CN115123242B

CN115123242B - Vehicle barrier gate passing method and device, electronic equipment and storage medium

Info

Publication number: CN115123242B
Application number: CN202210911098.0A
Authority: CN
Inventors: 刘玉清; 丁明慧
Original assignee: Chongqing Changan Automobile Co Ltd
Current assignee: Chongqing Changan Automobile Co Ltd
Priority date: 2022-07-29
Filing date: 2022-07-29
Publication date: 2024-07-09
Anticipated expiration: 2042-07-29
Also published as: CN115123242A

Abstract

The invention provides a vehicle barrier gate passing method, which comprises the following steps: acquiring a first environment image of a vehicle, and determining a drivable area according to the first environment image; if the first environment image is detected to comprise a barrier gate, determining a first deceleration according to the first distance, the current speed of the vehicle and a preset barrier gate speed, and adjusting the speed of the vehicle through the first deceleration; determining a second deceleration, wherein the first distance is smaller than or equal to the second distance, and adjusting the speed of the vehicle again through the second deceleration so as to stop the vehicle in the stopping area; and after the vehicle stops, acquiring a second environment image of the vehicle, and controlling the vehicle to start to pass through the barrier gate. The invention solves the technical limitation that remote unmanned parking can not be realized without basic conditions such as high-precision map acquisition, parking lot construction and the like, and can basically meet all scene requirements under the current condition.

Description

Vehicle barrier gate passing method and device, electronic equipment and storage medium

Technical Field

The application relates to the technical field of automatic driving of automobiles, in particular to a vehicle barrier gate passing method and device, electronic equipment and a storage medium.

Background

In the driving process, whether parking spaces are found from a district or a market is found and a parking lot is queued, a great deal of time is spent because the path is complex and the number of queued vehicles is large. Therefore, the remote unmanned passenger parking is fast and rapid in development due to the advantages of convenience and no need of manual driving, and meanwhile, the safety can be guaranteed to the greatest extent in low-speed driving and specific scenes.

The current remote unmanned parking system is basically based on the construction of a parking lot and high-precision maps inside and outside the parking lot through a barrier gate, vehicles are controlled to park for a certain distance in front of the barrier gate according to the barrier gate distance provided by the high-precision maps, the parking lot management system transmits the opening and closing state of a barrier gate rod to the remote unmanned parking system, and if the barrier gate is opened, the system controls the vehicles to pass through the barrier gate. If the map is covered on the whole surface, the map manufacturer needs to collect the map of the parking lot in all regions of the whole country, and besides the high-precision map, the standardized construction of the parking lot is also needed. Therefore, the scheme has low scene adaptability, is difficult to popularize under the current development, and does not accord with the development trend of a remote unmanned passenger parking system.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, the present invention provides a vehicle barrier gate passing method and apparatus, an electronic device, and a storage medium, so as to solve the above-mentioned technical problems.

The invention provides a vehicle barrier gate passing method, which comprises the following steps:

acquiring a first environment image of a vehicle, and determining a drivable area according to the first environment image;

If the first environment image is detected to comprise a barrier gate, and an obstacle exists between the vehicle and the barrier gate, a first distance between the vehicle and the obstacle is obtained, a first deceleration is determined according to the first distance, the current speed of the vehicle and a preset barrier gate speed, and the vehicle speed of the vehicle is adjusted through the first deceleration;

Determining a second deceleration according to the speed of the vehicle after adjustment and a second distance between the vehicle and a preset stopping area, wherein the first distance is smaller than or equal to the second distance, and adjusting the speed of the vehicle again through the second deceleration so as to stop the vehicle in the stopping area;

And acquiring a second environment image of the vehicle after the vehicle is stopped, determining the state of the brake bar according to the second environment image, and controlling the vehicle to start to pass through the barrier gate if the brake bar is opened and the passing width of the drivable area is larger than the preset width.

In an embodiment of the present invention, after the vehicle stops, a second environmental image of the vehicle is acquired, and a brake lever state is determined according to the second environmental image, and if the brake lever is opened, the method further includes:

If the traffic width of the drivable area is smaller than the preset width, stopping for waiting;

If the waiting time exceeds the first waiting time, the horn is controlled to briefly whistle to prompt the opening of the barrier gate or the waiting of the departure of the front vehicle.

