to the road curvature in the first road information and the vehicle steering angle in the vehicle state information; The second road information is obtained by calculation according to the lane line, road width and road curvature corresponding to the next time period, wherein the second road information includes lane line, road width, road curvature, and number of lanes. 5 . The method according to claim 1 , wherein, according to the second road information, determining each drivable area corresponding to the next time period in the safe area, comprising: 5 . determining the spatial boundary corresponding to the second road information within the safe area; According to the lane line, road width, road curvature, and number of lanes in the second road information, the area within the space boundary is divided to obtain each lane-level drivable area; Each lane-level drivable area is taken as each drivable area corresponding to the next time period. 6 . The method according to claim 1 , wherein after the determining in the safe area each drivable area corresponding to the next time period, the method further comprises: 6 . According to the vehicle state information, determining the driving priority between each drivable area, wherein the vehicle state information at least includes vehicle execution action and/or vehicle location information; Based on the drivability priority, a target travel area is determined in each drivable area. 7 . The method according to claim 6 , wherein the determining of the driving priority between each drivable area according to the vehicle state information comprises: 8 . When the vehicle performs a lane change operation and fails to change lanes, determine whether the vehicle crosses the lane line according to the vehicle position information; If the vehicle crosses the lane line, the driving priority is determined as: the target driving area that the vehicle crosses has priority over each drivable area other than the target driving area; If the vehicle does not cross the lane line, the driving priority is determined as: the current driving area of the vehicle is prior to each drivable area other than the current driving area. 8. The method according to claim 6, wherein the determining, according to the vehicle state information, the driving priority between each drivable area comprises: According to the vehicle location information, determine whether there is a drivable area in front of the current driving area of the vehicle; When there is no drivable area in front of the current driving area of the vehicle, calculating the lateral distance between each drivable area other than the current driving area of the vehicle and the vehicle; determining the first drivable area corresponding to the smallest distance in each lateral distance; The driving priority is determined as: the first drivable area has priority over each drivable area other than the first drivable area. 9 . The method according to claim 6 , wherein the determining the driving priority among the drivable areas according to the vehicle state information comprises: 10 . When the vehicle performs a parking operation, the drivable vehicle speed corresponding to each drivable area is obtained, wherein the drivable vehicle speed is obtained according to the maximum speed limit corresponding to the drivable area or the moving speed of the vehicle in the drivable area; Sort each drivable speed from low to high to obtain the serial numbers corresponding to each drivable speed; The serial number corresponding to any drivable vehicle speed among the various drivable vehicle speeds is used as the driving priority of the drivable area corresponding to the any drivable vehicle speed. 10. A device for determining a drivable area of a vehicle, wherein the device comprises: The detection module is used to detect the safe area without obstacles around the vehicle; The prediction module is used to predict the second road information corresponding to the next time period according to the first road information and the vehicle state information corresponding to the historical time period including the current time, wherein the second road information at least includes lane lines, roads Curvature, road width, number of lanes; and a determining module, configured to determine a drivable area corresponding to the next time period in the safe area according to the second road information. 11. An electronic device, characterized in that, comprising: memory for storing computer programs; The processor is configured to implement the method steps of any one of claims 1-9 when executing the computer program stored in the memory. 12. A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method according to any one of claims 1-9 is implemented step.

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