In an embodiment of the present invention, if the waiting time exceeds the first waiting time, the controlling the horn to briefly whistle to prompt to open the barrier or wait for the front vehicle to leave further includes:

if the waiting time is longer than the second waiting time, the decision planning decision exits the function and prompts the manual takeover, and the second waiting time is longer than the first waiting time.

In an embodiment of the present invention, after the vehicle stops, a second environmental image of the vehicle is acquired, and a brake lever state is determined according to the second environmental image, and if the brake lever is opened and a traffic width of the drivable area is greater than a preset width, controlling the vehicle to start through the brake lever further includes:

acquiring a third environment image of the vehicle;

Determining whether an obstacle exists behind the brake bar according to the third environment image, and if the obstacle exists behind the brake bar, acquiring a starting distance between the vehicle and the obstacle behind the brake bar;

And determining starting acceleration according to the starting distance and the preset starting time, and controlling the vehicle to start according to the starting acceleration.

In an embodiment of the present invention, acquiring a second environmental image of the vehicle after the vehicle is stopped, and determining the brake lever state according to the second environmental image includes:

Performing target detection on the second environment image to obtain a target frame;

acquiring an included angle between a target frame and a horizontal line;

And comparing the included angle with a preset target included angle, and determining the opening state of the brake lever according to the comparison result.

In an embodiment of the present invention, after the vehicle stops, acquiring a brake lever state, and if the brake lever is opened and a traffic width of the drivable area is greater than a preset width, controlling the vehicle to start through the road brake includes:

determining a transverse track of the vehicle according to the drivable area;

and determining a corner according to the transverse track of the vehicle, and controlling the vehicle to run according to the corner.

In an embodiment of the present invention, there is also provided a vehicle barrier gate passing apparatus, the apparatus including:

the environment sensing module is used for acquiring a first environment image of the vehicle and determining a drivable area according to the first environment image;

The decision module is used for acquiring a first distance between the vehicle and the barrier if the barrier is detected to be included in the first environment image and the barrier exists between the vehicle and the barrier, determining a first deceleration according to the first distance, the current speed of the vehicle and a preset barrier speed, and adjusting the speed of the vehicle through the first deceleration;

The control module is used for determining a second deceleration according to the speed of the vehicle after adjustment and a second distance between the vehicle and a preset stopping area, wherein the first distance is smaller than or equal to the second distance, and the speed of the vehicle is adjusted again through the second deceleration so as to stop the vehicle in the stopping area;

The judging module is used for acquiring a second environment image of the vehicle after the vehicle stops, determining the state of the brake lever according to the second environment image, and controlling the vehicle to start to pass through the barrier gate if the brake lever is opened and the passing width of the drivable area is larger than the preset width.

In an embodiment of the present invention, there is also provided an electronic device including:

One or more processors;

And a storage device for storing one or more programs which, when executed by the one or more processors, cause the electronic device to implement the vehicle barrier passing method as described above.

In one embodiment of the present invention, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor of a computer, causes the computer to perform a vehicle barrier passing method as described above.

The invention has the beneficial effects that: the invention adopts the equipment at the vehicle end to identify the existence of the barrier gate, the position of the barrier gate and the closing state of the barrier gate rod in real time, thereby realizing the automatic passing of the vehicle through the barrier gate. The technical limitation that remote unmanned parking can not be realized without basic conditions such as high-precision map acquisition, parking lot construction and the like is solved, so that the use scene of remote unmanned parking is expanded, and all scene requirements can be basically met under the current condition.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is evident that the drawings in the following description are only some embodiments of the present application and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art. In the drawings:

FIG. 1 is a schematic illustration of an environment in which a vehicle passing through a brake is implemented, as shown in an exemplary embodiment of the present application;

FIG. 2 is a schematic overall flow diagram of a vehicle barrier passing method according to an exemplary embodiment of the present application;

FIG. 3 is a block diagram of a vehicle barrier passing device according to an exemplary embodiment of the present application;

Fig. 4 shows a schematic diagram of a computer system suitable for use in implementing an embodiment of the application.

Detailed Description

Further advantages and effects of the present invention will become readily apparent to those skilled in the art from the disclosure herein, by referring to the accompanying drawings and the preferred embodiments. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be understood that the preferred embodiments are presented by way of illustration only and not by way of limitation.

It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.

In the following description, numerous details are set forth in order to provide a more thorough explanation of embodiments of the present invention, it will be apparent, however, to one skilled in the art that embodiments of the present invention may be practiced without these specific details, in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring the embodiments of the present invention.

FIG. 1 is a schematic illustration of an environment in which a vehicle passing through a brake is implemented, according to an exemplary embodiment of the present application. As shown in fig. 1, the intelligent terminal 110 shown in fig. 1 may be any terminal device such as a vehicle-end sensor, a vehicle-end image collector, a smart phone, a vehicle-mounted computer, a tablet computer, a notebook computer, or a wearable device, but is not limited thereto. The server 120 shown in fig. 1 may be a server, for example, an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server that provides a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a network service, cloud communication, a middleware service, a domain name service, a security service, a CDN (Content Delivery Network, a content delivery network), and basic cloud computing services such as a big data and an artificial intelligence platform, which are not limited herein. The intelligent terminal 210 may communicate with the server 120 through a wireless network such as 3G (third generation mobile information technology), 4G (fourth generation mobile information technology), 5G (fifth generation mobile information technology), and the like, which is not limited herein.

Referring to fig. 2, fig. 2 is a flow chart illustrating a vehicle barrier passing method according to an exemplary embodiment of the application. The method may be applied to the implementation environment shown in fig. 1 and specifically performed by the intelligent terminal 110 in the implementation environment. It should be understood that the method may be adapted to other exemplary implementation environments and be specifically executed by devices in other implementation environments, and the implementation environments to which the method is adapted are not limited by the present embodiment.

As shown in fig. 2, in an exemplary embodiment, the vehicle barrier passing method at least includes steps S210 to S240, which are described in detail as follows:

Step S210, a first environment image of the vehicle is acquired, and a drivable area is determined according to the first environment image.

The vehicle is provided with a plurality of vehicle-end cameras at different positions, the vehicle-end cameras are used for acquiring real-time environment images of the periphery of the vehicle, acquiring first environment images of the front and the side of the vehicle, inputting the first environment images into a detection model to obtain a drivable area, and the model can be obtained through training of one of an occupied grid method, a state grid method and a driving channel method.

Step 220, if it is detected that the first environment image includes a barrier gate and an obstacle exists between the vehicle and the barrier gate, a first distance between the vehicle and the obstacle is obtained, a first deceleration is determined according to the first distance, the current speed of the vehicle and a preset barrier gate speed, and the vehicle speed of the vehicle is adjusted through the first deceleration.

If the barrier is identified as being included in the first environmental image, controlling the vehicle to enter a barrier mode. If other vehicles exist between the barrier gate and the vehicles, a first distance between the vehicles and the other vehicles is obtained through a distance sensor on the vehicles, and real-time vehicle speed is obtained through a speed sensor on the vehicles. And presetting the barrier gate speed in the barrier gate mode, determining a first deceleration through the first distance, the current speed of the vehicle and the barrier gate speed, and controlling the vehicle to reduce the speed under the first deceleration.

And 230, determining a second deceleration according to the speed of the vehicle after adjustment and a second distance between the vehicle and a preset stopping area, wherein the first distance is smaller than or equal to the second distance, and adjusting the speed of the vehicle again through the second deceleration so as to stop the vehicle in the stopping area.

After other vehicles in front travel, the adjusted real-time vehicle speed is obtained, and the distance between the vehicle and the preset stopping area is a second distance. The vehicle stopping area is preset, and the vehicle stopping area is an area 2-3 meters away from the barrier gate. And determining a second deceleration through the adjusted real-time vehicle speed and a second distance, wherein the length of the first distance is smaller than or equal to that of the second distance. The speed of the vehicle is again adjusted at the second deceleration so that the vehicle is stopped in the stop zone, waiting for the aisle gate.

And 240, acquiring a second environment image of the vehicle after the vehicle is stopped, determining the state of the brake bar according to the second environment image, and controlling the vehicle to start to pass through the barrier gate if the brake bar is opened and the passing width of the drivable area is larger than the preset width.

And after the vehicle stops in the stopping area, acquiring a second environment image around the vehicle, and determining whether the brake lever is in a closed state or an open state according to the second environment image. If the brake lever is opened and the acquired traffic width of the drivable area is larger than the preset width, the vehicle can pass through, and the vehicle is controlled to start to pass through the brake.

In step 2411, if the traffic width of the drivable area is less than the preset width, stopping the vehicle and waiting.

If the traffic width of the drivable area is smaller than the preset width, the vehicle is not provided with the traffic width, and obstacles or foreign matters are arranged on the periphery of the vehicle, so that the vehicle needs to be parked for waiting.

Step 2412, if the waiting time exceeds the first waiting time, the horn is controlled to briefly whistle to prompt to open the barrier or wait for the departure of the preceding vehicle.

The first waiting time is preset to be 3 to 5 seconds, if the waiting time of the vehicle exceeds the first waiting time, the horn of the vehicle is controlled to perform short whistle, the barrier gate is prompted to be opened, or the vehicle is waited until the front vehicle leaves.

Step 242, if the waiting time is longer than the second waiting time, the decision planning decision exits the function and prompts the manual takeover, wherein the second waiting time is longer than the first waiting time.

And presetting a second waiting time to be 20 to 25 seconds, if the waiting time exceeds the second waiting time, judging that the front vehicle is in a problem or a brake lever is in a problem, exiting the automatic passing brake mode, and taking over manually. The second waiting time is greater than the first waiting time.

Step 2431 acquires a third ambient image of the vehicle.

And after the brake lever is opened and passable, acquiring a third environment image of the periphery of the vehicle.

Step 2432, determining whether an obstacle exists behind the brake lever according to the third environment image, and if the obstacle exists behind the brake lever, acquiring a starting distance between the vehicle and the obstacle behind the brake lever.

And identifying a third environment image to determine whether an obstacle exists behind the brake bar, and if the obstacle or the wall surface exists behind the brake bar, acquiring the starting distance between the vehicle and the obstacle behind the brake bar.

Step 2433, determining a starting acceleration according to the starting distance and the preset starting time, and controlling the vehicle to start according to the starting acceleration.

The preset starting time is 3 to 5 seconds, starting acceleration and torque are determined according to the preset starting time and the starting distance, and vehicle starting is controlled through the starting acceleration and the torque.

And 2441, performing target detection on the second environment image to obtain a target frame.

And performing target detection on the second environment image, and extracting a target frame.

Step 2442, obtaining the included angle between the target frame and the horizontal line.

And acquiring an included angle between the target frame and the horizontal line.

Step 2443, comparing the included angle with a preset target included angle, and determining the opening state of the brake lever according to the comparison result.

And comparing the included angle with a preset target included angle to obtain a matched target included angle, thereby obtaining a brake lever state corresponding to the target included angle.

Step 2451, determining a vehicle lateral trajectory from the drivable region.

The distance between the vehicle and the obstacles on both sides is obtained through the drivable area, and the transverse track of the vehicle is determined through the distance on both sides.

Step 2452, determining a steering angle according to the transverse track of the vehicle, and controlling the vehicle to run according to the steering angle.

After the transverse track of the vehicle is determined, the turning angle of the vehicle is planned through the transverse track, and the running angle of the vehicle is controlled through the turning angle.

FIG. 3 is a block diagram of a vehicle barrier passing device according to an exemplary embodiment of the present application. The apparatus may be applied to the implementation environment shown in fig. 1, and is specifically configured in the intelligent terminal 110. The apparatus may also be adapted to other exemplary implementation environments and may be specifically configured in other devices, and the present embodiment is not limited to the implementation environments to which the apparatus is adapted.

As shown in fig. 3, the exemplary vehicle barrier gate passing apparatus includes:

The environment sensing module 301 is configured to acquire a first environment image of a vehicle, and determine a drivable area according to the first environment image.

The decision module 302 is configured to obtain a first distance between the vehicle and the obstacle if it is detected that the first environment image includes the barrier, and an obstacle exists between the vehicle and the barrier, determine a first deceleration according to the first distance, a current speed of the vehicle, and a preset barrier speed, and adjust a vehicle speed of the vehicle according to the first deceleration.

And the control module 303 is configured to determine a second deceleration according to the adjusted speed of the vehicle and a second distance between the vehicle and a preset stopping area, where the first distance is smaller than or equal to the second distance, and adjust the speed of the vehicle again through the second deceleration, so that the vehicle stops in the stopping area.

And the judging module 304 is configured to obtain a second environmental image of the vehicle after the vehicle is stopped, determine a brake lever state according to the second environmental image, and control the vehicle to start to pass through the barrier gate if the brake lever is opened and the traffic width of the drivable area is greater than the preset width.

It should be noted that, the vehicle barrier passing device provided in the foregoing embodiment and the vehicle barrier passing method provided in the foregoing embodiment belong to the same concept, and the specific manner in which each module and unit perform the operation has been described in detail in the method embodiment, which is not repeated herein. In practical application, the vehicle barrier gate passing device provided in the above embodiment may distribute the functions to be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above, which is not limited herein.

The embodiment of the application also provides electronic equipment, which comprises: one or more processors; and the storage device is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the electronic equipment realizes the vehicle barrier gate passing method provided in each embodiment.

Fig. 4 shows a schematic diagram of a computer system suitable for use in implementing an embodiment of the application. It should be noted that, the computer system 400 of the electronic device shown in fig. 4 is only an example, and should not impose any limitation on the functions and the application scope of the embodiments of the present application.

As shown in fig. 4, the computer system 400 includes a central processing unit (Central Processing Unit, CPU) 401 that can perform various appropriate actions and processes, such as performing the methods described in the above embodiments, according to a program stored in a Read-Only Memory (ROM) 402 or a program loaded from a storage portion 408 into a random access Memory (Random Access Memory, RAM) 403. In the RAM 403, various programs and data required for the system operation are also stored. The CPU 401, ROM 402, and RAM 403 are connected to each other by a bus 404. An Input/Output (I/O) interface 405 is also connected to bus 404.

The following components are connected to the I/O interface 405: an input section 406 including a keyboard, a mouse, and the like; an output portion 407 including a Cathode Ray Tube (CRT), a Liquid crystal display (Liquid CRYSTAL DISPLAY, LCD), and a speaker, etc.; a storage section 408 including a hard disk or the like; and a communication section 409 including a network interface card such as a LAN (Local Area Network ) card, a modem, or the like. The communication section 409 performs communication processing via a network such as the internet. The drive 410 is also connected to the I/O interface 405 as needed. A removable medium 411 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed on the drive 410 as needed, so that a computer program read therefrom is installed into the storage section 408 as needed.

In particular, according to embodiments of the present application, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion 409 and/or installed from the removable medium 411. When executed by a Central Processing Unit (CPU) 401, performs the various functions defined in the system of the present application.

It should be noted that, the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-Only Memory (ROM), an erasable programmable read-Only Memory (Erasable Programmable Read Only Memory, EPROM), a flash Memory, an optical fiber, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer-readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with a computer-readable computer program embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Where each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units involved in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.

Another aspect of the application also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform a vehicle barrier gate passing method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment or may exist alone without being incorporated in the electronic device.

Another aspect of the application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions so that the computer device performs the vehicle barrier passing method provided in the above-described respective embodiments.

The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. It is therefore intended that all equivalent modifications and changes made by those skilled in the art without departing from the spirit and technical spirit of the present invention shall be covered by the appended claims.

Claims

1. A vehicle barrier passing method, the method comprising:

2. The vehicle barrier passing method according to claim 1, wherein the acquiring a second environmental image of the vehicle after the vehicle is stopped, and determining a state of the barrier according to the second environmental image, if the barrier is opened, further comprises:

3. The vehicle barrier gate passing method according to claim 2, wherein if the waiting time exceeds the first waiting time, the control horn briefly sounds a whistle to prompt opening the barrier gate or waiting for the departure of the front vehicle further comprises:

4. The vehicle barrier passing method according to claim 1, wherein the acquiring a second environmental image of the vehicle after the vehicle is stopped and determining a state of the brake lever according to the second environmental image, and if the brake lever is opened and a traffic width of the drivable area is greater than a preset width, controlling the vehicle to start through the barrier further comprises:

acquiring a third environment image of the vehicle;

5. The vehicle barrier passing method according to any one of claims 1 to 4, wherein acquiring a second environmental image of the vehicle after the vehicle is stopped, and determining a bar state from the second environmental image includes:

acquiring an included angle between a target frame and a horizontal line;

6. The vehicle barrier passing method according to claim 1, wherein the acquiring a second environmental image of the vehicle after the vehicle is stopped and determining a state of the barrier according to the second environmental image, and if the barrier is opened and a traffic width of the drivable area is greater than a preset width, controlling the vehicle to start passing the barrier comprises:

determining a transverse track of the vehicle according to the drivable area;

7. A vehicle barrier gate passing apparatus, the apparatus comprising:

8. An electronic device, the electronic device comprising:

One or more processors;

Storage means for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the vehicle barrier passing method of any one of claims 1 to 6.

9. A computer readable storage medium, having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform the vehicle barrier gate passing method of any one of claims 1 to 6.